diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
new file mode 100644
index 0000000000..e282e38914
--- /dev/null
+++ b/.github/workflows/cmake.yml
@@ -0,0 +1,38 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
+      
diff --git a/.gitignore b/.gitignore
index 636ce8302d..baee1828b8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -36,3 +36,7 @@ CTestTestFile.cmake
 
 # vim temp files
 *.swp
+
+.vscode/
+.idea/
+cmake-build-debug/
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 716a889707..0000000000
--- a/.travis.yml
+++ /dev/null
@@ -1,51 +0,0 @@
-language: cpp
-matrix:
-  include:
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_GCC
-        - SUDO=sudo
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=TRUSTY_CLANG
-        - SUDO=sudo
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=XENIAL_CLANG
-        - DOCKER_FILE="ubuntu-xenial"
-      services: docker
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=BIONIC_GCC
-        - DOCKER_FILE="ubuntu-bionic"
-      services: docker
-    - os: linux
-      compiler: clang
-      env:
-        - BUILD_NAME=BIONIC_CLANG
-        - DOCKER_FILE="ubuntu-bionic"
-      services: docker
-    - os: osx
-      compiler: gcc
-      env:
-        - BUILD_NAME=OSX_GCC
-    - os: osx
-      compiler: clang
-      env:
-        - COMPILER=clang++
-        - BUILD_NAME=OSX_CLANG
-before_install:
-  - if [ -n "$DOCKER_FILE" ]; then
-      docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
-      docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
-    fi
-script:
-  - if [ -n "$DOCKER_FILE" ]; then
-      docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
-    else
-      '.ci/script.sh';
-    fi
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7860f1552c..a695b71726 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,8 @@ OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
 
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+
 OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
 IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
@@ -252,7 +254,8 @@ IF(BULLET2_MULTITHREADING)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
 	IF (NOT WIN32)
-		LINK_LIBRARIES( pthread )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 	ENDIF (NOT WIN32)
 ENDIF (BULLET2_MULTITHREADING)
 
diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
index 2442f6efc7..626721973f 100644
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -7,6 +7,9 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 )
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+
+
 
 SET(BulletRobotics_INCLUDES
   ../../examples/CommonInterfaces/Common2dCanvasInterface.h
@@ -94,69 +97,102 @@ SET(BulletRobotics_INCLUDES
 )
 
 SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
-    ../../examples/OpenGLWindow/SimpleCamera.cpp
-
-		../../examples/TinyRenderer/geometry.cpp
-		../../examples/TinyRenderer/model.cpp
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-
-    ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/b3PluginManager.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/b3Clock.cpp
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/ChromeTraceUtil.cpp
-
-		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
-		../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
-		../../examples/ThirdPartyLibs/BussIK/Misc.cpp
-		../../examples/ThirdPartyLibs/BussIK/Node.cpp
-		../../examples/ThirdPartyLibs/BussIK/Tree.cpp
-		../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
-
-		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
-		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
-		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
-		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
-		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
-		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
-		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
-		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
-		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
-		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
-
-		../../examples/MultiThreading/b3PosixThreadSupport.cpp
-		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
-		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+	
+	../../examples/OpenGLWindow/SimpleCamera.cpp
+
+	../../examples/TinyRenderer/geometry.cpp
+	../../examples/TinyRenderer/model.cpp
+	../../examples/TinyRenderer/tgaimage.cpp
+	../../examples/TinyRenderer/our_gl.cpp
+	../../examples/TinyRenderer/TinyRenderer.cpp
+
+	../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+	../../examples/SharedMemory/IKTrajectoryHelper.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+	../../examples/SharedMemory/InProcessMemory.cpp
+	../../examples/SharedMemory/PhysicsClient.cpp
+	../../examples/SharedMemory/PhysicsServer.cpp
+	../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsDirect.cpp
+	../../examples/SharedMemory/PhysicsDirectC_API.cpp
+	../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+	../../examples/SharedMemory/b3PluginManager.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+	../../examples/SharedMemory/PhysicsClientC_API.cpp
+	../../examples/SharedMemory/Win32SharedMemory.cpp
+	../../examples/SharedMemory/PosixSharedMemory.cpp
+
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/RobotLoggingUtil.cpp
+	../../examples/Utils/b3Clock.cpp
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/ChromeTraceUtil.cpp
+
+	../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+	../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+	../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+	../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
+	../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
+	../../examples/ThirdPartyLibs/BussIK/Misc.cpp
+	../../examples/ThirdPartyLibs/BussIK/Node.cpp
+	../../examples/ThirdPartyLibs/BussIK/Tree.cpp
+	../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
+
+	../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+	../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+	../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+	../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+	../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+	../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+	../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+	../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+	../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+	../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
+
+	../../examples/MultiThreading/b3PosixThreadSupport.cpp
+	../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+	../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+
+
+)
+
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
+  ../../Extras/VHACD/test/src/main_vhacd.cpp
+  ../../Extras/VHACD/src/VHACD.cpp
+  ../../Extras/VHACD/src/vhacdICHull.cpp
+  ../../Extras/VHACD/src/vhacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/vhacdMesh.cpp
+  ../../Extras/VHACD/src/vhacdVolume.cpp
+)
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
 )
+ENDIF(ENABLE_VHACD)
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
@@ -180,7 +216,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 		
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
@@ -267,6 +304,7 @@ INSTALL (
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
   	INSTALL(
diff --git a/Extras/BulletRoboticsGUI/CMakeLists.txt b/Extras/BulletRoboticsGUI/CMakeLists.txt
index 9926f14b62..b503f0c6a9 100644
--- a/Extras/BulletRoboticsGUI/CMakeLists.txt
+++ b/Extras/BulletRoboticsGUI/CMakeLists.txt
@@ -94,21 +94,6 @@ SET(BulletRoboticsGUI_INCLUDES
 )
 
 SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
-
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
 	../../examples/SharedMemory/GraphicsServerExample.cpp
 	../../examples/SharedMemory/GraphicsClientExample.cpp
@@ -146,7 +131,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 		
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
@@ -197,6 +183,7 @@ ENDIF (BUILD_SHARED_LIBS)
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
   	INSTALL(
diff --git a/Extras/CMakeLists.txt b/Extras/CMakeLists.txt
index fc0d22604c..58a161a45f 100644
--- a/Extras/CMakeLists.txt
+++ b/Extras/CMakeLists.txt
@@ -1,5 +1,36 @@
-SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
 
+IF(BUILD_INVERSE_DYNAMIC_EXTRA)
+  SUBDIRS( InverseDynamics )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
+  SUBDIRS( BulletRoboticsGUI )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_EXTRA)
+  SUBDIRS( BulletRobotics )
+ENDIF()
+IF(BUILD_OBJ2SDF_EXTRA)
+  SUBDIRS( obj2sdf )
+ENDIF()
+IF(BUILD_SERIALIZE_EXTRA)
+  SUBDIRS( Serialize )
+ENDIF()
+IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
+  SUBDIRS( ConvexDecomposition )
+ENDIF()
+IF(BUILD_HACD_EXTRA)
+  SUBDIRS( HACD )
+ENDIF()
+IF(BUILD_GIMPACTUTILS_EXTRA)
+  SUBDIRS( GIMPACTUtils )
+ENDIF()
 
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com
diff --git a/Extras/ConvexDecomposition/LICENSE.txt b/Extras/ConvexDecomposition/LICENSE.txt
new file mode 100644
index 0000000000..eb54e9c52b
--- /dev/null
+++ b/Extras/ConvexDecomposition/LICENSE.txt
@@ -0,0 +1,19 @@
+Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+		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 the Open Dynamics Framework Group 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 INTEL 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.
diff --git a/Extras/GIMPACTUtils/LICENSE.txt b/Extras/GIMPACTUtils/LICENSE.txt
new file mode 100644
index 0000000000..e4e69b710a
--- /dev/null
+++ b/Extras/GIMPACTUtils/LICENSE.txt
@@ -0,0 +1,11 @@
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/Extras/HACD/LICENSE.txt b/Extras/HACD/LICENSE.txt
new file mode 100644
index 0000000000..082750fe4e
--- /dev/null
+++ b/Extras/HACD/LICENSE.txt
@@ -0,0 +1,13 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. 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.
+ 
+ 3. The names of the contributors may not 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 HOLDER 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.
diff --git a/Extras/InverseDynamics/LICENSE.txt b/Extras/InverseDynamics/LICENSE.txt
new file mode 100644
index 0000000000..a5f89cd3a5
--- /dev/null
+++ b/Extras/InverseDynamics/LICENSE.txt
@@ -0,0 +1,12 @@
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/Extras/Serialize/BulletFileLoader/bFile.cpp b/Extras/Serialize/BulletFileLoader/bFile.cpp
index da9f65f209..5f19dd5762 100644
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -75,6 +75,7 @@ bFile::bFile(const char *filename, const char headerString[7])
 		fseek(fp, 0L, SEEK_SET);
 
 		mFileBuffer = (char *)malloc(mFileLen + 1);
+                memset(mFileBuffer, 0, mFileLen+1);
 		size_t bytesRead;
 		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
@@ -643,8 +644,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 			if ((strcmp(oldType, "btShortIntIndexData") == 0))
 			{
 				int allocLen = 2;
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 				short *dest = (short *)dataAlloc;
 				const short *src = (short *)head;
 				for (int i = 0; i < dataChunk.nr; i++)
@@ -682,8 +683,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 				// numBlocks * length
 
 				int allocLen = (curLen);
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen));
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 
 				// track allocated
 				addDataBlock(dataAlloc);
@@ -719,8 +720,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 #endif  //
 	}
 
-	char *dataAlloc = new char[(dataChunk.len) + 1];
-	memset(dataAlloc, 0, dataChunk.len + 1);
+	char *dataAlloc = new char[(dataChunk.len) + sizeof(void*)];
+	memset(dataAlloc, 0, dataChunk.len + sizeof(void*));
 
 	// track allocated
 	addDataBlock(dataAlloc);
@@ -736,7 +737,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 	if (new_dna == -1) return;
 
 	//disable this, because we need to fixup pointers/ListBase
-	if (0)  //mFileDNA->flagEqual(old_dna))
+	if (/* DISABLES CODE */ (0))  //mFileDNA->flagEqual(old_dna))
 	{
 		short *strc = mFileDNA->getStruct(old_dna);
 		int len = mFileDNA->getLength(strc[0]);
diff --git a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
index 1f855f41fc..74f27c4a51 100644
--- a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
@@ -333,6 +333,7 @@ void btBulletFile::parse(int verboseMode)
 		if (m_DnaCopy)
 			delete m_DnaCopy;
 		m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
+                memset(m_DnaCopy, 0, sBulletDNAlen64);
 		memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
 		parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen64);
 	}
diff --git a/Extras/Serialize/ReadBulletSample/main.cpp b/Extras/Serialize/ReadBulletSample/main.cpp
index 1513c6e55d..42ed89e9cf 100644
--- a/Extras/Serialize/ReadBulletSample/main.cpp
+++ b/Extras/Serialize/ReadBulletSample/main.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2011 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2011 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/Extras/Serialize/makesdna/DNA_rigidbody.h b/Extras/Serialize/makesdna/DNA_rigidbody.h
index d100dab18d..7835a25d1f 100644
--- a/Extras/Serialize/makesdna/DNA_rigidbody.h
+++ b/Extras/Serialize/makesdna/DNA_rigidbody.h
@@ -1,3 +1,17 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
 
 #ifndef DNA_RIGIDBODY_H
 #define DNA_RIGIDBODY_H
diff --git a/Extras/VHACD/LICENSE.txt b/Extras/VHACD/LICENSE.txt
new file mode 100644
index 0000000000..f06718c131
--- /dev/null
+++ b/Extras/VHACD/LICENSE.txt
@@ -0,0 +1,14 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. 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.
+ 
+ 3. The names of the contributors may not 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 HOLDER 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.
+ 
diff --git a/Extras/VHACD/inc/vhacdMutex.h b/Extras/VHACD/inc/vhacdMutex.h
index 4d1ad2a7da..78c1113835 100644
--- a/Extras/VHACD/inc/vhacdMutex.h
+++ b/Extras/VHACD/inc/vhacdMutex.h
@@ -69,7 +69,7 @@
 #include <pthread.h>
 #endif
 
-#if defined(__APPLE__)
+#if defined(__APPLE__) || !defined(__GLIBC__)
 #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE
 #endif
 
diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp
index 2237c53f1b..60881d50e3 100644
--- a/Extras/obj2sdf/obj2sdf.cpp
+++ b/Extras/obj2sdf/obj2sdf.cpp
@@ -4,6 +4,20 @@
 /// this will make it easier to load complex obj files into pybullet
 /// see for example export in data/kitchens/fathirmutfak.sdf
 
+///Bullet Continuous Collision Detection and Physics Library
+///Erwin Coumans (C) 2018
+///http://bulletphysics.org
+///
+///This software is provided 'as-is', without any express or implied warranty.
+///In no event will the authors be held liable for any damages arising from the use of this software.
+///Permission is granted to anyone to use this software for any purpose,
+///including commercial applications, and to alter it and redistribute it freely,
+///subject to the following restrictions:
+///
+///1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+///2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+///3. This notice may not be removed or altered from any source distribution.
+	
 #include <string.h>
 #include <stdio.h>
 #include <assert.h>
@@ -16,13 +30,13 @@
 #include "Bullet3Common/b3HashMap.h"
 #include "../Utils/b3BulletDefaultFileIO.h"
 
-using tinyobj::index_t;
+using bt_tinyobj::index_t;
 
 struct ShapeContainer
 {
 	std::string m_matName;
 	std::string m_shapeName;
-	tinyobj::material_t material;
+	bt_tinyobj::material_t material;
 	std::vector<float> positions;
 	std::vector<float> normals;
 	std::vector<float> texcoords;
@@ -77,11 +91,11 @@ int main(int argc, char* argv[])
 	char materialPrefixPath[MAX_PATH_LEN];
 	b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
 
-	std::vector<tinyobj::shape_t> shapes;
-	tinyobj::attrib_t attribute;
+	std::vector<bt_tinyobj::shape_t> shapes;
+	bt_tinyobj::attrib_t attribute;
 
 	b3BulletDefaultFileIO fileIO;
-	std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO);
+	std::string err = bt_tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath, &fileIO);
 
 	char sdfFileName[MAX_PATH_LEN];
 	sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");
@@ -96,8 +110,8 @@ int main(int argc, char* argv[])
 
 	for (int s = 0; s < (int)shapes.size(); s++)
 	{
-		tinyobj::shape_t& shape = shapes[s];
-		tinyobj::material_t mat = shape.material;
+		bt_tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::material_t mat = shape.material;
 
 		b3HashString key = mat.name.length() ? mat.name.c_str() : "";
 		if (!gMaterialNames.find(key))
@@ -198,7 +212,7 @@ int main(int argc, char* argv[])
 
 			int faceCount = shapeCon->indices.size();
 			int vertexCount = shapeCon->positions.size();
-			tinyobj::material_t mat = shapeCon->material;
+			bt_tinyobj::material_t mat = shapeCon->material;
 			if (shapeCon->m_matName.length())
 			{
 				const char* objName = shapeCon->m_matName.c_str();
@@ -257,7 +271,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"
@@ -303,7 +317,7 @@ int main(int argc, char* argv[])
 	{
 		for (int s = 0; s < (int)shapes.size(); s++)
 		{
-			tinyobj::shape_t& shape = shapes[s];
+			bt_tinyobj::shape_t& shape = shapes[s];
 
 			if (shape.name.length())
 			{
@@ -337,7 +351,7 @@ int main(int argc, char* argv[])
 
 			int faceCount = shape.mesh.indices.size();
 			int vertexCount = attribute.vertices.size();
-			tinyobj::material_t mat = shape.material;
+			bt_tinyobj::material_t mat = shape.material;
 			if (shape.name.length())
 			{
 				const char* objName = shape.name.c_str();
@@ -397,7 +411,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"
diff --git a/README.md b/README.md
index e0fb2af97d..d8009db5ae 100644
--- a/README.md
+++ b/README.md
@@ -7,8 +7,11 @@ This is the official C++ source code repository of the Bullet Physics SDK: real-
 
 ![PyBullet](https://pybullet.org/wordpress/wp-content/uploads/2019/03/cropped-pybullet.png)
 
+## Issues ##
+The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
+
 ## PyBullet ##
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
+It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 Installation is simple:
 ```
@@ -21,11 +24,11 @@ python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_ar
 If you use PyBullet in your research, please cite it like this:
 
 ```
-@MISC{coumans2019,
+@MISC{coumans2021,
 author =   {Erwin Coumans and Yunfei Bai},
 title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
 howpublished = {\url{http://pybullet.org}},
-year = {2016--2019}
+year = {2016--2021}
 }
 ```
 
@@ -63,7 +66,7 @@ You can download and install Bullet using the [vcpkg](https://github.com/Microso
     cd vcpkg
     ./bootstrap-vcpkg.sh
     ./vcpkg integrate install
-    vcpkg install bullet3
+    ./vcpkg install bullet3
 
 The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
 
@@ -88,12 +91,12 @@ p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86
 
 **Linux and Mac OSX gnu make**
 
-Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
+Make sure gcc and cmake is installed (`sudo apt-get install build-essential` and `sudo apt-get install cmake` for Linux, `brew install cmake` for Mac, or https://cmake.org)
 
 In a terminal type:
-
-	./build_cmake_pybullet_double.sh
-
+```
+./build_cmake_pybullet_double.sh
+```
 This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
 The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
 
@@ -101,15 +104,15 @@ You can also build Bullet using premake. There are premake executables in the bu
 Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
 Using premake:
 ```
-	cd build3
-	./premake4_linux --double gmake
-	./premake4_linux64 --double gmake
-	./premake4_osx --double --enable_pybullet gmake
+cd build3
+./premake4_linux --double gmake
+./premake4_linux64 --double gmake
+./premake4_osx --double --enable_pybullet gmake
 ```
 Then
 ```
-	cd gmake
-	make
+cd gmake
+make
 ```
 
 Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
@@ -117,9 +120,9 @@ Note that on Linux, you need to use cmake to build pybullet, since the compiler
 **Mac OSX Xcode**
 	
 Click on build3/xcode4.command or in a terminal window execute
-	
-	./premake_osx xcode4
-
+```	
+./premake_osx xcode4
+```
 ## Usage
 
 The App_ExampleBrowser executables will be located in the bin folder.
diff --git a/VERSION b/VERSION
index 6fe94f3c6c..cf6715346f 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-3.08
+3.26
diff --git a/build3/premake4.lua b/build3/premake4.lua
index 8a6de19385..73dbd89653 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -66,7 +66,27 @@
 		trigger = "enable_static_vr_plugin",
 		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
 	}
-	
+         newoption
+        {
+                trigger = "enable_static_test_plugin",
+                description = "Statically link test plugin (in examples/SharedMemory/plugins/testPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_tiny_renderer__plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/tinyRendererPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_pd_control_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/pdControlPlugin)"
+        }
+         newoption
+        {
+                trigger = "enable_static_collision_filter_plugin",
+                description = "Statically link vr plugin (in examples/SharedMemory/plugins/collisionFilterPlugin)"
+        }
+ 
 	newoption
 	{
 		trigger = "enable_physx",
@@ -319,6 +339,12 @@ end
 		trigger = "no-test",
 		description = "Disable all tests"
 	}
+	newoption
+        {       
+                trigger = "test-bullet2",
+
+                description = "Enable Bullet2 LinearMath test"
+        }
 
 	newoption
 	{
@@ -646,7 +672,9 @@ end
         end
 
 	if not _OPTIONS["no-test"] then
+                if _OPTIONS["test-bullet2"] then
 		include "../test/Bullet2"
+		end
 
 		if not _OPTIONS["no-gtest"] then
 			include "../test/gtest-1.7.0"
diff --git a/build_visual_studio_vr_pybullet_double_cmake.bat b/build_visual_studio_vr_pybullet_double_cmake.bat
index 32cd017358..aaa1f9cc12 100644
--- a/build_visual_studio_vr_pybullet_double_cmake.bat
+++ b/build_visual_studio_vr_pybullet_double_cmake.bat
@@ -1,4 +1,4 @@
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 16 2019" ..
+cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python38\include -DPYTHON_LIBRARY=c:\python38\libs\python38.lib -DPYTHON_DEBUG_LIBRARY=c:\python38\libs\python38.lib -G "Visual Studio 16 2019" ..
 start .
\ No newline at end of file
diff --git a/data/cube_small.sdf b/data/cube_small.sdf
index 828b74df16..ee3cd87891 100644
--- a/data/cube_small.sdf
+++ b/data/cube_small.sdf
@@ -1,7 +1,7 @@
 <sdf version='1.6'>
   <world name='default'>
     <model name='unit_box_0'>
-      <pose frame=''>0 0 0.107 0 0 0</pose>
+      <pose>0 0 0.107 0 0 0</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>0.1</mass>
diff --git a/data/gripper/wsg50_one_motor_gripper.sdf b/data/gripper/wsg50_one_motor_gripper.sdf
index 1f19f174a7..51d2e9abde 100644
--- a/data/gripper/wsg50_one_motor_gripper.sdf
+++ b/data/gripper/wsg50_one_motor_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.26 3.14 0 0</pose>
+    <pose>0 0 0.26 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -249,9 +249,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -264,7 +264,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -273,7 +273,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -305,7 +305,7 @@
     </joint>
     
     <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -319,7 +319,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -329,7 +329,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -345,7 +345,7 @@
     </joint>
     
     <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -359,7 +359,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -369,7 +369,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_free_base.sdf
index 552c36d288..66dfb1a9d9 100644
--- a/data/gripper/wsg50_one_motor_gripper_free_base.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_free_base.sdf
@@ -3,11 +3,11 @@
   <world name='default'>
   <model name='wsg50_with_gripper'>
     
-    <pose frame=''>0 -2.3 2.1 0 0 0</pose>
+    <pose>0 -2.3 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -26,9 +26,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -41,7 +41,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -56,9 +56,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -70,7 +70,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -100,9 +100,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -114,7 +114,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -145,9 +145,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -190,9 +190,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -205,7 +205,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -214,7 +214,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -247,9 +247,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -262,7 +262,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -271,7 +271,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
+      <pose>0.042 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
+      <pose>-0.042 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_new.sdf b/data/gripper/wsg50_one_motor_gripper_new.sdf
index 54f469fe0a..09e43dc226 100644
--- a/data/gripper/wsg50_one_motor_gripper_new.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_new.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.7 3.14 0 0</pose>
+    <pose>0 0 0.7 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
index 0358f7a6a1..e33b9ed8f0 100644
--- a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
@@ -2,11 +2,11 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
+    <pose>1.4 -0.2 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -25,9 +25,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -40,7 +40,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -55,9 +55,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -69,7 +69,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -99,9 +99,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -113,7 +113,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -144,9 +144,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -158,7 +158,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -189,9 +189,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -204,7 +204,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -213,7 +213,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -245,9 +245,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -260,7 +260,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -269,7 +269,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -304,7 +304,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -318,7 +318,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -328,7 +328,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -348,7 +348,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -362,7 +362,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -372,7 +372,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
index 878b1ee144..16847c72c4 100644
--- a/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.4 3.14 0 0</pose>
+    <pose>0 0 0.4 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 0</pose>
+      <pose>0.055 0 0.06 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 3.14159</pose>
+        <pose>0 0 -0.06 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 3.14159</pose>
+        <pose>0 0 -0.037 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
diff --git a/data/gripper/wsg50_with_r2d2_gripper.sdf b/data/gripper/wsg50_with_r2d2_gripper.sdf
index d67959f190..b487816a6e 100644
--- a/data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+    <pose>0 0 0.27 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -42,7 +42,7 @@
         </inertia>
       </inertial>
       <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
 		<box>
               <size>0.2 0.05 0.05 </size>
@@ -50,7 +50,7 @@
         </geometry>
       </collision>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -67,9 +67,9 @@
     </link>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <pose>-0.055 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -82,7 +82,7 @@
       </inertial>
 	  
       <collision name='gripper_left_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -91,7 +91,7 @@
         </geometry>
       </collision>
       <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -101,7 +101,7 @@
       </collision>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -110,7 +110,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -141,9 +141,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <pose>0.055 0 0 0 -0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -156,7 +156,7 @@
       </inertial>
 	  
       <collision name='gripper_right_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -165,7 +165,7 @@
         </geometry>
       </collision>
       <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -175,7 +175,7 @@
       </collision>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -184,7 +184,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -219,7 +219,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -233,7 +233,7 @@
       </inertial>
 	  
       <collision name='finger_right_collision'>
-	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<pose>0 0 0.042 0 0 0 </pose>
 	<geometry>        
        <box>
               <size>0.02 0.02 0.15 </size>
@@ -243,7 +243,7 @@
       </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -263,7 +263,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -277,7 +277,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -287,7 +287,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kitchens/1.sdf b/data/kitchens/1.sdf
index 572cf7234f..9e068b9172 100644
--- a/data/kitchens/1.sdf
+++ b/data/kitchens/1.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='part0.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -42,7 +42,7 @@
 			</model>
 		<model name='part1.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -81,7 +81,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
@@ -120,7 +120,7 @@
 			</model>
 		<model name='part3.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d3'>
 			<inertial>
 			<mass>0</mass>
@@ -159,7 +159,7 @@
 			</model>
 		<model name='part4.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d4'>
 			<inertial>
 			<mass>0</mass>
@@ -198,7 +198,7 @@
 			</model>
 		<model name='part5.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d5'>
 			<inertial>
 			<mass>0</mass>
@@ -237,7 +237,7 @@
 			</model>
 		<model name='part6.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d6'>
 			<inertial>
 			<mass>0</mass>
@@ -276,7 +276,7 @@
 			</model>
 		<model name='part7.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d7'>
 			<inertial>
 			<mass>0</mass>
@@ -315,7 +315,7 @@
 			</model>
 		<model name='part8.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d8'>
 			<inertial>
 			<mass>0</mass>
@@ -354,7 +354,7 @@
 			</model>
 		<model name='part9.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d9'>
 			<inertial>
 			<mass>0</mass>
@@ -393,7 +393,7 @@
 			</model>
 		<model name='part10.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d10'>
 			<inertial>
 			<mass>0</mass>
@@ -432,7 +432,7 @@
 			</model>
 		<model name='part11.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d11'>
 			<inertial>
 			<mass>0</mass>
@@ -471,7 +471,7 @@
 			</model>
 		<model name='part12.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d12'>
 			<inertial>
 			<mass>0</mass>
@@ -510,7 +510,7 @@
 			</model>
 		<model name='part13.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d13'>
 			<inertial>
 			<mass>0</mass>
@@ -549,7 +549,7 @@
 			</model>
 		<model name='part14.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d14'>
 			<inertial>
 			<mass>0</mass>
@@ -588,7 +588,7 @@
 			</model>
 		<model name='part15.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d15'>
 			<inertial>
 			<mass>0</mass>
@@ -627,7 +627,7 @@
 			</model>
 		<model name='part16.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d16'>
 			<inertial>
 			<mass>0</mass>
@@ -666,7 +666,7 @@
 			</model>
 		<model name='part17.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d17'>
 			<inertial>
 			<mass>0</mass>
@@ -705,7 +705,7 @@
 			</model>
 		<model name='part18.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d18'>
 			<inertial>
 			<mass>0</mass>
@@ -744,7 +744,7 @@
 			</model>
 		<model name='part19.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d19'>
 			<inertial>
 			<mass>0</mass>
@@ -783,7 +783,7 @@
 			</model>
 		<model name='part20.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d20'>
 			<inertial>
 			<mass>0</mass>
@@ -822,7 +822,7 @@
 			</model>
 		<model name='part21.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d21'>
 			<inertial>
 			<mass>0</mass>
@@ -861,7 +861,7 @@
 			</model>
 		<model name='part22.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d22'>
 			<inertial>
 			<mass>0</mass>
@@ -900,7 +900,7 @@
 			</model>
 		<model name='part23.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d23'>
 			<inertial>
 			<mass>0</mass>
@@ -939,7 +939,7 @@
 			</model>
 		<model name='part24.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d24'>
 			<inertial>
 			<mass>0</mass>
@@ -978,7 +978,7 @@
 			</model>
 		<model name='part25.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d25'>
 			<inertial>
 			<mass>0</mass>
@@ -1017,7 +1017,7 @@
 			</model>
 		<model name='part26.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d26'>
 			<inertial>
 			<mass>0</mass>
@@ -1056,7 +1056,7 @@
 			</model>
 		<model name='part27.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d27'>
 			<inertial>
 			<mass>0</mass>
@@ -1095,7 +1095,7 @@
 			</model>
 		<model name='part28.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d28'>
 			<inertial>
 			<mass>0</mass>
@@ -1134,7 +1134,7 @@
 			</model>
 		<model name='part29.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d29'>
 			<inertial>
 			<mass>0</mass>
@@ -1173,7 +1173,7 @@
 			</model>
 		<model name='part30.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d30'>
 			<inertial>
 			<mass>0</mass>
@@ -1212,7 +1212,7 @@
 			</model>
 		<model name='part31.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d31'>
 			<inertial>
 			<mass>0</mass>
@@ -1251,7 +1251,7 @@
 			</model>
 		<model name='part32.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d32'>
 			<inertial>
 			<mass>0</mass>
@@ -1290,7 +1290,7 @@
 			</model>
 		<model name='part33.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d33'>
 			<inertial>
 			<mass>0</mass>
@@ -1329,7 +1329,7 @@
 			</model>
 		<model name='part34.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d34'>
 			<inertial>
 			<mass>0</mass>
@@ -1368,7 +1368,7 @@
 			</model>
 		<model name='part35.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d35'>
 			<inertial>
 			<mass>0</mass>
@@ -1407,7 +1407,7 @@
 			</model>
 		<model name='part36.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d36'>
 			<inertial>
 			<mass>0</mass>
@@ -1446,7 +1446,7 @@
 			</model>
 		<model name='part37.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d37'>
 			<inertial>
 			<mass>0</mass>
@@ -1485,7 +1485,7 @@
 			</model>
 		<model name='part38.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d38'>
 			<inertial>
 			<mass>0</mass>
@@ -1524,7 +1524,7 @@
 			</model>
 		<model name='part39.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d39'>
 			<inertial>
 			<mass>0</mass>
@@ -1563,7 +1563,7 @@
 			</model>
 		<model name='part40.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d40'>
 			<inertial>
 			<mass>0</mass>
@@ -1602,7 +1602,7 @@
 			</model>
 		<model name='part41.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d41'>
 			<inertial>
 			<mass>0</mass>
@@ -1641,7 +1641,7 @@
 			</model>
 		<model name='part42.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d42'>
 			<inertial>
 			<mass>0</mass>
@@ -1680,7 +1680,7 @@
 			</model>
 		<model name='part43.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d43'>
 			<inertial>
 			<mass>0</mass>
@@ -1719,7 +1719,7 @@
 			</model>
 		<model name='part44.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d44'>
 			<inertial>
 			<mass>0</mass>
@@ -1758,7 +1758,7 @@
 			</model>
 		<model name='part45.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d45'>
 			<inertial>
 			<mass>0</mass>
@@ -1797,7 +1797,7 @@
 			</model>
 		<model name='part46.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d46'>
 			<inertial>
 			<mass>0</mass>
@@ -1836,7 +1836,7 @@
 			</model>
 		<model name='part47.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d47'>
 			<inertial>
 			<mass>0</mass>
@@ -1875,7 +1875,7 @@
 			</model>
 		<model name='part48.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d48'>
 			<inertial>
 			<mass>0</mass>
@@ -1914,7 +1914,7 @@
 			</model>
 		<model name='part49.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d49'>
 			<inertial>
 			<mass>0</mass>
@@ -1953,7 +1953,7 @@
 			</model>
 		<model name='part50.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d50'>
 			<inertial>
 			<mass>0</mass>
@@ -1992,7 +1992,7 @@
 			</model>
 		<model name='part51.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d51'>
 			<inertial>
 			<mass>0</mass>
@@ -2031,7 +2031,7 @@
 			</model>
 		<model name='part52.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d52'>
 			<inertial>
 			<mass>0</mass>
@@ -2070,7 +2070,7 @@
 			</model>
 		<model name='part53.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d53'>
 			<inertial>
 			<mass>0</mass>
@@ -2109,7 +2109,7 @@
 			</model>
 		<model name='part54.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d54'>
 			<inertial>
 			<mass>0</mass>
@@ -2148,7 +2148,7 @@
 			</model>
 		<model name='part55.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d55'>
 			<inertial>
 			<mass>0</mass>
@@ -2187,7 +2187,7 @@
 			</model>
 		<model name='part56.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d56'>
 			<inertial>
 			<mass>0</mass>
@@ -2226,7 +2226,7 @@
 			</model>
 		<model name='part57.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d57'>
 			<inertial>
 			<mass>0</mass>
@@ -2265,7 +2265,7 @@
 			</model>
 		<model name='part58.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d58'>
 			<inertial>
 			<mass>0</mass>
@@ -2304,7 +2304,7 @@
 			</model>
 		<model name='part59.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d59'>
 			<inertial>
 			<mass>0</mass>
@@ -2343,7 +2343,7 @@
 			</model>
 		<model name='part60.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d60'>
 			<inertial>
 			<mass>0</mass>
@@ -2382,7 +2382,7 @@
 			</model>
 		<model name='part61.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d61'>
 			<inertial>
 			<mass>0</mass>
@@ -2421,7 +2421,7 @@
 			</model>
 		<model name='part62.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d62'>
 			<inertial>
 			<mass>0</mass>
@@ -2460,7 +2460,7 @@
 			</model>
 		<model name='part63.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d63'>
 			<inertial>
 			<mass>0</mass>
@@ -2499,7 +2499,7 @@
 			</model>
 		<model name='part64.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d64'>
 			<inertial>
 			<mass>0</mass>
@@ -2538,7 +2538,7 @@
 			</model>
 		<model name='part65.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d65'>
 			<inertial>
 			<mass>0</mass>
@@ -2577,7 +2577,7 @@
 			</model>
 		<model name='part66.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d66'>
 			<inertial>
 			<mass>0</mass>
@@ -2616,7 +2616,7 @@
 			</model>
 		<model name='part67.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d67'>
 			<inertial>
 			<mass>0</mass>
@@ -2655,7 +2655,7 @@
 			</model>
 		<model name='part68.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d68'>
 			<inertial>
 			<mass>0</mass>
@@ -2694,7 +2694,7 @@
 			</model>
 		<model name='part69.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d69'>
 			<inertial>
 			<mass>0</mass>
@@ -2733,7 +2733,7 @@
 			</model>
 		<model name='part70.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d70'>
 			<inertial>
 			<mass>0</mass>
@@ -2772,7 +2772,7 @@
 			</model>
 		<model name='part71.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d71'>
 			<inertial>
 			<mass>0</mass>
@@ -2811,7 +2811,7 @@
 			</model>
 		<model name='part72.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d72'>
 			<inertial>
 			<mass>0</mass>
@@ -2850,7 +2850,7 @@
 			</model>
 		<model name='part73.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d73'>
 			<inertial>
 			<mass>0</mass>
@@ -2889,7 +2889,7 @@
 			</model>
 		<model name='part74.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d74'>
 			<inertial>
 			<mass>0</mass>
@@ -2928,7 +2928,7 @@
 			</model>
 		<model name='part75.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d75'>
 			<inertial>
 			<mass>0</mass>
@@ -2967,7 +2967,7 @@
 			</model>
 		<model name='part76.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d76'>
 			<inertial>
 			<mass>0</mass>
@@ -3006,7 +3006,7 @@
 			</model>
 		<model name='part77.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d77'>
 			<inertial>
 			<mass>0</mass>
@@ -3045,7 +3045,7 @@
 			</model>
 		<model name='part78.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d78'>
 			<inertial>
 			<mass>0</mass>
@@ -3084,7 +3084,7 @@
 			</model>
 		<model name='part79.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d79'>
 			<inertial>
 			<mass>0</mass>
@@ -3123,7 +3123,7 @@
 			</model>
 		<model name='part80.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d80'>
 			<inertial>
 			<mass>0</mass>
@@ -3162,7 +3162,7 @@
 			</model>
 		<model name='part81.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d81'>
 			<inertial>
 			<mass>0</mass>
@@ -3201,7 +3201,7 @@
 			</model>
 		<model name='part82.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d82'>
 			<inertial>
 			<mass>0</mass>
@@ -3240,7 +3240,7 @@
 			</model>
 		<model name='part83.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d83'>
 			<inertial>
 			<mass>0</mass>
@@ -3279,7 +3279,7 @@
 			</model>
 		<model name='part84.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d84'>
 			<inertial>
 			<mass>0</mass>
@@ -3318,7 +3318,7 @@
 			</model>
 		<model name='part85.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d85'>
 			<inertial>
 			<mass>0</mass>
@@ -3357,7 +3357,7 @@
 			</model>
 		<model name='part86.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d86'>
 			<inertial>
 			<mass>0</mass>
@@ -3396,7 +3396,7 @@
 			</model>
 		<model name='part87.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d87'>
 			<inertial>
 			<mass>0</mass>
@@ -3435,7 +3435,7 @@
 			</model>
 		<model name='part88.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d88'>
 			<inertial>
 			<mass>0</mass>
@@ -3474,7 +3474,7 @@
 			</model>
 		<model name='part89.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d89'>
 			<inertial>
 			<mass>0</mass>
@@ -3513,7 +3513,7 @@
 			</model>
 		<model name='part90.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d90'>
 			<inertial>
 			<mass>0</mass>
@@ -3552,7 +3552,7 @@
 			</model>
 		<model name='part91.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d91'>
 			<inertial>
 			<mass>0</mass>
@@ -3591,7 +3591,7 @@
 			</model>
 		<model name='part92.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d92'>
 			<inertial>
 			<mass>0</mass>
@@ -3630,7 +3630,7 @@
 			</model>
 		<model name='part93.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d93'>
 			<inertial>
 			<mass>0</mass>
@@ -3669,7 +3669,7 @@
 			</model>
 		<model name='part94.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d94'>
 			<inertial>
 			<mass>0</mass>
@@ -3708,7 +3708,7 @@
 			</model>
 		<model name='part95.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d95'>
 			<inertial>
 			<mass>0</mass>
@@ -3747,7 +3747,7 @@
 			</model>
 		<model name='part96.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d96'>
 			<inertial>
 			<mass>0</mass>
@@ -3786,7 +3786,7 @@
 			</model>
 		<model name='part97.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d97'>
 			<inertial>
 			<mass>0</mass>
@@ -3825,7 +3825,7 @@
 			</model>
 		<model name='part98.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d98'>
 			<inertial>
 			<mass>0</mass>
@@ -3864,7 +3864,7 @@
 			</model>
 		<model name='part99.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d99'>
 			<inertial>
 			<mass>0</mass>
@@ -3903,7 +3903,7 @@
 			</model>
 		<model name='part100.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d100'>
 			<inertial>
 			<mass>0</mass>
@@ -3942,7 +3942,7 @@
 			</model>
 		<model name='part101.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d101'>
 			<inertial>
 			<mass>0</mass>
@@ -3981,7 +3981,7 @@
 			</model>
 		<model name='part102.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d102'>
 			<inertial>
 			<mass>0</mass>
@@ -4020,7 +4020,7 @@
 			</model>
 		<model name='part103.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d103'>
 			<inertial>
 			<mass>0</mass>
@@ -4059,7 +4059,7 @@
 			</model>
 		<model name='part104.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d104'>
 			<inertial>
 			<mass>0</mass>
@@ -4098,7 +4098,7 @@
 			</model>
 		<model name='part105.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d105'>
 			<inertial>
 			<mass>0</mass>
@@ -4138,7 +4138,7 @@
 		
 		<model name='part109.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d109'>
 			<inertial>
 			<mass>0</mass>
@@ -4178,7 +4178,7 @@
 	
 		<model name='part111.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d111'>
 			<inertial>
 			<mass>0</mass>
@@ -4217,7 +4217,7 @@
 			</model>
 		<model name='part112.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d112'>
 			<inertial>
 			<mass>0</mass>
@@ -4256,7 +4256,7 @@
 			</model>
 		<model name='part113.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d113'>
 			<inertial>
 			<mass>0</mass>
@@ -4295,7 +4295,7 @@
 			</model>
 		<model name='part114.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d114'>
 			<inertial>
 			<mass>0</mass>
@@ -4334,7 +4334,7 @@
 			</model>
 		<model name='part115.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d115'>
 			<inertial>
 			<mass>0</mass>
@@ -4373,7 +4373,7 @@
 			</model>
 		<model name='part116.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d116'>
 			<inertial>
 			<mass>0</mass>
@@ -4412,7 +4412,7 @@
 			</model>
 		<model name='part117.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d117'>
 			<inertial>
 			<mass>0</mass>
@@ -4451,7 +4451,7 @@
 			</model>
 		<model name='part118.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d118'>
 			<inertial>
 			<mass>0</mass>
@@ -4490,7 +4490,7 @@
 			</model>
 		<model name='part119.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d119'>
 			<inertial>
 			<mass>0</mass>
@@ -4529,7 +4529,7 @@
 			</model>
 		<model name='part120.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d120'>
 			<inertial>
 			<mass>0</mass>
@@ -4568,7 +4568,7 @@
 			</model>
 		<model name='part121.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d121'>
 			<inertial>
 			<mass>0</mass>
@@ -4607,7 +4607,7 @@
 			</model>
 		<model name='part122.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d122'>
 			<inertial>
 			<mass>0</mass>
@@ -4646,7 +4646,7 @@
 			</model>
 		<model name='part123.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d123'>
 			<inertial>
 			<mass>0</mass>
@@ -4685,7 +4685,7 @@
 			</model>
 		<model name='part124.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d124'>
 			<inertial>
 			<mass>0</mass>
@@ -4724,7 +4724,7 @@
 			</model>
 		<model name='part125.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d125'>
 			<inertial>
 			<mass>0</mass>
@@ -4763,7 +4763,7 @@
 			</model>
 		<model name='part126.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d126'>
 			<inertial>
 			<mass>0</mass>
@@ -4802,7 +4802,7 @@
 			</model>
 		<model name='part127.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d127'>
 			<inertial>
 			<mass>0</mass>
@@ -4841,7 +4841,7 @@
 			</model>
 		<model name='part128.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d128'>
 			<inertial>
 			<mass>0</mass>
@@ -4880,7 +4880,7 @@
 			</model>
 		<model name='part129.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d129'>
 			<inertial>
 			<mass>0</mass>
@@ -4919,7 +4919,7 @@
 			</model>
 		<model name='part130.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d130'>
 			<inertial>
 			<mass>0</mass>
@@ -4958,7 +4958,7 @@
 			</model>
 		<model name='part131.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d131'>
 			<inertial>
 			<mass>0</mass>
@@ -4997,7 +4997,7 @@
 			</model>
 		<model name='part132.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d132'>
 			<inertial>
 			<mass>0</mass>
@@ -5036,7 +5036,7 @@
 			</model>
 		<model name='part133.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d133'>
 			<inertial>
 			<mass>0</mass>
@@ -5075,7 +5075,7 @@
 			</model>
 		<model name='part134.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d134'>
 			<inertial>
 			<mass>0</mass>
@@ -5114,7 +5114,7 @@
 			</model>
 		<model name='part135.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d135'>
 			<inertial>
 			<mass>0</mass>
@@ -5153,7 +5153,7 @@
 			</model>
 		<model name='part136.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d136'>
 			<inertial>
 			<mass>0</mass>
@@ -5192,7 +5192,7 @@
 			</model>
 		<model name='part137.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d137'>
 			<inertial>
 			<mass>0</mass>
@@ -5231,7 +5231,7 @@
 			</model>
 		<model name='part138.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d138'>
 			<inertial>
 			<mass>0</mass>
@@ -5270,7 +5270,7 @@
 			</model>
 		<model name='part139.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d139'>
 			<inertial>
 			<mass>0</mass>
@@ -5309,7 +5309,7 @@
 			</model>
 		<model name='part140.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d140'>
 			<inertial>
 			<mass>0</mass>
@@ -5348,7 +5348,7 @@
 			</model>
 		<model name='part141.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d141'>
 			<inertial>
 			<mass>0</mass>
@@ -5387,7 +5387,7 @@
 			</model>
 		<model name='part142.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d142'>
 			<inertial>
 			<mass>0</mass>
@@ -5426,7 +5426,7 @@
 			</model>
 		<model name='part143.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d143'>
 			<inertial>
 			<mass>0</mass>
@@ -5465,7 +5465,7 @@
 			</model>
 		<model name='part144.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d144'>
 			<inertial>
 			<mass>0</mass>
@@ -5504,7 +5504,7 @@
 			</model>
 		<model name='part145.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d145'>
 			<inertial>
 			<mass>0</mass>
@@ -5543,7 +5543,7 @@
 			</model>
 		<model name='part146.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d146'>
 			<inertial>
 			<mass>0</mass>
@@ -5574,7 +5574,7 @@
 			</model>
 		<model name='part147.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d147'>
 			<inertial>
 			<mass>0</mass>
@@ -5613,7 +5613,7 @@
 			</model>
 		<model name='part148.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d148'>
 			<inertial>
 			<mass>0</mass>
@@ -5652,7 +5652,7 @@
 			</model>
 		<model name='part149.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d149'>
 			<inertial>
 			<mass>0</mass>
@@ -5691,7 +5691,7 @@
 			</model>
 		<model name='part150.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d150'>
 			<inertial>
 			<mass>0</mass>
@@ -5730,7 +5730,7 @@
 			</model>
 		<model name='part151.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d151'>
 			<inertial>
 			<mass>0</mass>
@@ -5769,7 +5769,7 @@
 			</model>
 		<model name='part152.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d152'>
 			<inertial>
 			<mass>0</mass>
@@ -5808,7 +5808,7 @@
 			</model>
 		<model name='part153.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d153'>
 			<inertial>
 			<mass>0</mass>
@@ -5847,7 +5847,7 @@
 			</model>
 		<model name='part154.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d154'>
 			<inertial>
 			<mass>0</mass>
@@ -5886,7 +5886,7 @@
 			</model>
 		<model name='part155.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d155'>
 			<inertial>
 			<mass>0</mass>
@@ -5925,7 +5925,7 @@
 			</model>
 		<model name='part156.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d156'>
 			<inertial>
 			<mass>0</mass>
@@ -5964,7 +5964,7 @@
 			</model>
 		<model name='part157.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d157'>
 			<inertial>
 			<mass>0</mass>
@@ -6003,7 +6003,7 @@
 			</model>
 		<model name='part158.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d158'>
 			<inertial>
 			<mass>0</mass>
@@ -6042,7 +6042,7 @@
 			</model>
 		<model name='part159.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d159'>
 			<inertial>
 			<mass>0</mass>
@@ -6081,7 +6081,7 @@
 			</model>
 		<model name='part160.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d160'>
 			<inertial>
 			<mass>0</mass>
@@ -6120,7 +6120,7 @@
 			</model>
 		<model name='part161.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d161'>
 			<inertial>
 			<mass>0</mass>
@@ -6159,7 +6159,7 @@
 			</model>
 		<model name='part162.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d162'>
 			<inertial>
 			<mass>0</mass>
@@ -6198,7 +6198,7 @@
 			</model>
 		<model name='part163.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d163'>
 			<inertial>
 			<mass>0</mass>
@@ -6237,7 +6237,7 @@
 			</model>
 		<model name='part164.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d164'>
 			<inertial>
 			<mass>0</mass>
@@ -6276,7 +6276,7 @@
 			</model>
 		<model name='part165.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d165'>
 			<inertial>
 			<mass>0</mass>
@@ -6315,7 +6315,7 @@
 			</model>
 		<model name='part166.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d166'>
 			<inertial>
 			<mass>0</mass>
@@ -6354,7 +6354,7 @@
 			</model>
 		<model name='part167.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d167'>
 			<inertial>
 			<mass>0</mass>
@@ -6393,7 +6393,7 @@
 			</model>
 		<model name='part168.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d168'>
 			<inertial>
 			<mass>0</mass>
@@ -6432,7 +6432,7 @@
 			</model>
 		<model name='part169.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d169'>
 			<inertial>
 			<mass>0</mass>
@@ -6471,7 +6471,7 @@
 			</model>
 		<model name='part170.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d170'>
 			<inertial>
 			<mass>0</mass>
@@ -6510,7 +6510,7 @@
 			</model>
 		<model name='part171.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d171'>
 			<inertial>
 			<mass>0</mass>
@@ -6549,7 +6549,7 @@
 			</model>
 		<model name='part172.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d172'>
 			<inertial>
 			<mass>0</mass>
@@ -6588,7 +6588,7 @@
 			</model>
 		<model name='part173.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d173'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/kuka_iiwa/kuka_with_gripper.sdf b/data/kuka_iiwa/kuka_with_gripper.sdf
index fd8ba3554b..4d2a07ec69 100644
--- a/data/kuka_iiwa/kuka_with_gripper.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -462,9 +462,9 @@
       <child>base_link</child>
     </joint>
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -476,7 +476,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -511,9 +511,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -544,9 +544,9 @@
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -558,7 +558,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -573,7 +573,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,9 +606,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -620,7 +620,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -635,7 +635,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -664,9 +664,9 @@
       </axis>
     </joint>
     <link name='right_finger'>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -678,7 +678,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -697,9 +697,9 @@
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -711,7 +711,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -726,7 +726,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -759,9 +759,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -773,7 +773,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -788,7 +788,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kuka_iiwa/kuka_with_gripper2.sdf b/data/kuka_iiwa/kuka_with_gripper2.sdf
index 9c3787bcba..d9ef5197f2 100644
--- a/data/kuka_iiwa/kuka_with_gripper2.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -468,9 +468,9 @@
     
     
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -482,7 +482,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -496,7 +496,7 @@
         </material>
       </visual>
         <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -531,9 +531,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -545,7 +545,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -559,7 +559,7 @@
         </material>
       </visual>
        <collision name='left_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -577,9 +577,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -591,7 +591,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,7 +606,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -639,9 +639,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -653,7 +653,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -668,7 +668,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -701,9 +701,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -715,7 +715,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -729,7 +729,7 @@
         </material>
       </visual>
       <collision name='right_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -752,9 +752,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -766,7 +766,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -781,7 +781,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -814,9 +814,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -828,7 +828,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -843,7 +843,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kuka_iiwa/kuka_world.sdf b/data/kuka_iiwa/kuka_world.sdf
index d48d513828..3292b4b2e0 100644
--- a/data/kuka_iiwa/kuka_world.sdf
+++ b/data/kuka_iiwa/kuka_world.sdf
@@ -6,9 +6,9 @@
       <child>lbr_iiwa_link_0</child>
     </joint>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0.01</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -20,7 +20,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -29,7 +29,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -39,9 +39,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -53,7 +53,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -62,7 +62,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -92,9 +92,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -106,7 +106,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -115,7 +115,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -145,9 +145,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -168,7 +168,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -198,9 +198,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -212,7 +212,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -221,7 +221,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -251,9 +251,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,7 +274,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -304,9 +304,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -318,7 +318,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -327,7 +327,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -357,9 +357,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -371,7 +371,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -380,7 +380,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/kuka_iiwa/model.sdf b/data/kuka_iiwa/model.sdf
index a93d09c507..4eb2c9c975 100644
--- a/data/kuka_iiwa/model.sdf
+++ b/data/kuka_iiwa/model.sdf
@@ -1,11 +1,11 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
-  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+  <pose>0 -2.3 0.7 0 0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -17,7 +17,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -26,7 +26,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -42,9 +42,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -56,7 +56,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -65,7 +65,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -101,9 +101,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -115,7 +115,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -124,7 +124,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -160,9 +160,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -174,7 +174,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -183,7 +183,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -219,9 +219,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -233,7 +233,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -242,7 +242,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -278,9 +278,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -292,7 +292,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -301,7 +301,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -337,9 +337,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -351,7 +351,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -360,7 +360,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -396,9 +396,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -410,7 +410,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -419,7 +419,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/kuka_iiwa/model2.sdf b/data/kuka_iiwa/model2.sdf
index 117357cf44..ea244b8ac5 100644
--- a/data/kuka_iiwa/model2.sdf
+++ b/data/kuka_iiwa/model2.sdf
@@ -2,9 +2,9 @@
 <world name='default'>
   <model name='lbr_iiwa'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -16,7 +16,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -25,7 +25,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -35,9 +35,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -49,7 +49,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -88,9 +88,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -102,7 +102,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -111,7 +111,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -141,9 +141,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -155,7 +155,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -164,7 +164,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -194,9 +194,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -208,7 +208,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -217,7 +217,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,9 +247,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -261,7 +261,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -270,7 +270,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -300,9 +300,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -314,7 +314,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -323,7 +323,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -353,9 +353,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -367,7 +367,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -376,7 +376,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -408,11 +408,11 @@
   </model>
   
   <model name='lbr_iiwa'>
-    <pose frame=''>2 2 0 0 -0 0</pose>
+    <pose>2 2 0 0 -0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -424,7 +424,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -433,7 +433,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -443,9 +443,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -457,7 +457,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -466,7 +466,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -496,9 +496,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -510,7 +510,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -519,7 +519,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -549,9 +549,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -563,7 +563,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -572,7 +572,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -602,9 +602,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -616,7 +616,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -625,7 +625,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -655,9 +655,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -669,7 +669,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -678,7 +678,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -708,9 +708,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -722,7 +722,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -731,7 +731,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -761,9 +761,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -775,7 +775,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -784,7 +784,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/reduced_beam/K_r_diag_mat.bin b/data/reduced_beam/K_r_diag_mat.bin
new file mode 100644
index 0000000000..fab13e5648
Binary files /dev/null and b/data/reduced_beam/K_r_diag_mat.bin differ
diff --git a/data/reduced_beam/M_diag_mat.bin b/data/reduced_beam/M_diag_mat.bin
new file mode 100644
index 0000000000..9e505c3733
Binary files /dev/null and b/data/reduced_beam/M_diag_mat.bin differ
diff --git a/data/reduced_beam/M_r_diag_mat.bin b/data/reduced_beam/M_r_diag_mat.bin
new file mode 100644
index 0000000000..bb80034a4b
Binary files /dev/null and b/data/reduced_beam/M_r_diag_mat.bin differ
diff --git a/data/reduced_beam/beam_mesh.vtk b/data/reduced_beam/beam_mesh.vtk
new file mode 100644
index 0000000000..cbab3e1a29
--- /dev/null
+++ b/data/reduced_beam/beam_mesh.vtk
@@ -0,0 +1,83 @@
+#vtk DataFile Version 2.0
+I don't think this matters
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 28 double
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diff --git a/data/reduced_beam/beam_mesh_origin.vtk b/data/reduced_beam/beam_mesh_origin.vtk
new file mode 100644
index 0000000000..95d579d950
--- /dev/null
+++ b/data/reduced_beam/beam_mesh_origin.vtk
@@ -0,0 +1,83 @@
+#vtk DataFile Version 2.0
+I don't think this matters
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 28 double
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diff --git a/data/reduced_beam/eigenvalues.bin b/data/reduced_beam/eigenvalues.bin
new file mode 100644
index 0000000000..81e43677a8
Binary files /dev/null and b/data/reduced_beam/eigenvalues.bin differ
diff --git a/data/reduced_beam/modes.bin b/data/reduced_beam/modes.bin
new file mode 100644
index 0000000000..6e8239b836
Binary files /dev/null and b/data/reduced_beam/modes.bin differ
diff --git a/data/reduced_beam/reduced_beam.urdf b/data/reduced_beam/reduced_beam.urdf
new file mode 100644
index 0000000000..88381795e6
--- /dev/null
+++ b/data/reduced_beam/reduced_beam.urdf
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_beam">
+    <num_modes value="20"/>
+    <mass value="1"/>
+    <stiffness_scale value="100"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.0"/>
+    <visual filename="beam_mesh_origin.vtk"/>
+  </reduced_deformable>
+</robot>
diff --git a/data/reduced_cube/K_r_diag_mat.bin b/data/reduced_cube/K_r_diag_mat.bin
new file mode 100644
index 0000000000..3894184a9b
Binary files /dev/null and b/data/reduced_cube/K_r_diag_mat.bin differ
diff --git a/data/reduced_cube/M_diag_mat.bin b/data/reduced_cube/M_diag_mat.bin
new file mode 100644
index 0000000000..fb6c5ce377
Binary files /dev/null and b/data/reduced_cube/M_diag_mat.bin differ
diff --git a/data/reduced_cube/M_r_diag_mat.bin b/data/reduced_cube/M_r_diag_mat.bin
new file mode 100644
index 0000000000..62f64ba7bd
Binary files /dev/null and b/data/reduced_cube/M_r_diag_mat.bin differ
diff --git a/data/reduced_cube/cube_mesh.vtk b/data/reduced_cube/cube_mesh.vtk
new file mode 100644
index 0000000000..ccec00b32e
--- /dev/null
+++ b/data/reduced_cube/cube_mesh.vtk
@@ -0,0 +1,1134 @@
+#vtk DataFile Version 2.0
+I don't think this matters
+ASCII
+DATASET UNSTRUCTURED_GRID
+POINTS 252 double
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diff --git a/data/reduced_cube/deform_cube.urdf b/data/reduced_cube/deform_cube.urdf
new file mode 100644
index 0000000000..3faef357ac
--- /dev/null
+++ b/data/reduced_cube/deform_cube.urdf
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <deformable name="cube">
+    <inertial>
+      <mass value="10" />
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+    <collision_margin value="0.006"/>
+    <repulsion_stiffness value="800.0"/>
+    <friction value= "0.5"/>
+    <neohookean mu= "180" lambda= "600" damping= "0.01" />
+    <visual filename="cube_mesh.vtk"/>
+  </deformable>
+</robot>
\ No newline at end of file
diff --git a/data/reduced_cube/eigenvalues.bin b/data/reduced_cube/eigenvalues.bin
new file mode 100644
index 0000000000..5c378ccded
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diff --git a/data/reduced_cube/modes.bin b/data/reduced_cube/modes.bin
new file mode 100644
index 0000000000..d8fd6cea8d
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diff --git a/data/reduced_cube/reduced_cube.urdf b/data/reduced_cube/reduced_cube.urdf
new file mode 100644
index 0000000000..552cbd4a5e
--- /dev/null
+++ b/data/reduced_cube/reduced_cube.urdf
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_cube">
+    <num_modes value="20"/>
+    <mass value="10"/>
+    <stiffness_scale value="100"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.0"/>
+    <visual filename="cube_mesh.vtk"/>
+  </reduced_deformable>
+</robot>
diff --git a/data/reduced_torus/K_r_diag_mat.bin b/data/reduced_torus/K_r_diag_mat.bin
new file mode 100644
index 0000000000..baa768f515
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diff --git a/data/reduced_torus/M_diag_mat.bin b/data/reduced_torus/M_diag_mat.bin
new file mode 100644
index 0000000000..e35822c495
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diff --git a/data/reduced_torus/M_r_diag_mat.bin b/data/reduced_torus/M_r_diag_mat.bin
new file mode 100644
index 0000000000..ddf8e50038
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diff --git a/data/reduced_torus/eigenvalues.bin b/data/reduced_torus/eigenvalues.bin
new file mode 100644
index 0000000000..208f1cf3e5
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diff --git a/data/reduced_torus/modes.bin b/data/reduced_torus/modes.bin
new file mode 100644
index 0000000000..ae8b826db2
Binary files /dev/null and b/data/reduced_torus/modes.bin differ
diff --git a/data/reduced_torus/reduced_torus.urdf b/data/reduced_torus/reduced_torus.urdf
new file mode 100644
index 0000000000..16b23470aa
--- /dev/null
+++ b/data/reduced_torus/reduced_torus.urdf
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot name="reduced_cube">
+  <reduced_deformable name="reduced_cube">
+    <num_modes value="20"/>
+    <mass value="10"/>
+    <stiffness_scale value="10"/>
+    <collision_margin value="0.01"/>
+    <erp value= "0.2"/>
+    <cfm value= "0.2"/>
+    <friction value= "0.5"/>
+    <damping_coefficient value="0.00001"/>
+    <visual filename="torus_textured.obj"/>
+    <collision filename="torus_mesh.vtk"/>
+  </reduced_deformable>
+</robot>
diff --git a/data/reduced_torus/torus_mesh.vtk b/data/reduced_torus/torus_mesh.vtk
new file mode 100644
index 0000000000..a06ef20612
--- /dev/null
+++ b/data/reduced_torus/torus_mesh.vtk
@@ -0,0 +1,9917 @@
+# vtk DataFile Version 2.0
+torus_, Created by Gmsh
+ASCII
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diff --git a/data/reduced_torus/torus_mesh_visual.vtk b/data/reduced_torus/torus_mesh_visual.vtk
new file mode 100644
index 0000000000..a06ef20612
--- /dev/null
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diff --git a/data/reduced_torus/torus_textured.obj b/data/reduced_torus/torus_textured.obj
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index 0000000000..ede99fd1d2
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+f 498/514/35 101/101/35 183/183/35
+f 166/166/238 87/87/238 164/164/238
+f 176/176/83 287/287/83 203/203/83
+f 442/454/192 342/342/192 441/453/192
+f 205/205/84 246/246/84 178/178/84
+f 167/167/80 239/239/80 174/174/80
+f 170/170/81 253/253/81 187/187/81
+f 210/210/86 187/187/86 253/253/86
+f 16/16/8 55/55/8 51/51/8
+f 55/55/4 16/16/4 34/34/4
+f 378/384/121 252/252/121 377/383/121
+f 46/46/7 48/48/7 17/17/7
+f 22/22/3 17/17/3 48/48/3
+f 478/492/229 480/494/229 468/482/229
+f 242/242/81 170/170/81 174/174/81
+f 170/170/81 242/242/81 253/253/81
+f 13/13/1 25/25/1 18/18/1
+f 39/39/1 13/13/1 18/18/1
+f 494/509/231 489/504/231 496/511/231
+f 241/241/121 243/243/121 389/395/121
+f 389/395/121 377/383/121 241/241/121
+f 377/383/121 252/252/121 241/241/121
+f 391/397/149 296/296/149 294/294/149
+f 301/301/149 391/397/149 294/294/149
+f 463/476/209 445/498/209 422/516/209
+f 433/444/226 472/486/226 461/474/226
+f 491/506/229 496/511/229 468/482/229
+f 497/512/230 487/502/230 481/495/230
+f 481/495/230 495/510/230 497/512/230
+f 475/489/228 492/507/228 493/508/228
+f 487/502/228 497/512/228 492/507/228
+f 475/489/228 487/502/228 492/507/228
+f 25/25/1 13/13/1 3/3/1
+f 25/25/3 6/6/3 17/17/3
+f 25/25/3 17/17/3 22/22/3
+f 25/25/239 3/3/239 6/6/239
+f 501/518/4 7/7/4 35/35/4
+f 34/34/4 501/518/4 35/35/4
+f 16/16/8 51/51/8 62/62/8
+f 16/16/4 7/7/4 501/518/4
+f 34/34/4 16/16/4 501/518/4
+f 40/40/15 90/90/15 36/36/15
+f 36/36/15 90/90/15 66/66/15
+f 40/40/15 81/81/15 90/90/15
+f 100/100/240 183/183/240 101/101/240
+f 129/129/37 180/180/37 95/95/37
+f 415/423/176 342/342/176 442/454/176
+f 31/31/12 97/97/12 500/517/12
+f 31/31/12 500/517/12 32/32/12
+f 44/44/12 97/97/12 31/31/12
+f 484/499/223 452/464/223 450/462/223
+f 165/165/78 185/185/78 297/297/78
+f 297/297/77 295/295/77 165/165/77
+f 239/239/80 244/244/80 174/174/80
+f 244/244/81 242/242/81 174/174/81
+f 208/208/85 185/185/85 184/184/85
+f 292/292/85 185/185/85 208/208/85
+f 210/210/86 253/253/86 251/251/86
+f 256/256/99 205/205/99 217/217/99
+f 208/208/100 207/207/100 219/219/100
+f 208/208/100 219/219/100 285/285/100
+f 259/259/101 221/221/101 210/210/101
+f 389/395/119 243/243/119 237/237/119
+f 250/250/129 252/252/129 260/260/129
+f 264/264/241 258/258/241 260/260/241
+f 386/392/149 296/296/149 391/397/149
+f 388/394/147 353/353/147 296/296/147
+f 388/394/149 296/296/149 386/392/149
+f 451/463/195 351/351/195 387/393/195
+f 457/469/224 493/508/224 427/436/224
+f 476/490/224 493/508/224 457/469/224
+f 427/436/224 493/508/224 469/483/224
+f 476/490/228 475/489/228 493/508/228
+f 496/511/242 489/504/242 468/482/242
+f 489/504/243 478/492/243 468/482/243
+f 394/400/197 428/438/197 392/398/197
diff --git a/data/stadium.sdf b/data/stadium.sdf
index 585b4eb167..2e212ab1ff 100644
--- a/data/stadium.sdf
+++ b/data/stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='roboschool/models_outdoor/stadium/part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/threecubes/newsdf.sdf b/data/threecubes/newsdf.sdf
index b30db2f162..456c5ad173 100644
--- a/data/threecubes/newsdf.sdf
+++ b/data/threecubes/newsdf.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -42,7 +42,7 @@
 			</model>
 		<model name='part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -81,7 +81,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index 0a1d0973c8..acaa739cf5 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -3,7 +3,7 @@
     <light name='sun' type='directional'>
      <yunfei>99.2</yunfei> 
 	<cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
+      <pose>0 0 10 0 -0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>
       <attenuation>
@@ -87,7 +87,7 @@
     </spherical_coordinates>
     <model name='unit_box_0'>
  <static>1</static>
-      <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
+      <pose>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
       
         <inertial>
@@ -142,7 +142,7 @@
       </link>
     </model>
     <model name='unit_box_0_clone'>
-      <pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
+      <pose>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>1</mass>
@@ -197,42 +197,42 @@
       <wall_time>1462824251 956472000</wall_time>
       <iterations>0</iterations>
       <model name='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
+          <pose>0 0 0 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0'>
-        <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
           <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
           <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0_clone'>
-        <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <light name='sun'>
-        <pose frame=''>0 0 10 0 -0 0</pose>
+        <pose>0 0 10 0 -0 0</pose>
       </light>
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
+        <pose>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index e4d591cece..eaaf62c241 100644
Binary files a/docs/pybullet_quickstartguide.pdf and b/docs/pybullet_quickstartguide.pdf differ
diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt
index 5dd3b98933..7a08fd2d7c 100644
--- a/examples/BasicDemo/CMakeLists.txt
+++ b/examples/BasicDemo/CMakeLists.txt
@@ -84,7 +84,8 @@ ELSE(WIN32)
                 ADD_DEFINITIONS("-DGLEW_STATIC")
                 ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-                LINK_LIBRARIES(  pthread ${DL} )
+                FIND_PACKAGE(Threads)
+                LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
         ENDIF(APPLE)
 ENDIF(WIN32)
 
diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp
index 9952759163..d9dcdc5a3c 100644
--- a/examples/Benchmarks/BenchmarkDemo.cpp
+++ b/examples/Benchmarks/BenchmarkDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Benchmarks/BenchmarkDemo.h b/examples/Benchmarks/BenchmarkDemo.h
index 3bac496466..add603c123 100644
--- a/examples/Benchmarks/BenchmarkDemo.h
+++ b/examples/Benchmarks/BenchmarkDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 4ba413ef56..2d4500374d 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -52,6 +52,8 @@ struct GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid) { return -1; }
 	virtual void replaceTexture(int shapeIndex, int textureUid) {}
 	virtual void removeTexture(int textureUid) {}
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
+	
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface() = 0;
 
@@ -110,6 +112,7 @@ struct GUIHelperInterface
 
 	virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid) { return -1; }
 	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid) { return -1; };
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum) { return -1; };
 	virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue) { return -1; };
 	virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0; }
 
@@ -123,6 +126,7 @@ struct GUIHelperInterface
 	virtual void dumpFramesToVideo(const char* mp4FileName){};
 	virtual void drawDebugDrawerLines(){}
 	virtual void clearLines(){}
+	virtual bool isRemoteVisualizer() { return false; }
 };
 
 ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')
@@ -216,6 +220,10 @@ struct DummyGUIHelper : public GUIHelperInterface
 	{
 		return -1;
 	}
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum)
+	{
+		return -1;
+	};
 	virtual void removeUserDebugItem(int debugItemUniqueId)
 	{
 	}
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 25bf828524..01f5499edd 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -56,6 +56,8 @@ struct CommonRenderInterface
 
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setBackgroundColor(const double rgbBackground[3]) = 0;
+	
 	virtual void setShadowMapResolution(int shadowMapResolution) = 0;
 	virtual void setShadowMapIntensity(double shadowMapIntensity) = 0;
 	
@@ -78,6 +80,7 @@ struct CommonRenderInterface
 	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
 	virtual void drawPoint(const float* position, const float color[4], float pointDrawSize) = 0;
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize) = 0;
+	virtual void drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize) = 0;
 	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0) = 0;
 
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1) = 0;
diff --git a/examples/Constraints/ConstraintDemo.cpp b/examples/Constraints/ConstraintDemo.cpp
index 092787f2bf..704b9779db 100644
--- a/examples/Constraints/ConstraintDemo.cpp
+++ b/examples/Constraints/ConstraintDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2015 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2015 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Constraints/ConstraintDemo.h b/examples/Constraints/ConstraintDemo.h
index de0061bac8..42feed86a1 100644
--- a/examples/Constraints/ConstraintDemo.h
+++ b/examples/Constraints/ConstraintDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp
index 99180ea0c7..45f19bd402 100644
--- a/examples/DeformableDemo/DeformableSelfCollision.cpp
+++ b/examples/DeformableDemo/DeformableSelfCollision.cpp
@@ -55,7 +55,7 @@ class DeformableSelfCollision : public CommonDeformableBodyBase
         m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
     }
     
-    void addCloth(btVector3 origin);
+    void addCloth(const btVector3& origin);
     
     virtual void renderScene()
     {
@@ -126,7 +126,7 @@ void DeformableSelfCollision::initPhysics()
     getDeformableDynamicsWorld()->setLineSearch(false);
     m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 }
-void DeformableSelfCollision::addCloth(btVector3 origin)
+void DeformableSelfCollision::addCloth(const btVector3& origin)
 // create a piece of cloth
 {
     const btScalar s = 0.6;
diff --git a/examples/DeformableDemo/LoadDeformed.cpp b/examples/DeformableDemo/LoadDeformed.cpp
new file mode 100644
index 0000000000..283c428c08
--- /dev/null
+++ b/examples/DeformableDemo/LoadDeformed.cpp
@@ -0,0 +1,405 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "LoadDeformed.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBody.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include <iostream>
+#include <iomanip> 
+#include <sstream>
+#include <string.h>
+
+struct CustomSoftBodyHelper : public btSoftBodyHelpers
+{
+	static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
+	
+};
+
+static inline bool isSpace(const char c)
+{
+	return (c == ' ') || (c == '\t');
+}
+static inline bool isNewLine(const char c)
+{
+	return (c == '\r') || (c == '\n') || (c == '\0');
+}
+static inline float parseFloat(const char*& token)
+{
+	token += strspn(token, " \t");
+	float f = (float)atof(token);
+	token += strcspn(token, " \t\r");
+	return f;
+}
+static inline void parseFloat3(
+	float& x, float& y, float& z,
+	const char*& token)
+{
+	x = parseFloat(token);
+	y = parseFloat(token);
+	z = parseFloat(token);
+}
+
+
+std::string CustomSoftBodyHelper::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
+{
+	{
+		qs.clear();
+		vs.clear();
+		std::string tmp = filename;
+		std::stringstream err;
+#ifdef USE_STREAM
+		std::ifstream ifs(filename);
+		if (!ifs)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#else
+		int fileHandle = fileIO->fileOpen(filename, "r");
+		if (fileHandle < 0)
+		{
+			err << "Cannot open file [" << filename << "]" << std::endl;
+			return err.str();
+		}
+#endif
+
+		std::string name;
+
+		int maxchars = 8192;              // Alloc enough size.
+		std::vector<char> buf(maxchars);  // Alloc enough size.
+		std::string linebuf;
+		linebuf.reserve(maxchars);
+
+#ifdef USE_STREAM
+		while (ifs.peek() != -1)
+#else
+		char* line = 0;
+		do
+#endif
+		{
+			linebuf.resize(0);
+#ifdef USE_STREAM
+			safeGetline(ifs, linebuf);
+#else
+			char tmpBuf[1024];
+			line = fileIO->readLine(fileHandle, tmpBuf, 1024);
+			if (line)
+			{
+				linebuf = line;
+			}
+#endif
+			// Trim newline '\r\n' or '\r'
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+			if (linebuf.size() > 0)
+			{
+				if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
+			}
+
+			// Skip if empty line.
+			if (linebuf.empty())
+			{
+				continue;
+			}
+
+			// Skip leading space.
+			const char* token = linebuf.c_str();
+			token += strspn(token, " \t");
+
+			btAssert(token);
+			if (token[0] == '\0') continue;  // empty line
+
+			if (token[0] == '#') continue;  // comment line
+
+			// q
+			if (token[0] == 'q' && isSpace((token[1])))
+			{
+				token += 2;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				qs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// v
+			if (token[0] == 'v' && isSpace((token[1])))
+			{
+				token += 3;
+				float x, y, z;
+				parseFloat3(x, y, z, token);
+				vs.push_back(btVector3(x, y, z));
+				continue;
+			}
+
+			// Ignore unknown command.
+		}
+#ifndef USE_STREAM
+		while (line)
+			;
+#endif
+
+		if (fileHandle >= 0)
+		{
+			fileIO->fileClose(fileHandle);
+		}
+		return err.str();
+	}
+}
+
+
+class LoadDeformed : public CommonDeformableBodyBase
+{
+	int steps;
+	btSoftBody* psb;
+	char filename;
+	int reset_frame;
+	float sim_time;
+
+public:
+	LoadDeformed(struct GUIHelperInterface* helper)
+		: CommonDeformableBodyBase(helper)
+	{
+		steps = 0;
+		psb = nullptr;
+		reset_frame = 0;
+		sim_time = 0;
+	}
+	virtual ~LoadDeformed()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+		float dist = 2;
+		float pitch = -45;
+		float yaw = 100;
+		float targetPos[3] = {0, 0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+
+	void stepSimulation(float deltaTime)
+	{
+		steps++;
+		sim_time += deltaTime;
+		////        int seconds = 1/deltaTime;
+		if (0)
+		{
+			//        if (reset_frame==0 && steps<100){
+			////            printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
+			char filename[100];
+			sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
+			btSoftBodyHelpers::writeState(filename, psb);
+		}
+		if (sim_time + reset_frame * 0.05 >= 5) exit(0);
+		float internalTimeStep = 1. / 240.f;
+		//        float internalTimeStep = 0.1f;
+		m_dynamicsWorld->stepSimulation(deltaTime, deltaTime / internalTimeStep, internalTimeStep);
+	}
+
+	void addCloth(const btVector3& origin);
+
+	virtual void renderScene()
+	{
+		CommonDeformableBodyBase::renderScene();
+		btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+
+		for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+		{
+			btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+			{
+				btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+			}
+		}
+	}
+};
+
+void LoadDeformed::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+	btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+	sol->setDeformableSolver(deformableBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	m_dynamicsWorld->setGravity(gravity);
+	getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	{
+		///create a ground
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
+		groundShape->setMargin(0.02);
+		m_collisionShapes.push_back(groundShape);
+
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0, -3.5, 0));
+		groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+		btScalar mass(0.);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0, 0, 0);
+		if (isDynamic)
+			groundShape->calculateLocalInertia(mass, localInertia);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+		body->setFriction(4);
+
+		//add the ground to the dynamics world
+		m_dynamicsWorld->addRigidBody(body);
+	}
+	addCloth(btVector3(0, 1, 0));
+	getDeformableDynamicsWorld()->setImplicit(false);
+	getDeformableDynamicsWorld()->setLineSearch(false);
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void LoadDeformed::addCloth(const btVector3& origin)
+// create a piece of cloth
+{
+	const btScalar s = 0.6;
+	const btScalar h = 0;
+
+	psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2 * s),
+										 btVector3(+s, h, -2 * s),
+										 btVector3(-s, h, +2 * s),
+										 btVector3(+s, h, +2 * s),
+										 15, 30,
+										 0, true, 0.0);
+
+	psb->getCollisionShape()->setMargin(0.02);
+	psb->generateBendingConstraints(2);
+	psb->setTotalMass(.5);
+	psb->m_cfg.kKHR = 1;  // collision hardness with kinematic objects
+	psb->m_cfg.kCHR = 1;  // collision hardness with rigid body
+	psb->m_cfg.kDF = 0.1;
+	psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
+	btTransform clothTransform;
+	clothTransform.setIdentity();
+	clothTransform.setOrigin(btVector3(0, 0.2, 0) + origin);
+	psb->transform(clothTransform);
+
+	b3BulletDefaultFileIO fileio;
+	char absolute_path[1024];
+	char filename[100];
+	sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
+	fileio.findResourcePath(filename, absolute_path, 1024);
+	btAlignedObjectArray<btVector3> qs;
+	btAlignedObjectArray<btVector3> vs;
+	CustomSoftBodyHelper::loadDeformableState(qs, vs, absolute_path, &fileio);
+	if (reset_frame > 0)
+		psb->updateState(qs, vs);
+	psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
+	psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
+	//    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+	psb->setCollisionFlags(0);
+	psb->setCacheBarycenter(true);
+	getDeformableDynamicsWorld()->addSoftBody(psb);
+	psb->setSelfCollision(false);
+
+	btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.2, true);
+	psb->setSpringStiffness(4);
+	getDeformableDynamicsWorld()->addForce(psb, mass_spring);
+	m_forces.push_back(mass_spring);
+	btVector3 gravity = btVector3(0, -9.8, 0);
+	btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
+	getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+	//    getDeformableDynamicsWorld()->setUseProjection(true);
+	m_forces.push_back(gravity_force);
+}
+
+void LoadDeformed::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+	removePickingConstraint();
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+	// delete forces
+	for (int j = 0; j < m_forces.size(); j++)
+	{
+		btDeformableLagrangianForce* force = m_forces[j];
+		delete force;
+	}
+	m_forces.clear();
+
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options)
+{
+	return new LoadDeformed(options.m_guiHelper);
+}
diff --git a/examples/DeformableDemo/LoadDeformed.h b/examples/DeformableDemo/LoadDeformed.h
new file mode 100644
index 0000000000..b2c1a1598d
--- /dev/null
+++ b/examples/DeformableDemo/LoadDeformed.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _LOAD_DEFORMED_H
+#define _LOAD_DEFORMED_H
+
+class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_LOAD_DEFORMED_H
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 0e92aa2031..6271ca9157 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -61,11 +61,12 @@ IF (BUILD_SHARED_LIBS)
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
                                 ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
                  )
-  			ELSE(APPLE)
+				ELSE(APPLE)
+                 FIND_PACKAGE(Threads)
                  TARGET_LINK_LIBRARIES(
                                 BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
-                                pthread ${DL}
+                                ${CMAKE_THREAD_LIBS_INIT} ${DL}
                         )
         ENDIF(APPLE)
 	ENDIF(WIN32)
@@ -116,7 +117,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 		INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
-		LINK_LIBRARIES( pthread ${DL})
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -377,6 +379,8 @@ SET(BulletExampleBrowser_SRCS
   ../DeformableDemo/Collide.cpp
   ../DeformableDemo/Collide.h
   ../DeformableDemo/LargeDeformation.cpp
+  ../DeformableDemo/LoadDeformed.h
+  ../DeformableDemo/LoadDeformed.cpp
   ../DeformableDemo/LargeDeformation.h
   ../DeformableDemo/DeformableClothAnchor.cpp
   ../DeformableDemo/DeformableClothAnchor.h
@@ -386,6 +390,24 @@ SET(BulletExampleBrowser_SRCS
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp
   ../RigidBody/KinematicRigidBodyExample.cpp
+	../ReducedDeformableDemo/ConservationTest.cpp
+	../ReducedDeformableDemo/ConservationTest.h
+	../ReducedDeformableDemo/Springboard.cpp
+	../ReducedDeformableDemo/Springboard.h
+	../ReducedDeformableDemo/ModeVisualizer.cpp
+	../ReducedDeformableDemo/ModeVisualizer.h
+	../ReducedDeformableDemo/FreeFall.cpp
+	../ReducedDeformableDemo/FreeFall.h
+	../ReducedDeformableDemo/FrictionSlope.cpp
+	../ReducedDeformableDemo/FrictionSlope.h
+	../ReducedDeformableDemo/ReducedCollide.cpp
+	../ReducedDeformableDemo/ReducedCollide.h
+	../ReducedDeformableDemo/ReducedGrasp.cpp
+	../ReducedDeformableDemo/ReducedGrasp.h
+	../ReducedDeformableDemo/ReducedBenchmark.cpp
+	../ReducedDeformableDemo/ReducedBenchmark.h
+	../ReducedDeformableDemo/ReducedMotorGrasp.cpp
+	../ReducedDeformableDemo/ReducedMotorGrasp.h
   ../Constraints/TestHingeTorque.cpp
   ../Constraints/TestHingeTorque.h
   ../Constraints/ConstraintDemo.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 9f8ab035c2..715a4396d6 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -55,6 +55,7 @@
 #include "../DeformableDemo/DeformableMultibody.h"
 #include "../DeformableDemo/VolumetricDeformable.h"
 #include "../DeformableDemo/LargeDeformation.h"
+#include "../DeformableDemo/LoadDeformed.h"
 #include "../DeformableDemo/Collide.h"
 #include "../DeformableDemo/GraspDeformable.h"
 #include "../DeformableDemo/DeformableContact.h"
@@ -72,6 +73,15 @@
 #include "../RoboticsLearning/R2D2GraspExample.h"
 #include "../RoboticsLearning/KukaGraspExample.h"
 #include "../RoboticsLearning/GripperGraspExample.h"
+#include "../ReducedDeformableDemo/ConservationTest.h"
+#include "../ReducedDeformableDemo/ModeVisualizer.h"
+#include "../ReducedDeformableDemo/Springboard.h"
+#include "../ReducedDeformableDemo/FreeFall.h"
+#include "../ReducedDeformableDemo/FrictionSlope.h"
+#include "../ReducedDeformableDemo/ReducedCollide.h"
+#include "../ReducedDeformableDemo/ReducedGrasp.h"
+#include "../ReducedDeformableDemo/ReducedMotorGrasp.h"
+#include "../ReducedDeformableDemo/ReducedBenchmark.h"
 #include "../InverseKinematics/InverseKinematicsExample.h"
 
 #ifdef B3_ENABLE_TINY_AUDIO
@@ -209,11 +219,24 @@ static ExampleEntry gDefaultExamples[] =
         ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
         ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
 		ExampleEntry(1, "Extreme Deformation", "Recovery from extreme deformation", LargeDeformationCreateFunc),
+        ExampleEntry(1, "Load Deformed", "Reconstruct a deformed object", LoadDeformedCreateFunc),
 		ExampleEntry(1, "Colliding Test", "Volumetric deformable collide with rigid box", CollideCreateFunc),
         ExampleEntry(1, "Rigid Cloth Anchor", "Deformable Rigid body Anchor test", DeformableClothAnchorCreateFunc),
         ExampleEntry(1, "Multibody Cloth Anchor", "Deformable Multibody Anchor test", MultibodyClothAnchorCreateFunc),
         ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
         // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
+		
+		ExampleEntry(0, "Reduced Deformabe Body"),
+		ExampleEntry(1, "Mode Visualizer", "Visualizer the modes for reduced deformable objects", ReducedModeVisualizerCreateFunc),
+		ExampleEntry(1, "Reduced Conservation Test", "Momentum conservation test for the reduced deformable objects", ReducedConservationTestCreateFunc),
+		ExampleEntry(1, "Reduced Springboard", "Moving rigid object colliding with a fixed reduced deformable objects", ReducedSpringboardCreateFunc),
+		ExampleEntry(1, "Reduced Free Fall", "Free fall ground contact test for the reduced deformable model", ReducedFreeFallCreateFunc),
+		ExampleEntry(1, "Reduced Collision Test", "Collision between a reduced block and the a rigid block", ReducedCollideCreateFunc),
+		ExampleEntry(1, "Reduced Grasp", "Grasp a reduced deformable block", ReducedGraspCreateFunc),
+		ExampleEntry(1, "Reduced Motor Grasp", "Grasp a reduced deformable block with motor", ReducedMotorGraspCreateFunc),
+		ExampleEntry(1, "Reduced Friction Slope", "Grasp a reduced deformable block", FrictionSlopeCreateFunc),
+		ExampleEntry(1, "Reduced Benchmark", "Reduced deformable performance benchmark example", ReducedBenchmarkCreateFunc),
+		// ExampleEntry(1, "Simple Reduced Deformable Test", "Simple dynamics test for the reduced deformable objects", ReducedBasicTestCreateFunc),
         
 #ifdef INCLUDE_CLOTH_DEMOS
 		ExampleEntry(0, "Soft Body"),
diff --git a/examples/ExampleBrowser/GL_ShapeDrawer.cpp b/examples/ExampleBrowser/GL_ShapeDrawer.cpp
index b6419a5b4d..5bc92adec9 100644
--- a/examples/ExampleBrowser/GL_ShapeDrawer.cpp
+++ b/examples/ExampleBrowser/GL_ShapeDrawer.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/ExampleBrowser/GL_ShapeDrawer.h b/examples/ExampleBrowser/GL_ShapeDrawer.h
index 9eb13bfd35..12c801a9c9 100644
--- a/examples/ExampleBrowser/GL_ShapeDrawer.h
+++ b/examples/ExampleBrowser/GL_ShapeDrawer.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
index b3b6923f02..d6fd7e0b41 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
@@ -1,7 +1,11 @@
 #include "GwenParameterInterface.h"
 #include "gwenInternalData.h"
 #include <cstring>
-
+#ifdef _WIN32 
+#define safe_printf _snprintf
+#else
+#define safe_printf snprintf
+#endif
 struct MyButtonEventHandler : public Gwen::Event::Handler
 {
 	Gwen::Controls::Button* m_buttonControl;
@@ -85,7 +89,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler
 		if (m_showValue)
 		{
 			char txt[1024];
-			snprintf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
+			safe_printf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
 			m_label->SetText(txt);
 		}
 	}
@@ -231,7 +235,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
 	}
 	pSlider->SetValue(*params.m_paramValuePointer);  //dimensions[i] );
 	char labelName[1024];
-	snprintf(labelName, sizeof(labelName), "%s", params.m_name);  //axisNames[0]);
+	safe_printf(labelName, sizeof(labelName), "%s", params.m_name);  //axisNames[0]);
 	MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName, label, pSlider, params.m_paramValuePointer, params.m_callback, params.m_userPointer);
 	handler->m_showValue = params.m_showValues;
 	m_paramInternalData->m_sliderEventHandlers.push_back(handler);
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index a76cdfe5b3..0ff00865d7 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -885,6 +885,20 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	sUseOpenGL2 = args.CheckCmdLineFlag("opengl2");
 	args.GetCmdLineArgument("render_device", gRenderDevice);
 	args.GetCmdLineArgument("window_backend", gWindowBackend);
+
+	int max_num_object_capacity = 128 * 1024;
+	int max_shape_capacity_in_bytes = 128 * 1024 * 1024;
+	if (args.CheckCmdLineFlag("max_num_object_capacity"))
+	{
+		args.GetCmdLineArgument("max_num_object_capacity", max_num_object_capacity);
+	}
+
+	if (args.CheckCmdLineFlag("max_shape_capacity_in_bytes"))
+	{
+		args.GetCmdLineArgument("max_shape_capacity_in_bytes", max_shape_capacity_in_bytes);
+	}
+
+
 #else
 	sUseOpenGL2 = true;
 #endif
@@ -914,7 +928,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	{
 		char title[1024];
 		sprintf(title, "%s using OpenGL3+ %s %s", appTitle, glContext, optMode);
-		simpleApp = new SimpleOpenGL3App(title, width, height, gAllowRetina, gWindowBackend, gRenderDevice);
+		simpleApp = new SimpleOpenGL3App(title, width, height, gAllowRetina, gWindowBackend, gRenderDevice, max_num_object_capacity, max_shape_capacity_in_bytes);
 		s_app = simpleApp;
 	}
 #endif
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 90cec71a65..7df4e932bc 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -236,13 +236,19 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_debugDraw = 0;
 }
 
-OpenGLGuiHelper::~OpenGLGuiHelper()
+
+	OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
 
 	delete m_data;
 }
 
+void OpenGLGuiHelper::setBackgroundColor(const double rgbBackground[3])
+{
+	this->getRenderInterface()->setBackgroundColor(rgbBackground);
+}
+
 struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
 {
 	return m_data->m_glApp->m_renderer;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index abeaa9af1d..c512c21b97 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -36,7 +36,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int getShapeIndexFromInstance(int instanceUid);
 	virtual void replaceTexture(int shapeIndex, int textureUid);
 	virtual void updateShape(int shapeIndex, float* vertices, int numVertices);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index e28676350c..6cceceb4d1 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -182,6 +182,7 @@ project "App_BulletExampleBrowser"
 		"../VoronoiFracture/*",
 		"../SoftDemo/*",
 		"../DeformableDemo/*",
+                "../ReducedDeformableDemo/*",
 		"../RollingFrictionDemo/*",
 		"../rbdl/*",
 		"../FractureDemo/*",
diff --git a/examples/ExtendedTutorials/CompoundBoxes.cpp b/examples/ExtendedTutorials/CompoundBoxes.cpp
index 89ddefb809..c9768e6be6 100644
--- a/examples/ExtendedTutorials/CompoundBoxes.cpp
+++ b/examples/ExtendedTutorials/CompoundBoxes.cpp
@@ -101,7 +101,7 @@ void CompoundBoxesExample::initPhysics()
 #else
 		// recompute the shift to make sure the compound shape is re-aligned
 		for (int i = 0; i < compoundShape->getNumChildShapes(); i++)
-			compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(),
+			compound2->addChildShape(principal.inverse() * compoundShape->getChildTransform(i),
 									 compoundShape->getChildShape(i));
 #endif
 		delete compoundShape;
diff --git a/examples/ForkLift/ForkLiftDemo.cpp b/examples/ForkLift/ForkLiftDemo.cpp
index 8f84b7fc87..6bb03165b9 100644
--- a/examples/ForkLift/ForkLiftDemo.cpp
+++ b/examples/ForkLift/ForkLiftDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/ForkLift/ForkLiftDemo.h b/examples/ForkLift/ForkLiftDemo.h
index 497c2d4c3f..e4a6bb7e0e 100644
--- a/examples/ForkLift/ForkLiftDemo.h
+++ b/examples/ForkLift/ForkLiftDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/FractureDemo/FractureDemo.cpp b/examples/FractureDemo/FractureDemo.cpp
index 8bf44bf35d..24062e56bf 100644
--- a/examples/FractureDemo/FractureDemo.cpp
+++ b/examples/FractureDemo/FractureDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2011 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2011 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/FractureDemo/FractureDemo.h b/examples/FractureDemo/FractureDemo.h
index 3108d2509a..1539dfd69c 100644
--- a/examples/FractureDemo/FractureDemo.h
+++ b/examples/FractureDemo/FractureDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/HelloWorld/HelloWorld.cpp b/examples/HelloWorld/HelloWorld.cpp
index e897bcdd32..8b5fcee4c4 100644
--- a/examples/HelloWorld/HelloWorld.cpp
+++ b/examples/HelloWorld/HelloWorld.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2007 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Importers/ImportBsp/BspConverter.cpp b/examples/Importers/ImportBsp/BspConverter.cpp
index dcf4140183..7b91217ab6 100644
--- a/examples/Importers/ImportBsp/BspConverter.cpp
+++ b/examples/Importers/ImportBsp/BspConverter.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Importers/ImportBsp/BspConverter.h b/examples/Importers/ImportBsp/BspConverter.h
index 20faae66d5..110790bcc2 100644
--- a/examples/Importers/ImportBsp/BspConverter.h
+++ b/examples/Importers/ImportBsp/BspConverter.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Importers/ImportBsp/ImportBspExample.cpp b/examples/Importers/ImportBsp/ImportBspExample.cpp
index 17d5158654..851e518564 100644
--- a/examples/Importers/ImportBsp/ImportBspExample.cpp
+++ b/examples/Importers/ImportBsp/ImportBspExample.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Importers/ImportBsp/ImportBspExample.h b/examples/Importers/ImportBsp/ImportBspExample.h
index 71f6ca9212..4892953bf3 100644
--- a/examples/Importers/ImportBsp/ImportBspExample.h
+++ b/examples/Importers/ImportBsp/ImportBspExample.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index b8142d90af..7ae38f4d35 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -2273,7 +2273,7 @@ int BulletMJCFImporter::getBodyUniqueId() const
 	return m_data->m_activeBodyUniqueId;
 }
 
-static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
+static btCollisionShape* MjcfCreateConvexHullFromShapes(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
 {
 	btCompoundShape* compound = new btCompoundShape();
 	compound->setMargin(collisionMargin);
@@ -2285,7 +2285,7 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t&
 	{
 		btConvexHullShape* convexHull = new btConvexHullShape();
 		convexHull->setMargin(collisionMargin);
-		tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::shape_t& shape = shapes[s];
 
 		int faceCount = shape.mesh.indices.size();
 
@@ -2399,9 +2399,9 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 							}
 							else
 							{
-								std::vector<tinyobj::shape_t> shapes;
-								tinyobj::attrib_t attribute;
-								std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
+								std::vector<bt_tinyobj::shape_t> shapes;
+								bt_tinyobj::attrib_t attribute;
+								std::string err = bt_tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 								//create a convex hull for each shape, and store it in a btCompoundShape
 
 								childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
index 6f13d86b28..954f0bb06e 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -64,8 +64,8 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 		btVector3 shift(0, 0, 0);
 
-		std::vector<tinyobj::shape_t> shapes;
-		tinyobj::attrib_t attribute;
+		std::vector<bt_tinyobj::shape_t> shapes;
+		bt_tinyobj::attrib_t attribute;
 		{
 			B3_PROFILE("tinyobj::LoadObj");
 			std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, pathPrefix, fileIO);
@@ -79,7 +79,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 			//try to load some texture
 			for (int i = 0; meshData.m_textureImage1 == 0 && i < shapes.size(); i++)
 			{
-				const tinyobj::shape_t& shape = shapes[i];
+				const bt_tinyobj::shape_t& shape = shapes[i];
 				meshData.m_rgbaColor[0] = shape.material.diffuse[0];
 				meshData.m_rgbaColor[1] = shape.material.diffuse[1];
 				meshData.m_rgbaColor[2] = shape.material.diffuse[2];
diff --git a/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp b/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
index e5bd6633ca..b78272eb8d 100644
--- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
@@ -11,8 +11,8 @@
 struct CachedObjResult
 {
 	std::string m_msg;
-	std::vector<tinyobj::shape_t> m_shapes;
-	tinyobj::attrib_t m_attribute;
+	std::vector<bt_tinyobj::shape_t> m_shapes;
+	bt_tinyobj::attrib_t m_attribute;
 };
 
 static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
@@ -32,8 +32,8 @@ void b3EnableFileCaching(int enable)
 }
 
 std::string LoadFromCachedOrFromObj(
-	tinyobj::attrib_t& attribute,
-	std::vector<tinyobj::shape_t>& shapes,  // [output]
+	bt_tinyobj::attrib_t& attribute,
+	std::vector<bt_tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,
 	struct CommonFileIOInterface* fileIO)
@@ -47,7 +47,7 @@ std::string LoadFromCachedOrFromObj(
 		return result.m_msg;
 	}
 
-	std::string err = tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
+	std::string err = bt_tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
 	CachedObjResult result;
 	result.m_msg = err;
 	result.m_shapes = shapes;
@@ -62,10 +62,10 @@ std::string LoadFromCachedOrFromObj(
 GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath, struct CommonFileIOInterface* fileIO)
 {
 	B3_PROFILE("LoadMeshFromObj");
-	std::vector<tinyobj::shape_t> shapes;
-	tinyobj::attrib_t attribute;
+	std::vector<bt_tinyobj::shape_t> shapes;
+	bt_tinyobj::attrib_t attribute;
 	{
-		B3_PROFILE("tinyobj::LoadObj2");
+		B3_PROFILE("bt_tinyobj::LoadObj2");
 		std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, materialPrefixPath, fileIO);
 	}
 
diff --git a/examples/Importers/ImportObjDemo/LoadMeshFromObj.h b/examples/Importers/ImportObjDemo/LoadMeshFromObj.h
index 54bc663122..08f5f727e4 100644
--- a/examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+++ b/examples/Importers/ImportObjDemo/LoadMeshFromObj.h
@@ -9,8 +9,8 @@ int b3IsFileCachingEnabled();
 void b3EnableFileCaching(int enable);
 
 std::string LoadFromCachedOrFromObj(
-	tinyobj::attrib_t& attribute,
-	std::vector<tinyobj::shape_t>& shapes,  // [output]
+	bt_tinyobj::attrib_t& attribute,
+	std::vector<bt_tinyobj::shape_t>& shapes,  // [output]
 	const char* filename,
 	const char* mtl_basepath,
 	struct CommonFileIOInterface* fileIO);
diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
index f44030f21c..aa3a23817b 100644
--- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
@@ -9,7 +9,7 @@
 #include "../../OpenGLWindow/GLInstancingRenderer.h"
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 
-GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading)
+GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, bool flatShading)
 {
 	b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
 	{
@@ -19,7 +19,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 
 		for (int s = 0; s < (int)shapes.size(); s++)
 		{
-			tinyobj::shape_t& shape = shapes[s];
+			bt_tinyobj::shape_t& shape = shapes[s];
 			int faceCount = shape.mesh.indices.size();
 
 			for (int f = 0; f < faceCount; f += 3)
@@ -36,7 +36,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx0;
-					tinyobj::index_t v_0 = shape.mesh.indices[f];
+					bt_tinyobj::index_t v_0 = shape.mesh.indices[f];
 					vtx0.xyzw[0] = attribute.vertices[3 * v_0.vertex_index];
 					vtx0.xyzw[1] = attribute.vertices[3 * v_0.vertex_index + 1];
 					vtx0.xyzw[2] = attribute.vertices[3 * v_0.vertex_index + 2];
@@ -65,7 +65,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx1;
-					tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
+					bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
 					vtx1.xyzw[0] = attribute.vertices[3 * v_1.vertex_index];
 					vtx1.xyzw[1] = attribute.vertices[3 * v_1.vertex_index + 1];
 					vtx1.xyzw[2] = attribute.vertices[3 * v_1.vertex_index + 2];
@@ -94,7 +94,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::a
 					}
 
 					GLInstanceVertex vtx2;
-					tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
+					bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
 					vtx2.xyzw[0] = attribute.vertices[3 * v_2.vertex_index];
 					vtx2.xyzw[1] = attribute.vertices[3 * v_2.vertex_index + 1];
 					vtx2.xyzw[2] = attribute.vertices[3 * v_2.vertex_index + 2];
diff --git a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
index 4054b4dabe..4e9a8d52ce 100644
--- a/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
+++ b/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
@@ -4,6 +4,6 @@
 #include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include <vector>
 
-struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
+struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, bool flatShading = false);
 
 #endif  //WAVEFRONT2GRAPHICS_H
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 42cc102f42..e24437d7d7 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -483,6 +483,12 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass, btVect
 }
 
 bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
+{
+	btScalar twistLimit;
+	return getJointInfo3(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity, twistLimit);
+}
+
+bool BulletURDFImporter::getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const
 {
 	jointLowerLimit = 0.f;
 	jointUpperLimit = 0.f;
@@ -510,6 +516,7 @@ bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2jo
 			jointFriction = pj->m_jointFriction;
 			jointMaxForce = pj->m_effortLimit;
 			jointMaxVelocity = pj->m_velocityLimit;
+			twistLimit = pj->m_twistLimit;
 			return true;
 		}
 		else
@@ -540,7 +547,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
 	return true;
 }
 
-static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
+static btCollisionShape* createConvexHullFromShapes(const bt_tinyobj::attrib_t& attribute, std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
 {
 	B3_PROFILE("createConvexHullFromShapes");
 	btCompoundShape* compound = new btCompoundShape();
@@ -553,7 +560,7 @@ static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& att
 	{
 		btConvexHullShape* convexHull = new btConvexHullShape();
 		convexHull->setMargin(gUrdfDefaultCollisionMargin);
-		tinyobj::shape_t& shape = shapes[s];
+		bt_tinyobj::shape_t& shape = shapes[s];
 		int faceCount = shape.mesh.indices.size();
 
 		for (int f = 0; f < faceCount; f += 3)
@@ -747,9 +754,9 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 					}
 					else
 					{
-						std::vector<tinyobj::shape_t> shapes;
-						tinyobj::attrib_t attribute;
-						std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
+						std::vector<bt_tinyobj::shape_t> shapes;
+						bt_tinyobj::attrib_t attribute;
+						std::string err = bt_tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
 						//create a convex hull for each shape, and store it in a btCompoundShape
 						shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
 						m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
@@ -1534,3 +1541,8 @@ const struct UrdfDeformable& BulletURDFImporter::getDeformableModel() const
 {
 	return m_data->m_urdfParser.getDeformable();
 }
+
+const struct UrdfReducedDeformable& BulletURDFImporter::getReducedDeformableModel() const
+{
+	return m_data->m_urdfParser.getReducedDeformable();
+}
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index eb890c0164..5fe7f8c5fa 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -60,6 +60,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 	virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
 	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
+	virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const;
 
 	virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
 	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
@@ -92,6 +93,7 @@ class BulletURDFImporter : public URDFImporterInterface
 	virtual void setEnableTinyRenderer(bool enable);
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
 	const struct UrdfDeformable& getDeformableModel() const;
+	const struct UrdfReducedDeformable& getReducedDeformableModel() const;
 };
 
 #endif  //BULLET_URDF_IMPORTER_H
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index e41ef7881f..815e8b9bf7 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -33,6 +33,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
 	btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
 	rbci.m_startWorldTransform = initialWorldTrans;
+	btScalar sleep_threshold = btScalar(0.22360679775);//sqrt(0.05) to be similar to btMultiBody (SLEEP_THRESHOLD)
+	rbci.m_angularSleepingThreshold = sleep_threshold;
+	rbci.m_linearSleepingThreshold = sleep_threshold;
+	
 	btRigidBody* body = new btRigidBody(rbci);
 	if (m_rigidBody == 0)
 	{
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index c21e7fc9ae..571cd2199e 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -10,6 +10,9 @@
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
+#include "BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h"
+
+
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
 #include "URDF2Bullet.h"
 #include "URDFImporterInterface.h"
@@ -199,7 +202,15 @@ btScalar tmpUrdfScaling = 2;
 btTransform ConvertURDF2BulletInternal(
 	const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
 	URDF2BulletCachedData& cache, int urdfLinkIndex,
-	const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
+	const btTransform& parentTransformInWorldSpace, 
+	
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btDiscreteDynamicsWorld* world1,
+#else
+	btMultiBodyDynamicsWorld* world1,
+#endif
+
+
 	bool createMultiBody, const char* pathPrefix,
 	int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
 {
@@ -251,8 +262,8 @@ btTransform ConvertURDF2BulletInternal(
 	btScalar jointFriction;
 	btScalar jointMaxForce;
 	btScalar jointMaxVelocity;
-
-	bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
+	btScalar twistLimit;
+	bool hasParentJoint = u2b.getJointInfo3(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity, twistLimit);
 	std::string linkName = u2b.getLinkName(urdfLinkIndex);
 
 	if (flags & CUF_USE_SDF)
@@ -414,6 +425,20 @@ btTransform ConvertURDF2BulletInternal(
 						cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 							parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
 							disableParentCollision);
+
+
+						//create a spherical joint limit, swing_x,. swing_y and twist
+						//jointLowerLimit <= jointUpperLimit)
+						if (jointUpperLimit > 0 && jointLowerLimit> 0 && twistLimit > 0 && jointMaxForce>0)
+						{
+							btMultiBodySphericalJointLimit* con = new btMultiBodySphericalJointLimit(cache.m_bulletMultiBody, mbLinkIndex, 
+								jointLowerLimit,
+								jointUpperLimit,
+								twistLimit,
+								jointMaxForce);
+							world1->addMultiBodyConstraint(con);
+						}
+
 					}
 					else
 					{
@@ -505,6 +530,7 @@ btTransform ConvertURDF2BulletInternal(
 					creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
 					if (createMultiBody)
 					{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 						cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 															   parentRotToThis, quatRotate(offsetInB.getRotation(), 
 																   jointAxisInJointSpace), 
@@ -519,8 +545,10 @@ btTransform ConvertURDF2BulletInternal(
 							btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
 							world1->addMultiBodyConstraint(con);
 						}
+#endif
 					}
 					else
+
 					{
 						btGeneric6DofSpring2Constraint* dof6 = 0;
 						if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
@@ -560,6 +588,7 @@ btTransform ConvertURDF2BulletInternal(
 
 					if (createMultiBody)
 					{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 						cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
 																parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),  //parent2joint.getOrigin(),
 																-offsetInB.getOrigin(),
@@ -574,6 +603,7 @@ btTransform ConvertURDF2BulletInternal(
 							world1->addMultiBodyConstraint(con);
 						}
 						//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
+#endif
 					}
 					else
 					{
@@ -775,10 +805,18 @@ bool MyIntCompareFunc(childParentIndex a, childParentIndex b)
 }
 
 
+	
+
+
 void ConvertURDF2Bullet(
 	const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
 	const btTransform& rootTransformInWorldSpace,
+
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btDiscreteDynamicsWorld* world1,
+#else
 	btMultiBodyDynamicsWorld* world1,
+#endif
 	bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
 {
 	URDF2BulletCachedData cache;
@@ -829,7 +867,7 @@ void ConvertURDF2Bullet(
 	{
 		*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
 	}
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 	if (world1 && cache.m_bulletMultiBody)
 	{
 		B3_PROFILE("Post process");
@@ -855,4 +893,5 @@ void ConvertURDF2Bullet(
 
 		world1->addMultiBody(mb);
 	}
+	#endif
 }
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
index 233091c1e6..5fe290e868 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -8,6 +8,7 @@
 class btVector3;
 class btTransform;
 class btMultiBodyDynamicsWorld;
+class btDiscreteDynamicsWorld;
 class btTransform;
 
 class URDFImporterInterface;
@@ -20,7 +21,18 @@ struct UrdfVisualShapeCache
 	btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
 	btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
 };
+//#define USE_DISCRETE_DYNAMICS_WORLD
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
+						MultiBodyCreationInterface& creationCallback,
+						const btTransform& rootTransformInWorldSpace,
+						btDiscreteDynamicsWorld* world,
+						bool createMultiBody,
+						const char* pathPrefix,
+						int flags = 0,
+						UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
 
+#else
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
 						MultiBodyCreationInterface& creationCallback,
 						const btTransform& rootTransformInWorldSpace,
@@ -29,5 +41,5 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
 						const char* pathPrefix,
 						int flags = 0,
 						UrdfVisualShapeCache* cachedLinkGraphicsShapes = 0);
-
+#endif
 #endif  //_URDF2BULLET_H
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 0bf494b08f..847452cd87 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -64,6 +64,13 @@ class URDFImporterInterface
 		return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
 	};
 
+	virtual bool getJointInfo3(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity, btScalar& twistLimit) const
+	{
+		//backwards compatibility for custom file importers
+		twistLimit = 0;
+		return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
+	};
+
 	virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const = 0;
 	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld) {}
 
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 3348665d55..aea391592a 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -94,7 +94,8 @@ static void ParseUserData(const XMLElement* element, btHashMap<btHashString,
 			if (!key_attr) {
 				logger->reportError("User data tag must have a key attribute.");
 			}
-			user_data.insert(key_attr, user_data_xml->GetText());
+			const char* text = user_data_xml->GetText();
+			user_data.insert(key_attr, text ? text : "");
 		}
 	}
 }
@@ -1132,6 +1133,7 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 	if (!i)
 	{
 		logger->reportError("expected an inertial element");
+		return false;
 	}
 	UrdfInertia inertia;
 	if (!parseInertia(inertia, i, logger))
@@ -1280,6 +1282,171 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 	return true;
 }
 
+bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger)
+{
+	UrdfReducedDeformable& reduced_deformable = model.m_reducedDeformable;
+	const char* name = config->Attribute("name");
+	if (!name)
+	{
+		logger->reportError("Reduced deformable with no name");
+		return false;
+	}
+	reduced_deformable.m_name = name;
+
+	{
+		XMLElement* numModes_xml = config->FirstChildElement("num_modes");
+		if (numModes_xml)
+		{
+			if (!numModes_xml->Attribute("value"))
+			{
+				logger->reportError("numModes_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_numModes = urdfLexicalCast<double>(numModes_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* mass_xml = config->FirstChildElement("mass");
+		if (mass_xml)
+		{
+			if (!mass_xml->Attribute("value"))
+			{
+				logger->reportError("mass_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_mass = urdfLexicalCast<double>(mass_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* stiffnessScale_xml = config->FirstChildElement("stiffness_scale");
+		if (stiffnessScale_xml)
+		{
+			if (!stiffnessScale_xml->Attribute("value"))
+			{
+				logger->reportError("stiffnessScale_xml element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_stiffnessScale = urdfLexicalCast<double>(stiffnessScale_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* collisionMargin_xml = config->FirstChildElement("collision_margin");
+		if (collisionMargin_xml)
+		{
+			if (!collisionMargin_xml->Attribute("value"))
+			{
+				logger->reportError("collision_margin element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_collisionMargin = urdfLexicalCast<double>(collisionMargin_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* erp_xml = config->FirstChildElement("erp");
+		if (erp_xml)
+		{
+			if (!erp_xml->Attribute("value"))
+			{
+				logger->reportError("friction element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* cfm_xml = config->FirstChildElement("cfm");
+		if (cfm_xml)
+		{
+			if (!cfm_xml->Attribute("value"))
+			{
+				logger->reportError("cfm element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* damping_xml = config->FirstChildElement("damping_coefficient");
+		if (damping_xml)
+		{
+			if (!damping_xml->Attribute("value"))
+			{
+				logger->reportError("damping_coefficient element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
+		}
+	}
+
+	{
+		XMLElement* friction_xml = config->FirstChildElement("friction");
+		if (friction_xml)
+		{
+			if (!friction_xml->Attribute("value"))
+			{
+				logger->reportError("friction element must have value attribute");
+				return false;
+			}
+			reduced_deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
+		}
+	}
+
+	XMLElement* vis_xml = config->FirstChildElement("visual");
+	if (!vis_xml)
+	{
+		logger->reportError("expected an visual element");
+		return false;
+	}
+	if (!vis_xml->Attribute("filename"))
+	{
+		logger->reportError("expected a filename for visual geometry");
+		return false;
+	}
+	std::string fn = vis_xml->Attribute("filename");
+	reduced_deformable.m_visualFileName = fn;
+
+	int out_type(0);
+	bool success = UrdfFindMeshFile(m_fileIO,
+									model.m_sourceFile, fn, sourceFileLocation(vis_xml),
+									&reduced_deformable.m_visualFileName, &out_type);
+
+	if (!success)
+	{
+		// warning already printed
+		return false;
+	}
+
+	// collision mesh is optional
+	XMLElement* col_xml = config->FirstChildElement("collision");
+	if (col_xml)
+	{
+		if (!col_xml->Attribute("filename"))
+		{
+			logger->reportError("expected a filename for collision geoemtry");
+			return false;
+		}
+		fn = col_xml->Attribute("filename");
+		success = UrdfFindMeshFile(m_fileIO,
+								   model.m_sourceFile, fn, sourceFileLocation(col_xml),
+								   &reduced_deformable.m_simFileName, &out_type);
+
+		if (!success)
+		{
+			// warning already printed
+			return false;
+		}
+	}
+
+	ParseUserData(config, reduced_deformable.m_userData, logger);
+	return true;
+}
+
 bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLogger* logger)
 {
 	joint.m_lowerLimit = 0.f;
@@ -1288,6 +1455,7 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 	joint.m_velocityLimit = 0.f;
 	joint.m_jointDamping = 0.f;
 	joint.m_jointFriction = 0.f;
+	joint.m_twistLimit = -1;
 
 	if (m_parseSDF)
 	{
@@ -1302,13 +1470,19 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 		{
 			joint.m_upperLimit = urdfLexicalCast<double>(upper_xml->GetText());
 		}
+		
+		XMLElement* twist_xml = config->FirstChildElement("twist");
+		if (twist_xml)
+		{
+			joint.m_twistLimit = urdfLexicalCast<double>(twist_xml->GetText());
+		}
 
 		XMLElement* effort_xml = config->FirstChildElement("effort");
 		if (effort_xml)
 		{
 			joint.m_effortLimit = urdfLexicalCast<double>(effort_xml->GetText());
 		}
-
+		
 		XMLElement* velocity_xml = config->FirstChildElement("velocity");
 		if (velocity_xml)
 		{
@@ -1335,6 +1509,14 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 			joint.m_upperLimit *= m_urdfScaling;
 		}
 
+		
+		const char* twist_str = config->Attribute("twist");
+		if (twist_str)
+		{
+			joint.m_twistLimit = urdfLexicalCast<double>(twist_str);
+		}
+
+
 		// Get joint effort limit
 		const char* effort_str = config->Attribute("effort");
 		if (effort_str)
@@ -1342,6 +1524,7 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, XMLElement* config, ErrorLog
 			joint.m_effortLimit = urdfLexicalCast<double>(effort_str);
 		}
 
+
 		// Get joint velocity limit
 		const char* velocity_str = config->Attribute("velocity");
 		if (velocity_str)
@@ -2108,9 +2291,16 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 	//	logger->printMessage(msg);
 
 
+  
+	XMLElement* reduced_deformable_xml = robot_xml->FirstChildElement("reduced_deformable");
+  if (reduced_deformable_xml) {
+    return parseReducedDeformable(m_urdf2Model, reduced_deformable_xml, logger);
+	}
+	
   XMLElement* deformable_xml = robot_xml->FirstChildElement("deformable");
-  if(deformable_xml)
+  if (deformable_xml) {
     return parseDeformable(m_urdf2Model, deformable_xml, logger);
+	}
 
 	for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
 	{
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index efe51b7047..8256099a5f 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -189,13 +189,15 @@ struct UrdfJoint
 
 	double m_jointDamping;
 	double m_jointFriction;
+	double m_twistLimit;
 	UrdfJoint()
 		: m_lowerLimit(0),
 		  m_upperLimit(-1),
 		  m_effortLimit(0),
 		  m_velocityLimit(0),
 		  m_jointDamping(0),
-		  m_jointFriction(0)
+		  m_jointFriction(0),
+		  m_twistLimit(-1)
 	{
 	}
 };
@@ -245,6 +247,37 @@ struct UrdfDeformable
 	}
 };
 
+struct UrdfReducedDeformable
+{
+	std::string m_name;
+	int m_numModes;
+
+	double m_mass;
+	double m_stiffnessScale;
+	double m_erp;
+	double m_cfm;
+	double m_friction;
+	double m_collisionMargin;
+	double m_damping;
+
+	std::string m_visualFileName;
+	std::string m_simFileName;
+	btHashMap<btHashString, std::string> m_userData;
+
+	UrdfReducedDeformable() 
+		:	m_numModes(1),
+			m_mass(1),
+			m_stiffnessScale(100),
+			m_erp(0.2),					// generally, 0.2 is a good value for erp and cfm
+			m_cfm(0.2),
+			m_friction(0),
+			m_collisionMargin(0.02),
+			m_damping(0),
+			m_visualFileName(""),
+			m_simFileName("")
+	{}
+};
+
 struct UrdfModel
 {
 	std::string m_name;
@@ -254,6 +287,7 @@ struct UrdfModel
 	btHashMap<btHashString, UrdfLink*> m_links;
 	btHashMap<btHashString, UrdfJoint*> m_joints;
 	UrdfDeformable m_deformable;
+	UrdfReducedDeformable m_reducedDeformable;
 	// Maps user data keys to user data values.
 	btHashMap<btHashString, std::string> m_userData;
 
@@ -331,7 +365,7 @@ class UrdfParser
 	bool parseSensor(UrdfModel& model, UrdfLink& link, UrdfJoint& joint, tinyxml2::XMLElement* config, ErrorLogger* logger);
   bool parseLameCoefficients(LameCoefficients& lameCoefficients, tinyxml2::XMLElement* config, ErrorLogger* logger);
 	bool parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
-
+	bool parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement* config, ErrorLogger* logger);
 
 public:
 	UrdfParser(struct CommonFileIOInterface* fileIO);
@@ -411,6 +445,11 @@ class UrdfParser
 		return m_urdf2Model.m_deformable;
 	}
 
+	const UrdfReducedDeformable& getReducedDeformable() const
+	{
+		return m_urdf2Model.m_reducedDeformable;
+	}
+
 	bool mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger* logger, bool forceFixedBase, int level);
 	bool printTree(UrdfLink* link, ErrorLogger* logger, int level);
 	bool recreateModel(UrdfModel& model, UrdfLink* link, ErrorLogger* logger);
diff --git a/examples/MultiBody/MultiBodyConstraintFeedback.cpp b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
index b8b421fc1b..73b4e8dfed 100644
--- a/examples/MultiBody/MultiBodyConstraintFeedback.cpp
+++ b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
@@ -228,7 +228,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
 		m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
 
 		//////////////////////////////////////////////
-		if (0)  //numLinks > 0)
+		if (/* DISABLES CODE */ (0))  //numLinks > 0)
 		{
 			btScalar q0 = 45.f * SIMD_PI / 180.f;
 			if (!spherical)
@@ -349,7 +349,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
 void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
 {
 	//m_multiBody->addLinkForce(0,btVector3(100,100,100));
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/MultiBody/MultiBodySoftContact.cpp b/examples/MultiBody/MultiBodySoftContact.cpp
index 4a143ee201..2e59edc107 100644
--- a/examples/MultiBody/MultiBodySoftContact.cpp
+++ b/examples/MultiBody/MultiBodySoftContact.cpp
@@ -130,7 +130,7 @@ void MultiBodySoftContact::initPhysics()
 
 void MultiBodySoftContact::stepSimulation(float deltaTime)
 {
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/MultiBody/MultiDofDemo.cpp b/examples/MultiBody/MultiDofDemo.cpp
index 33f9e7a9f4..6cd3a2c969 100644
--- a/examples/MultiBody/MultiDofDemo.cpp
+++ b/examples/MultiBody/MultiDofDemo.cpp
@@ -165,7 +165,7 @@ void MultiDofDemo::initPhysics()
 	btVector3 linkHalfExtents(0.05, 0.37, 0.1);
 	btVector3 baseHalfExtents(0.05, 0.37, 0.1);
 
-	btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
+	btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase);
 	//mbC->forceMultiDof();							//if !spherical, you can comment this line to check the 1DoF algorithm
 
 	mbC->setCanSleep(canSleep);
diff --git a/examples/MultiBody/TestJointTorqueSetup.cpp b/examples/MultiBody/TestJointTorqueSetup.cpp
index 7963713d20..3c94e20602 100644
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -230,7 +230,7 @@ void TestJointTorqueSetup::initPhysics()
 		m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
 
 		//////////////////////////////////////////////
-		if (0)  //numLinks > 0)
+		if (/* DISABLES CODE */ (0))  //numLinks > 0)
 		{
 			btScalar q0 = 45.f * SIMD_PI / 180.f;
 			if (!spherical)
@@ -356,7 +356,7 @@ void TestJointTorqueSetup::initPhysics()
 void TestJointTorqueSetup::stepSimulation(float deltaTime)
 {
 	//m_multiBody->addLinkForce(0,btVector3(100,100,100));
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/MultiBodyBaseline/MultiBodyBaseline.cpp b/examples/MultiBodyBaseline/MultiBodyBaseline.cpp
index 663c2d33ad..036671b646 100644
--- a/examples/MultiBodyBaseline/MultiBodyBaseline.cpp
+++ b/examples/MultiBodyBaseline/MultiBodyBaseline.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -354,5 +354,3 @@ class CommonExampleInterface* MultiBodyBaselineCreateFunc(struct CommonExampleOp
 {
 	return new MultiBodyBaseline(options.m_guiHelper);
 }
-
-
diff --git a/examples/MultiBodyBaseline/MultiBodyBaseline.h b/examples/MultiBodyBaseline/MultiBodyBaseline.h
index 35734c63c8..2a6679df7d 100644
--- a/examples/MultiBodyBaseline/MultiBodyBaseline.h
+++ b/examples/MultiBodyBaseline/MultiBodyBaseline.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 54e20583ac..5347936b6a 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
index a9defe28ac..b435fd3bf1 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.h b/examples/MultiThreadedDemo/MultiThreadedDemo.h
index a4ae274f70..9d8ec5942a 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.h
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/OpenGLWindow/EGLOpenGLWindow.cpp b/examples/OpenGLWindow/EGLOpenGLWindow.cpp
index f8918f3187..a10f980827 100644
--- a/examples/OpenGLWindow/EGLOpenGLWindow.cpp
+++ b/examples/OpenGLWindow/EGLOpenGLWindow.cpp
@@ -33,6 +33,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <cstdlib>
 
 #include "OpenGLInclude.h"
 
@@ -124,6 +125,28 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
 	{
 		printf("eglQueryDevicesEXT Failed.\n");
 		m_data->egl_display = EGL_NO_DISPLAY;
+	} else
+	{
+		// default case, should always happen (for future compatibility)
+		if (m_data->m_renderDevice == -1)
+		{
+			// check env variable
+			const char* env_p = std::getenv("EGL_VISIBLE_DEVICES");
+
+			// variable is set
+			if(env_p != NULL)
+			{
+				m_data->m_renderDevice = std::atoi(env_p);
+				fprintf(stderr, "EGL device choice: %d of %d (from EGL_VISIBLE_DEVICES)\n", m_data->m_renderDevice, num_devices);
+
+            } else {
+                fprintf(stderr, "EGL device choice: %d of %d.\n", m_data->m_renderDevice, num_devices);
+            } // else leave with -1
+
+		} else
+		{
+			fprintf(stderr, "EGL device choice: %d of %d.\n", m_data->m_renderDevice, num_devices);
+		}
 	}
 	// Query EGL Screens
 	if (m_data->m_renderDevice == -1)
@@ -179,7 +202,7 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
 
 	if (!eglInitialize(m_data->egl_display, NULL, NULL))
 	{
-		fprintf(stderr, "Unable to initialize EGL\n");
+		fprintf(stderr, "eglInitialize() failed with error: %x\n", eglGetError());
 		exit(EXIT_FAILURE);
 	}
 
@@ -225,8 +248,20 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
 		exit(EXIT_FAILURE);
 	}
 
+	EGLint egl_context_attribs[] = {
+		EGL_CONTEXT_MAJOR_VERSION,
+		3,
+		EGL_CONTEXT_MINOR_VERSION,
+		3,
+		EGL_CONTEXT_OPENGL_PROFILE_MASK,
+		EGL_CONTEXT_OPENGL_CORE_PROFILE_BIT,
+		EGL_CONTEXT_OPENGL_FORWARD_COMPATIBLE,
+		EGL_TRUE,
+		EGL_NONE,
+	};
+
 	m_data->egl_context = eglCreateContext(
-		m_data->egl_display, m_data->egl_config, EGL_NO_CONTEXT, NULL);
+		m_data->egl_display, m_data->egl_config, EGL_NO_CONTEXT, egl_context_attribs);
 	if (!m_data->egl_context)
 	{
 		fprintf(stderr, "Unable to create EGL context (eglError: %d)\n", eglGetError());
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 3754c4a9e6..66bd5bf440 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -98,7 +98,10 @@ struct caster2
 #include "Shaders/segmentationMaskInstancingPS.h"
 
 #include "Shaders/linesPS.h"
+#include "Shaders/pointsPS.h"
+
 #include "Shaders/linesVS.h"
+#include "Shaders/pointsVS.h"
 
 #include "GLRenderToTexture.h"
 #include "stb_image/stb_image_write.h"
@@ -287,25 +290,43 @@ static GLuint triangleVertexBufferObject = 0;
 static GLuint triangleVertexArrayObject = 0;
 static GLuint triangleIndexVbo = 0;
 
-static GLuint linesShader;                        // The line renderer
+static GLuint linesShader;                      // The line renderer
+static GLuint pointsShader;						// The point renderer
+
 static GLuint useShadowMapInstancingShader;       // The shadow instancing renderer
 static GLuint createShadowMapInstancingShader;    // The shadow instancing renderer
 static GLuint projectiveTextureInstancingShader;  // The projective texture instancing renderer
 static GLuint segmentationMaskInstancingShader;   // The segmentation mask instancing renderer
 
+
 static GLuint instancingShader;             // The instancing renderer
 static GLuint instancingShaderPointSprite;  // The point sprite instancing renderer
 
 //static bool                 done = false;
 
+static GLint points_ModelViewMatrix = 0;
+static GLint points_ProjectionMatrix = 0;
+static GLint points_position = 0;
+static GLint points_colourIn = 0;
+static GLint points_colour = 0;
+GLuint pointsVertexBufferObject = 0;
+GLuint pointsVertexArrayObject = 0;
+GLuint pointsIndexVbo = 0;
+
 static GLint lines_ModelViewMatrix = 0;
 static GLint lines_ProjectionMatrix = 0;
 static GLint lines_position = 0;
 static GLint lines_colour = 0;
+
 GLuint lineVertexBufferObject = 0;
 GLuint lineVertexArrayObject = 0;
 GLuint lineIndexVbo = 0;
 
+
+
+
+
+
 GLuint linesVertexBufferObject = 0;
 GLuint linesVertexArrayObject = 0;
 GLuint linesIndexVbo = 0;
@@ -397,6 +418,16 @@ void GLInstancingRenderer::removeAllInstances()
 	m_graphicsInstances.clear();
 	m_data->m_publicGraphicsInstances.exitHandles();
 	m_data->m_publicGraphicsInstances.initHandles();
+
+#if 0
+	//todo: cannot release ALL textures, since some handles are still kept, and it would cause a crash
+	for (int i=0;i<m_data->m_textureHandles.size();i++)
+	{
+		InternalTextureHandle& h = m_data->m_textureHandles[i];
+		glDeleteTextures(1, &h.m_glTexture);
+	}
+	m_data->m_textureHandles.clear();
+#endif
 }
 
 GLInstancingRenderer::~GLInstancingRenderer()
@@ -1232,6 +1263,33 @@ void GLInstancingRenderer::InitShaders()
 
 		glBindVertexArray(0);
 	}
+	{
+		pointsShader = gltLoadShaderPair(pointsVertexShader, pointsFragmentShader);
+		points_ModelViewMatrix = glGetUniformLocation(pointsShader, "ModelViewMatrix");
+		points_ProjectionMatrix = glGetUniformLocation(pointsShader, "ProjectionMatrix");
+		points_colour = glGetUniformLocation(pointsShader, "colour");
+		points_colourIn = glGetAttribLocation(pointsShader, "colourIn");
+		points_position = glGetAttribLocation(pointsShader, "position");
+		glLinkProgram(pointsShader);
+		glUseProgram(pointsShader);
+		int max_viewports=-1;
+		glGetIntegerv(GL_MAX_VIEWPORTS, &max_viewports);
+		{
+			glGenVertexArrays(1, &pointsVertexArrayObject);
+			glBindVertexArray(pointsVertexArrayObject);
+
+			glGenBuffers(1, &pointsVertexBufferObject);
+			glGenBuffers(1, &pointsIndexVbo);
+
+			int sz = MAX_POINTS_IN_BATCH * sizeof(b3Vector3);
+			glBindVertexArray(pointsVertexArrayObject);
+			glBindBuffer(GL_ARRAY_BUFFER, pointsVertexBufferObject);
+			glBufferData(GL_ARRAY_BUFFER, sz, 0, GL_DYNAMIC_DRAW);
+
+			glBindVertexArray(0);
+		}
+
+	}
 
 	linesShader = gltLoadShaderPair(linesVertexShader, linesFragmentShader);
 	lines_ModelViewMatrix = glGetUniformLocation(linesShader, "ModelViewMatrix");
@@ -1255,6 +1313,9 @@ void GLInstancingRenderer::InitShaders()
 
 		glBindVertexArray(0);
 	}
+	
+
+
 	{
 		glGenVertexArrays(1, &lineVertexArrayObject);
 		glBindVertexArray(lineVertexArrayObject);
@@ -1512,6 +1573,11 @@ void GLInstancingRenderer::setLightPosition(const double lightPos[3])
 	m_data->m_lightPos[2] = lightPos[2];
 }
 
+void GLInstancingRenderer::setBackgroundColor(const double rgbBackground[3])
+{
+	glClearColor(rgbBackground[0], rgbBackground[1], rgbBackground[2], 1.f);
+}
+
 void GLInstancingRenderer::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
 {
 	for (int i = 0; i < 16; i++)
@@ -1874,21 +1940,20 @@ void GLInstancingRenderer::drawPoint(const float* positions, const float color[4
 {
 	drawPoints(positions, color, 1, 3 * sizeof(float), pointDrawSize);
 }
-void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)
+
+void GLInstancingRenderer::drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize)
 {
 	glActiveTexture(GL_TEXTURE0);
 	glBindTexture(GL_TEXTURE_2D, 0);
 
 	b3Assert(glGetError() == GL_NO_ERROR);
-	glUseProgram(linesShader);
-	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
-	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
-	glUniform4f(lines_colour, color[0], color[1], color[2], color[3]);
+	glUseProgram(pointsShader);
+	glUniformMatrix4fv(points_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
+	glUniformMatrix4fv(points_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+	glUniform4f(points_colour, 0, 0, 0, -1);
 
 	glPointSize(pointDrawSize);
-	glBindVertexArray(lineVertexArrayObject);
-
-	glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);
+	glBindVertexArray(pointsVertexArrayObject);
 
 	int maxPointsInBatch = MAX_POINTS_IN_BATCH;
 	int remainingPoints = numPoints;
@@ -1898,10 +1963,16 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 		int curPointsInBatch = b3Min(maxPointsInBatch, remainingPoints);
 		if (curPointsInBatch)
 		{
-			glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * pointStrideInBytes, positions + offsetNumPoints * (pointStrideInBytes / sizeof(float)));
-			glEnableVertexAttribArray(0);
-			int numFloats = 3;  // pointStrideInBytes / sizeof(float);
-			glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
+			glBindBuffer(GL_ARRAY_BUFFER, pointsVertexBufferObject);
+			glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * pointStrideInBytes, positions + offsetNumPoints * 3);
+			glEnableVertexAttribArray(points_position);
+			glVertexAttribPointer(points_position, 3, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
+
+			glBindBuffer(GL_ARRAY_BUFFER, pointsVertexArrayObject);
+			glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch * 4 * sizeof(float), colors + offsetNumPoints * 4);
+			glEnableVertexAttribArray(points_colourIn);
+			glVertexAttribPointer(points_colourIn, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0);
+
 			glDrawArrays(GL_POINTS, 0, curPointsInBatch);
 			remainingPoints -= curPointsInBatch;
 			offsetNumPoints += curPointsInBatch;
@@ -1911,7 +1982,7 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 			break;
 		}
 	}
-	
+
 	glBindVertexArray(0);
 	glPointSize(1);
 	glUseProgram(0);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 715758212d..d3aa8c25fd 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -127,7 +127,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
 	virtual void setProjectiveTexture(bool useProjectiveTexture);
-
+	virtual void setBackgroundColor(const double rgbBackground[3]);
 	virtual void resize(int width, int height);
 	virtual int getScreenWidth()
 	{
diff --git a/examples/OpenGLWindow/Shaders/linesVS.glsl b/examples/OpenGLWindow/Shaders/linesVS.glsl
index f28363dac2..5ba8fd73ef 100644
--- a/examples/OpenGLWindow/Shaders/linesVS.glsl
+++ b/examples/OpenGLWindow/Shaders/linesVS.glsl
@@ -11,7 +11,7 @@ out vec4 colourV;
 
 void main (void)
 {
-    colourV = colour;
+		colourV = colour;
 		gl_Position = ProjectionMatrix * ModelViewMatrix * position;
 		
 }
diff --git a/examples/OpenGLWindow/Shaders/linesVS.h b/examples/OpenGLWindow/Shaders/linesVS.h
index 8fc6eb3e73..c69c5978b8 100644
--- a/examples/OpenGLWindow/Shaders/linesVS.h
+++ b/examples/OpenGLWindow/Shaders/linesVS.h
@@ -8,7 +8,7 @@ static const char* linesVertexShader= \
 "out vec4 colourV;\n"
 "void main (void)\n"
 "{\n"
-"    colourV = colour;\n"
+"		colourV = colour;\n"
 "		gl_Position = ProjectionMatrix * ModelViewMatrix * position;\n"
 "		\n"
 "}\n"
diff --git a/examples/OpenGLWindow/Shaders/pointsPS.glsl b/examples/OpenGLWindow/Shaders/pointsPS.glsl
new file mode 100644
index 0000000000..c646fa11b7
--- /dev/null
+++ b/examples/OpenGLWindow/Shaders/pointsPS.glsl
@@ -0,0 +1,10 @@
+
+#version 150
+
+in vec4 colourV;
+out vec4 fragColour;
+
+void main(void)
+{
+    fragColour = colourV;
+}
diff --git a/examples/OpenGLWindow/Shaders/pointsPS.h b/examples/OpenGLWindow/Shaders/pointsPS.h
new file mode 100644
index 0000000000..ace997f952
--- /dev/null
+++ b/examples/OpenGLWindow/Shaders/pointsPS.h
@@ -0,0 +1,10 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* pointsFragmentShader= \
+"#version 150\n"
+"in vec4 colourV;\n"
+"out vec4 fragColour;\n"
+"void main(void)\n"
+"{\n"
+"    fragColour = colourV;\n"
+"}\n"
+;
diff --git a/examples/OpenGLWindow/Shaders/pointsVS.glsl b/examples/OpenGLWindow/Shaders/pointsVS.glsl
new file mode 100644
index 0000000000..4b9520341f
--- /dev/null
+++ b/examples/OpenGLWindow/Shaders/pointsVS.glsl
@@ -0,0 +1,15 @@
+#version 150   
+
+uniform mat4 ModelViewMatrix;
+uniform mat4 ProjectionMatrix;
+uniform vec4 colour;
+in vec4 position;
+in vec4 colourIn;
+out vec4 colourV;
+
+void main (void)
+{
+		colourV = (colour[3] == -1) ? colourIn : colour;
+		gl_Position = ProjectionMatrix * ModelViewMatrix * position;
+		
+}
diff --git a/examples/OpenGLWindow/Shaders/pointsVS.h b/examples/OpenGLWindow/Shaders/pointsVS.h
new file mode 100644
index 0000000000..dda938603a
--- /dev/null
+++ b/examples/OpenGLWindow/Shaders/pointsVS.h
@@ -0,0 +1,16 @@
+//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project
+static const char* pointsVertexShader= \
+"#version 150   \n"
+"uniform mat4 ModelViewMatrix;\n"
+"uniform mat4 ProjectionMatrix;\n"
+"uniform vec4 colour;\n"
+"in vec4 position;\n"
+"in vec4 colourIn;\n"
+"out vec4 colourV;\n"
+"void main (void)\n"
+"{\n"
+"		colourV = (colour[3] == -1) ? colourIn : colour;\n"
+"		gl_Position = ProjectionMatrix * ModelViewMatrix * position;\n"
+"		\n"
+"}\n"
+;
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 0d7a56403c..0d005f24e9 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -636,6 +636,9 @@ void SimpleOpenGL2Renderer::drawPoint(const float* position, const float color[4
 void SimpleOpenGL2Renderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
 {
 }
+void SimpleOpenGL2Renderer::drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize)
+{
+}
 
 void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices, int numVertices)
 {
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 19cc8cc10e..f6d30ce49a 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -30,6 +30,7 @@ class SimpleOpenGL2Renderer : public CommonRenderInterface
 	virtual void setShadowMapIntensity(double shadowMapIntensity) {}
 	virtual void setShadowMapWorldSize(float worldSize) {}
 	virtual void resize(int width, int height);
+	virtual void setBackgroundColor(const double rgbBackground[3]) {}
 
 	virtual void removeAllInstances();
 	virtual void removeGraphicsInstance(int instanceUid);
@@ -81,6 +82,8 @@ class SimpleOpenGL2Renderer : public CommonRenderInterface
 
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize);
 
+	virtual void drawPoints(const float* positions, const float* colors, int numPoints, int pointStrideInBytes, float pointDrawSize);
+
 	virtual void updateShape(int shapeIndex, const float* vertices, int numVertices);
 
 	virtual void clearZBuffer();
diff --git a/examples/OpenGLWindow/X11OpenGLWindow.cpp b/examples/OpenGLWindow/X11OpenGLWindow.cpp
index f3aa1fe6a6..3d7e4de65f 100644
--- a/examples/OpenGLWindow/X11OpenGLWindow.cpp
+++ b/examples/OpenGLWindow/X11OpenGLWindow.cpp
@@ -566,7 +566,7 @@ void X11OpenGLWindow::enableOpenGL()
 	//Access pthreads as a workaround for a bug in Linux/Ubuntu
 	//See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
 
-#if !defined(__NetBSD__)
+#if !defined(__NetBSD__) && !defined(__ANDROID__)
 	int i = pthread_getconcurrency();
 	printf("pthread_getconcurrency()=%d\n", i);
 #endif
diff --git a/examples/Planar2D/Planar2D.cpp b/examples/Planar2D/Planar2D.cpp
index 91399887f2..ffb4c0c406 100644
--- a/examples/Planar2D/Planar2D.cpp
+++ b/examples/Planar2D/Planar2D.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Planar2D/Planar2D.h b/examples/Planar2D/Planar2D.h
index 0cbf950fb9..977a936ec4 100644
--- a/examples/Planar2D/Planar2D.h
+++ b/examples/Planar2D/Planar2D.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Raycast/RaytestDemo.cpp b/examples/Raycast/RaytestDemo.cpp
index f99713677e..3bfbcf64f6 100644
--- a/examples/Raycast/RaytestDemo.cpp
+++ b/examples/Raycast/RaytestDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/Raycast/RaytestDemo.h b/examples/Raycast/RaytestDemo.h
index fcd76ba844..cc4f263d66 100644
--- a/examples/Raycast/RaytestDemo.h
+++ b/examples/Raycast/RaytestDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp
new file mode 100644
index 0000000000..05b7394da6
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ConservationTest.cpp
@@ -0,0 +1,316 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ConservationTest.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+#include <random>
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0;
+static int start_mode = 6;
+static int num_modes = 20;
+
+class ConservationTest : public CommonDeformableBodyBase
+{
+    btScalar sim_time;
+    bool first_step;
+
+    // get deformed shape
+    void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar scale = 1)
+    {
+      // for (int i = 0; i < rsb->m_nodes.size(); ++i)
+      //   for (int k = 0; k < 3; ++k)
+      //     rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
+      
+      // rsb->m_reducedDofs[mode_n] = scale;
+      // rsb->m_reducedDofsBuffer[mode_n] = scale;
+
+      srand(1);
+      for (int r = 0; r < rsb->m_nReduced; r++)
+      {
+        rsb->m_reducedDofs[r] = (btScalar(rand()) / btScalar(RAND_MAX) - 0.5);
+        rsb->m_reducedDofsBuffer[r] = rsb->m_reducedDofs[r];
+      }
+
+      rsb->mapToFullPosition(rsb->getRigidTransform());
+      // std::cout << "-----------\n";
+      // std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n';
+      // std::cout << "-----------\n";
+    }
+
+public:
+    ConservationTest(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+        sim_time = 0;
+        first_step = true;
+    }
+    virtual ~ConservationTest()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        float dist = 10;
+        float pitch = 0;
+        float yaw = 90;
+        float targetPos[3] = {0, 3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+
+    void checkMomentum(btReducedDeformableBody* rsb)
+    {
+      btVector3 x_com(0, 0, 0);
+      btVector3 total_linear(0, 0, 0);
+      btVector3 total_angular(0, 0, 0);
+      {
+        std::ofstream myfile("center_of_mass.txt", std::ios_base::app);
+        for (int i = 0; i < rsb->m_nFull; ++i)
+        {
+          x_com += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_x;
+        }
+        x_com /= rsb->getTotalMass();
+        myfile << sim_time << "\t" << x_com[0] << "\t" << x_com[1] << "\t" << x_com[2] << "\n";
+        myfile.close();
+      }
+      {
+        std::ofstream myfile("linear_momentum.txt", std::ios_base::app);
+        for (int i = 0; i < rsb->m_nFull; ++i)
+        {
+          total_linear += rsb->m_nodalMass[i] * rsb->m_nodes[i].m_v;
+        }
+        myfile << sim_time << "\t" << total_linear[0] << "\t" << total_linear[1] << "\t" << total_linear[2] << "\n";
+        myfile.close();
+      }
+      {
+        std::ofstream myfile("angular_momentum.txt", std::ios_base::app);
+        // btVector3 ri(0, 0, 0);
+        // for (int i = 0; i < rsb->m_nFull; ++i)
+        // { 
+        //   ri = rsb->m_nodes[i].m_x - x_com;
+        //   total_angular += rsb->m_nodalMass[i] * ri.cross(rsb->m_nodes[i].m_v);
+        // }
+        total_angular = rsb->computeTotalAngularMomentum();
+        myfile << sim_time << "\t" << total_angular[0] << "\t" << total_angular[1] << "\t" << total_angular[2] << "\n";
+        myfile.close();
+      }
+      {
+        btVector3 angular_rigid(0, 0, 0);
+        std::ofstream myfile("angular_momentum_rigid.txt", std::ios_base::app);
+        btVector3 ri(0, 0, 0);
+        for (int i = 0; i < rsb->m_nFull; ++i)
+        { 
+          ri = rsb->m_nodes[i].m_x - x_com;
+          btMatrix3x3 ri_star = Cross(ri);
+          angular_rigid += rsb->m_nodalMass[i] * (ri_star.transpose() * ri_star * rsb->getAngularVelocity());
+        }
+        myfile << sim_time << "\t" << angular_rigid[0] << "\t" << angular_rigid[1] << "\t" << angular_rigid[2] << "\n";
+        myfile.close();
+      }
+
+      {
+        std::ofstream myfile("reduced_velocity.txt", std::ios_base::app);
+        myfile << sim_time << "\t" << rsb->m_reducedVelocity[0] << "\t" << rsb->m_reducedDofs[0] << "\n";
+        myfile.close();
+      }
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      // add initial deformation
+      btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
+      if (first_step /* && !rsb->m_bUpdateRtCst*/) 
+      {
+        getDeformedShape(rsb, 0, 1);
+        first_step = false;
+      }
+      
+      float internalTimeStep = 1. / 240.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+
+      sim_time += internalTimeStep;
+      checkMomentum(rsb);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+
+                btVector3 origin = rsb->getRigidTransform().getOrigin();
+                btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin;
+                btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin;
+                btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin;
+
+                deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0));
+                deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0));
+                deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1));
+
+                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
+                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1));
+                deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1));
+            }
+        }
+    }
+};
+
+void ConservationTest::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+    btVector3 gravity = btVector3(0, 0, 0);
+    reducedSoftBodySolver->setGravity(gravity);
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    m_dynamicsWorld->setGravity(gravity);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_beam/");
+        std::string vtk_file("beam_mesh_origin.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.1);
+        
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 4, 0));
+        // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
+        rsb->transformTo(init_transform);
+
+        rsb->setStiffnessScale(100);
+        rsb->setDamping(damping_alpha, damping_beta);
+        
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+        
+        // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
+        // rsb->setRigidVelocity(btVector3(0, 1, 0));
+        // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void ConservationTest::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ConservationTest(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ConservationTest.h b/examples/ReducedDeformableDemo/ConservationTest.h
new file mode 100644
index 0000000000..3528f1e158
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ConservationTest.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_CONSERVATION_TEST_H
+#define _REDUCED_CONSERVATION_TEST_H
+
+class CommonExampleInterface* ReducedConservationTestCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_CONSERVATION_TEST_H
diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp
new file mode 100644
index 0000000000..f63db542d8
--- /dev/null
+++ b/examples/ReducedDeformableDemo/FreeFall.cpp
@@ -0,0 +1,276 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "FreeFall.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
+// static btScalar E = 50;
+// static btScalar nu = 0.3;
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0001;
+static btScalar COLLIDING_VELOCITY = 0;
+static int num_modes = 40;
+
+class FreeFall : public CommonDeformableBodyBase
+{
+public:
+    FreeFall(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+    }
+    virtual ~FreeFall()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        float dist = 8;
+        float pitch = -10;
+        float yaw = 90;
+        float targetPos[3] = {0, 2, 0};
+        // float dist = 10;
+        // float pitch = -30;
+        // float yaw = 125;
+        // float targetPos[3] = {0, 2, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void Ctor_RbUpStack(const btVector3& origin)
+    {
+        float mass = 10;
+        btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
+        // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
+        btTransform startTransform;
+        startTransform.setIdentity();
+        // startTransform.setOrigin(btVector3(0, 12, 0));
+        // btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
+        // rb0->setLinearVelocity(btVector3(0, 0, 0));
+
+        startTransform.setOrigin(origin);
+        // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setActivationState(DISABLE_DEACTIVATION);
+        rb1->setLinearVelocity(btVector3(0, 0, 0));
+    }
+
+    void createReducedDeformableObject(const btVector3& origin, const btQuaternion& rotation)
+    {   
+        std::string file_path("../../../data/reduced_cube/");
+        std::string vtk_file("cube_mesh.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.01);
+        // rsb->scale(btVector3(1, 1, 0.5));
+
+        rsb->setTotalMass(10);
+
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(origin);
+        init_transform.setRotation(rotation);
+        rsb->transformTo(init_transform);
+
+        rsb->setStiffnessScale(25);
+        rsb->setDamping(damping_alpha, damping_beta);
+        // rsb->scale(btVector3(0.5, 0.5, 0.5));
+
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      float internalTimeStep = 1. / 60.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        // int flag = 0;
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+
+                // for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
+                // {
+                //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
+                // }
+                // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
+                // {
+                //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
+                // }
+
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1));
+            }
+        }
+    }
+};
+
+void FreeFall::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    btVector3 gravity = btVector3(0, -9.8, 0);
+    m_dynamicsWorld->setGravity(gravity);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    // m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
+    
+    // 2 reduced deformable cubes
+    createReducedDeformableObject(btVector3(0, 4, -2), btQuaternion(0, 0, 0));
+    createReducedDeformableObject(btVector3(0, 4, 2), btQuaternion(0, 0, 0));
+   
+    // 2 rigid cubes
+    Ctor_RbUpStack(btVector3(0, 10, -2));
+    Ctor_RbUpStack(btVector3(0, 10, 2));
+    
+    // create a static rigid box as the ground
+    {
+        // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
+        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
+        // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
+        groundTransform.setOrigin(btVector3(0, -2, 0));
+        // groundTransform.setOrigin(btVector3(0, 0, 6));
+        // groundTransform.setOrigin(btVector3(0, -50, 0));
+        {
+            btScalar mass(0.);
+            createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
+        }
+    }
+
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    m_dynamicsWorld->setGravity(gravity);
+}
+
+void FreeFall::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options)
+{
+    return new FreeFall(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/FreeFall.h b/examples/ReducedDeformableDemo/FreeFall.h
new file mode 100644
index 0000000000..b71d8027f4
--- /dev/null
+++ b/examples/ReducedDeformableDemo/FreeFall.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_FREE_FALL_H
+#define _REDUCED_FREE_FALL_H
+
+class CommonExampleInterface* ReducedFreeFallCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_FREE_FALL_H
diff --git a/examples/ReducedDeformableDemo/FrictionSlope.cpp b/examples/ReducedDeformableDemo/FrictionSlope.cpp
new file mode 100644
index 0000000000..20eac36e87
--- /dev/null
+++ b/examples/ReducedDeformableDemo/FrictionSlope.cpp
@@ -0,0 +1,288 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "FrictionSlope.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
+// static btScalar E = 50;
+// static btScalar nu = 0.3;
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.001;
+static btScalar COLLIDING_VELOCITY = 0;
+static int num_modes = 20;
+
+class FrictionSlope : public CommonDeformableBodyBase
+{
+public:
+    FrictionSlope(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {}
+    virtual ~FrictionSlope()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        float dist = 20;
+        float pitch = -20;
+        float yaw = 90;
+        float targetPos[3] = {0, 0, 0.5};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void Ctor_RbUpStack()
+    {
+        float mass = 1;
+        btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
+        // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
+        // btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2));
+        btTransform startTransform;
+        startTransform.setIdentity();
+
+        startTransform.setOrigin(btVector3(0,4,0));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setLinearVelocity(btVector3(0, 0, 0));
+    }
+
+    void createGround()
+    {
+        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
+        groundTransform.setOrigin(btVector3(0, 0, 0));
+        btScalar mass(1e6);
+        btRigidBody* ground = createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
+        // ground->setFriction(1);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      float internalTimeStep = 1. / 60.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                // btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+
+                // for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
+                // {
+                //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
+                // }
+                // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
+                // {
+                //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
+                // }
+            }
+        }
+    }
+};
+
+namespace FrictionSlopeHelper 
+{
+    void groundMotion(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
+    {
+        btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
+
+        btRigidBody* ground = rbs[0];
+        btAssert(ground->getMass() > 1e5);
+
+        btScalar start_time = 2;
+        btScalar end_time = 8;
+        btScalar start_angle = 0;
+        btScalar end_angle = SIMD_PI / 6;
+        btScalar current_angle = 0;
+        btScalar turn_speed = (end_angle - start_angle) / (end_time - start_time);
+
+        if (time >= start_time)
+        {
+            current_angle = (time - start_time) * turn_speed;
+            if (time > end_time)
+            {
+                current_angle = end_angle;
+                turn_speed = 0;
+            }
+        }
+        else
+        {
+            current_angle = start_angle;
+            turn_speed = 0;
+        }
+        
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
+        groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), current_angle));
+
+        ground->setCenterOfMassTransform(groundTransform);
+        ground->setLinearVelocity(btVector3(0, 0, 0));
+        ground->setAngularVelocity(btVector3(0, 0, 0));
+    }
+};
+
+void FrictionSlope::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+    btVector3 gravity = btVector3(0, -10, 0);
+    reducedSoftBodySolver->setGravity(gravity);
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_beam/");
+        std::string vtk_file("beam_mesh_origin.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.01);
+
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 4, 0));
+        init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 2.0));
+        rsb->transform(init_transform);
+        rsb->setStiffnessScale(50);
+        rsb->setDamping(damping_alpha, damping_beta);
+
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+
+    createGround();
+    // add a few rigid bodies
+    // Ctor_RbUpStack();
+
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+    getDeformableDynamicsWorld()->setSolverCallback(FrictionSlopeHelper::groundMotion);
+    m_dynamicsWorld->setGravity(gravity);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void FrictionSlope::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* FrictionSlopeCreateFunc(struct CommonExampleOptions& options)
+{
+    return new FrictionSlope(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/FrictionSlope.h b/examples/ReducedDeformableDemo/FrictionSlope.h
new file mode 100644
index 0000000000..d2cdd737b0
--- /dev/null
+++ b/examples/ReducedDeformableDemo/FrictionSlope.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _FRICTION_SLOPE_H
+#define _FRICTION_SLOPE_H
+
+class CommonExampleInterface* FrictionSlopeCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_FREE_FALL_H
diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.cpp b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
new file mode 100644
index 0000000000..becf6bcee0
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ModeVisualizer.cpp
@@ -0,0 +1,227 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ModeVisualizer.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+
+static int num_modes = 20;
+static btScalar visualize_mode = 0;
+static btScalar frequency_scale = 1;
+
+class ModeVisualizer : public CommonDeformableBodyBase
+{
+    btScalar sim_time;
+
+    // get deformed shape
+    void getDeformedShape(btReducedDeformableBody* rsb, const int mode_n, const btScalar time_term = 1)
+    {
+      for (int i = 0; i < rsb->m_nodes.size(); ++i)
+        for (int k = 0; k < 3; ++k)
+          rsb->m_nodes[i].m_x[k] = rsb->m_x0[i][k] + rsb->m_modes[mode_n][3 * i + k] * time_term;
+    }
+
+    btVector3 computeMassWeightedColumnSum(btReducedDeformableBody* rsb, const int mode_n)
+    {
+        btVector3 sum(0, 0, 0);
+        for (int i = 0; i < rsb->m_nodes.size(); ++i)
+        {
+            for (int k = 0; k < 3; ++k)
+            {
+                sum[k] += rsb->m_nodalMass[i] * rsb->m_modes[mode_n][3 * i + k];
+            }
+        }
+        return sum;
+    }
+
+public:
+    ModeVisualizer(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+        sim_time = 0;
+    }
+    virtual ~ModeVisualizer()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // disable pick force. non-interactive example.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        float dist = 10;
+        float pitch = 0;
+        float yaw = 90;
+        float targetPos[3] = {0, 3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
+
+      sim_time += deltaTime;
+      int n_mode = floor(visualize_mode);
+      btScalar scale = sin(sqrt(rsb->m_eigenvalues[n_mode]) * sim_time / frequency_scale);
+      getDeformedShape(rsb, n_mode, scale);
+    //   btVector3 mass_weighted_column_sum = computeMassWeightedColumnSum(rsb, visualize_mode);
+    //   std::cout << "mode=" << int(visualize_mode) << "\t" << mass_weighted_column_sum[0] << "\t"
+    //                                                       << mass_weighted_column_sum[1] << "\t"
+    //                                                       << mass_weighted_column_sum[2] << "\n";
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            }
+        }
+    }
+};
+
+void ModeVisualizer::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric soft body
+    {
+      std::string file_path("../../../data/reduced_cube/");
+      std::string vtk_file("cube_mesh.vtk");
+      btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                          getDeformableDynamicsWorld()->getWorldInfo(),
+                                          file_path,
+                                          vtk_file,
+                                          num_modes,
+                                          false);
+
+      getDeformableDynamicsWorld()->addSoftBody(rsb);
+      rsb->getCollisionShape()->setMargin(0.1);
+
+      btTransform init_transform;
+      init_transform.setIdentity();
+      init_transform.setOrigin(btVector3(0, 2, 0));
+    //   init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
+      rsb->transform(init_transform);
+      btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    
+    {
+      SliderParams slider("Visualize Mode", &visualize_mode);
+      slider.m_minVal = 0;
+      slider.m_maxVal = num_modes - 1;
+      if (m_guiHelper->getParameterInterface())
+          m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+    {
+      SliderParams slider("Frequency Reduction", &frequency_scale);
+      slider.m_minVal = 1;
+      slider.m_maxVal = 1e3;
+      if (m_guiHelper->getParameterInterface())
+          m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+}
+
+void ModeVisualizer::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ModeVisualizer(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ModeVisualizer.h b/examples/ReducedDeformableDemo/ModeVisualizer.h
new file mode 100644
index 0000000000..e6f292b737
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ModeVisualizer.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_MODE_VISUALIZER_H
+#define _REDUCED_MODE_VISUALIZER_H
+
+class CommonExampleInterface* ReducedModeVisualizerCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_MODE_VISUALIZER_H
diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.cpp b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp
new file mode 100644
index 0000000000..05ddc03623
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedBenchmark.cpp
@@ -0,0 +1,349 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ReducedBenchmark.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0001;
+static btScalar COLLIDING_VELOCITY = 0;
+static int num_modes = 20;
+static bool run_reduced = true;
+
+class ReducedBenchmark : public CommonDeformableBodyBase
+{
+    btVector3 m_gravity;
+public:
+    ReducedBenchmark(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+    }
+    virtual ~ReducedBenchmark()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        // float dist = 6;
+        // float pitch = -10;
+        // float yaw = 90;
+        // float targetPos[3] = {0, 2, 0};
+        float dist = 10;
+        float pitch = -30;
+        float yaw = 125;
+        float targetPos[3] = {0, 2, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void Ctor_RbUpStack(const btVector3& origin)
+    {
+        float mass = 10;
+        btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
+        // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
+        btTransform startTransform;
+        startTransform.setIdentity();
+        // startTransform.setOrigin(btVector3(0, 12, 0));
+        // btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
+        // rb0->setLinearVelocity(btVector3(0, 0, 0));
+
+        startTransform.setOrigin(origin);
+        // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setActivationState(DISABLE_DEACTIVATION);
+        // rb1->setLinearVelocity(btVector3(0, 0, 4));
+    }
+
+    void createDeform(const btVector3& origin, const btQuaternion& rotation)
+    {
+
+        if (run_reduced)
+        {   
+            std::string file_path("../../../data/reduced_torus/");
+            std::string vtk_file("torus_mesh.vtk");
+            btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                                getDeformableDynamicsWorld()->getWorldInfo(),
+                                                file_path,
+                                                vtk_file,
+                                                num_modes,
+                                                false);
+
+            getDeformableDynamicsWorld()->addSoftBody(rsb);
+            rsb->getCollisionShape()->setMargin(0.01);
+            // rsb->scale(btVector3(1, 1, 0.5));
+
+            rsb->setTotalMass(10);
+
+            btTransform init_transform;
+            init_transform.setIdentity();
+            init_transform.setOrigin(origin);
+            init_transform.setRotation(rotation);
+            rsb->transformTo(init_transform);
+
+            rsb->setStiffnessScale(5);
+            rsb->setDamping(damping_alpha, damping_beta);
+            // rsb->scale(btVector3(0.5, 0.5, 0.5));
+
+            rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+            rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+            rsb->m_cfg.kDF = 0;
+            rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+            rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+            rsb->m_sleepingThreshold = 0;
+            btSoftBodyHelpers::generateBoundaryFaces(rsb);
+
+            std::cout << "Running reduced deformable\n";
+        }
+        else    // create full deformable cube
+        {
+            std::string filepath("../../../data/reduced_torus/");
+            std::string filename = filepath + "torus_mesh.vtk";
+            btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
+            
+            btTransform init_transform;
+            init_transform.setIdentity();
+            init_transform.setOrigin(origin);
+            init_transform.setRotation(rotation);
+            psb->transform(init_transform);
+            psb->getCollisionShape()->setMargin(0.015);
+            psb->setTotalMass(10);
+            psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+            psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+            psb->m_cfg.kDF = .5;
+            psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+            psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+            getDeformableDynamicsWorld()->addSoftBody(psb);
+            btSoftBodyHelpers::generateBoundaryFaces(psb);
+            
+            btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(m_gravity);
+            getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+            m_forces.push_back(gravity_force);
+            
+            btScalar E = 10000;
+            btScalar nu = 0.3;
+            btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
+            btScalar mu = E / (2 * (1 + nu));
+            btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.01);
+            // neohookean->setPoissonRatio(0.3);
+            // neohookean->setYoungsModulus(25);
+            neohookean->setDamping(0.01);
+            psb->m_cfg.drag = 0.001;
+            getDeformableDynamicsWorld()->addForce(psb, neohookean);
+            m_forces.push_back(neohookean);
+
+            std::cout << "Running full deformable\n";
+        }
+
+        // btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
+
+        // getDeformableDynamicsWorld()->addSoftBody(rsb);
+        // rsb->getCollisionShape()->setMargin(0.01);
+        // // rsb->scale(btVector3(1, 1, 0.5));
+
+        // rsb->setTotalMass(10);
+
+        // btTransform init_transform;
+        // init_transform.setIdentity();
+        // init_transform.setOrigin(origin);
+        // init_transform.setRotation(rotation);
+        // rsb->transformTo(init_transform);
+
+        // rsb->setStiffnessScale(5);
+        // rsb->setDamping(damping_alpha, damping_beta);
+        // // rsb->scale(btVector3(0.5, 0.5, 0.5));
+
+        // rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        // rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        // rsb->m_cfg.kDF = 0;
+        // rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        // rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        // rsb->m_sleepingThreshold = 0;
+        // btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      float internalTimeStep = 1. / 240.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+            }
+        }
+    }
+};
+
+void ReducedBenchmark::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+
+    if (run_reduced)
+    {
+        btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
+
+        btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+        sol->setDeformableSolver(solver);
+        m_solver = sol;
+        m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
+    }
+    else
+    {
+        btDeformableBodySolver* solver = new btDeformableBodySolver();
+
+        btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+        sol->setDeformableSolver(solver);
+        m_solver = sol;
+        m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
+    }
+
+    // m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_gravity = gravity;
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    
+    // 3x3 torus
+    createDeform(btVector3(4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(0, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(0, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(0, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(-4, 4, -4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(-4, 4, 0), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    createDeform(btVector3(-4, 4, 4), btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
+    
+    // create a static rigid box as the ground
+    {
+        // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
+        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(20), btScalar(2), btScalar(20)));
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
+        // groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
+        groundTransform.setOrigin(btVector3(0, 0, 0));
+        // groundTransform.setOrigin(btVector3(0, 0, 6));
+        // groundTransform.setOrigin(btVector3(0, -50, 0));
+        {
+            btScalar mass(0.);
+            createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
+        }
+    }
+
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    m_dynamicsWorld->setGravity(gravity);
+}
+
+void ReducedBenchmark::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ReducedBenchmark(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ReducedBenchmark.h b/examples/ReducedDeformableDemo/ReducedBenchmark.h
new file mode 100644
index 0000000000..ffaa4fcffa
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedBenchmark.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_BENCHMARK_H
+#define _REDUCED_BENCHMARK_H
+
+class CommonExampleInterface* ReducedBenchmarkCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_BENCHMARK_H
diff --git a/examples/ReducedDeformableDemo/ReducedCollide.cpp b/examples/ReducedDeformableDemo/ReducedCollide.cpp
new file mode 100644
index 0000000000..dd84946ae6
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedCollide.cpp
@@ -0,0 +1,522 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ReducedCollide.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
+// static btScalar E = 50;
+// static btScalar nu = 0.3;
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0;
+static btScalar COLLIDING_VELOCITY = 4;
+static int num_modes = 20;
+
+class ReducedCollide : public CommonDeformableBodyBase
+{
+public:
+    ReducedCollide(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+    }
+    virtual ~ReducedCollide()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+	btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
+	void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        // float dist = 20;
+        // float pitch = -10;
+        float dist = 10;
+        float pitch = -5;
+        float yaw = 90;
+        float targetPos[3] = {0, 0, 0};
+
+        // float dist = 5;
+		// float pitch = -35;
+		// float yaw = 50;
+		// float targetPos[3] = {-3, 2.8, -2.5};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void Ctor_RbUpStack()
+    {
+        float mass = 10;
+
+        btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
+        // btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
+        btVector3 localInertia(0, 0, 0);
+		if (mass != 0.f)
+			shape->calculateLocalInertia(mass, localInertia);
+
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0,-2,0));
+        // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+
+		m_dynamicsWorld->addRigidBody(body, 1, 1+2);
+
+        body->setActivationState(DISABLE_DEACTIVATION);
+        body->setLinearVelocity(btVector3(0, COLLIDING_VELOCITY, 0));
+        // body->setFriction(1);
+    }
+
+    void rigidBar()
+    {
+        float mass = 10;
+
+        btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.25, 2));
+        btVector3 localInertia(0, 0, 0);
+		if (mass != 0.f)
+			shape->calculateLocalInertia(mass, localInertia);
+
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0,10,0));
+        // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+
+		m_dynamicsWorld->addRigidBody(body, 1, 1+2);
+
+        body->setActivationState(DISABLE_DEACTIVATION);
+        body->setLinearVelocity(btVector3(0, 0, 0));
+        // body->setFriction(0);
+    }
+
+    void createGround()
+    {
+        // float mass = 55;
+        float mass = 0;
+
+        btCollisionShape* shape = new btBoxShape(btVector3(10, 2, 10));
+        btVector3 localInertia(0, 0, 0);
+		if (mass != 0.f)
+			shape->calculateLocalInertia(mass, localInertia);
+
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0,-2,0));
+        // startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 3.0));
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, shape, localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+
+		m_dynamicsWorld->addRigidBody(body, 1, 1+2);
+
+        body->setActivationState(DISABLE_DEACTIVATION);
+        body->setLinearVelocity(btVector3(0, 0, 0));
+        // body->setFriction(1);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {
+      float internalTimeStep = 1. / 60.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+            }
+
+            for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
+            {
+                int index = rsb->m_contactNodesList[p];
+                deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
+            }
+        }
+    }
+};
+
+void ReducedCollide::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+    btVector3 gravity = btVector3(0, 0, 0);
+    reducedSoftBodySolver->setGravity(gravity);
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    m_dynamicsWorld->setGravity(gravity);
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
+    m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_cube/");
+        std::string vtk_file("cube_mesh.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+                                            
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.1);
+        // rsb->scale(btVector3(0.5, 0.5, 0.5));
+
+        rsb->setStiffnessScale(100);
+        rsb->setDamping(damping_alpha, damping_beta);
+
+        rsb->setTotalMass(15);
+
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 4, 0));
+        // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
+        rsb->transformTo(init_transform);
+
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+        
+        rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
+        // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
+        b3Printf("total mass: %e", rsb->getTotalMass());
+    }
+    // rigidBar();
+
+    // add a few rigid bodies
+    Ctor_RbUpStack();
+    
+    // create ground
+    // createGround();
+
+    // create multibody
+    // {
+    //     bool damping = false;
+    //     bool gyro = true;
+    //     int numLinks = 0;
+    //     bool spherical = true;  //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+    //     bool multibodyOnly = true;
+    //     bool canSleep = false;
+    //     bool selfCollide = true;
+    //     bool multibodyConstraint = false;
+    //     btVector3 linkHalfExtents(0.05, 0.37, 0.1);
+    //     btVector3 baseHalfExtents(1, 1, 1);
+    //     // btVector3 baseHalfExtents(2.5, 0.5, 2.5);
+    //     // btVector3 baseHalfExtents(0.05, 0.37, 0.1);
+
+    //     bool g_floatingBase = true;
+    //     // btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0, 4, 0), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
+    //     btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 4.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase);
+    //     //mbC->forceMultiDof();							//if !spherical, you can comment this line to check the 1DoF algorithm
+
+    //     mbC->setCanSleep(canSleep);
+    //     mbC->setHasSelfCollision(selfCollide);
+    //     mbC->setUseGyroTerm(gyro);
+    //     //
+    //     if (!damping)
+    //     {
+    //         mbC->setLinearDamping(0.f);
+    //         mbC->setAngularDamping(0.f);
+    //     }
+    //     else
+    //     {
+    //         mbC->setLinearDamping(0.1f);
+    //         mbC->setAngularDamping(0.9f);
+    //     }
+    //     //
+    //     //////////////////////////////////////////////
+    //     // if (numLinks > 0)
+    //     // {
+    //     //     btScalar q0 = 45.f * SIMD_PI / 180.f;
+    //     //     if (!spherical)
+    //     //     {
+    //     //         mbC->setJointPosMultiDof(0, &q0);
+    //     //     }
+    //     //     else
+    //     //     {
+    //     //         btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
+    //     //         quat0.normalize();
+    //     //         mbC->setJointPosMultiDof(0, quat0);
+    //     //     }
+    //     // }
+    //     ///
+    //     addColliders_testMultiDof(mbC, m_dynamicsWorld, baseHalfExtents, linkHalfExtents);
+    // }
+
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    
+    // {
+    //     SliderParams slider("Young's Modulus", &E);
+    //     slider.m_minVal = 0;
+    //     slider.m_maxVal = 2000;
+    //     if (m_guiHelper->getParameterInterface())
+    //         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    // }
+    // {
+    //     SliderParams slider("Poisson Ratio", &nu);
+    //     slider.m_minVal = 0.05;
+    //     slider.m_maxVal = 0.49;
+    //     if (m_guiHelper->getParameterInterface())
+    //         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    // }
+    // {
+    //     SliderParams slider("Mass Damping", &damping_alpha);
+    //     slider.m_minVal = 0;
+    //     slider.m_maxVal = 1;
+    //     if (m_guiHelper->getParameterInterface())
+    //         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    // }
+    // {
+    //     SliderParams slider("Stiffness Damping", &damping_beta);
+    //     slider.m_minVal = 0;
+    //     slider.m_maxVal = 0.1;
+    //     if (m_guiHelper->getParameterInterface())
+    //         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    // }
+}
+
+void ReducedCollide::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+btMultiBody* ReducedCollide::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
+{
+	//init the base
+	btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+	float baseMass = 10;
+
+	if (baseMass)
+	{
+		btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+		pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+		delete pTempBox;
+	}
+
+	bool canSleep = false;
+
+	btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+
+	btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+	// btQuaternion baseOriQuat(btVector3(0, 0, 1), -SIMD_PI / 6.0);
+	pMultiBody->setBasePos(basePosition);
+	pMultiBody->setWorldToBaseRot(baseOriQuat);
+	btVector3 vel(0, 0, 0);
+
+	//init the links
+	btVector3 hingeJointAxis(1, 0, 0);
+	float linkMass = 1.f;
+	btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+
+	btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+	pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+	delete pTempBox;
+
+	//y-axis assumed up
+	btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0);                      //par body's COM to cur body's COM offset
+	btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);                         //cur body's COM to cur body's PIV offset
+	btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;  //par body's COM to cur body's PIV offset
+
+	//////
+	btScalar q0 = 0.f * SIMD_PI / 180.f;
+	btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+	quat0.normalize();
+	/////
+
+	for (int i = 0; i < numLinks; ++i)
+	{
+		if (!spherical)
+			pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
+		else
+			//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
+			pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, true);
+	}
+
+	pMultiBody->finalizeMultiDof();
+    pMultiBody->setBaseVel(vel);
+
+	///
+	pWorld->addMultiBody(pMultiBody);
+	///
+	return pMultiBody;
+}
+
+void ReducedCollide::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+	btAlignedObjectArray<btQuaternion> world_to_local;
+	world_to_local.resize(pMultiBody->getNumLinks() + 1);
+
+	btAlignedObjectArray<btVector3> local_origin;
+	local_origin.resize(pMultiBody->getNumLinks() + 1);
+	world_to_local[0] = pMultiBody->getWorldToBaseRot();
+	local_origin[0] = pMultiBody->getBasePos();
+
+	{
+		//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+		btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+
+		if (1)
+		{
+			btCollisionShape* box = new btBoxShape(baseHalfExtents);
+			btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+			col->setCollisionShape(box);
+
+			btTransform tr;
+			tr.setIdentity();
+			tr.setOrigin(local_origin[0]);
+			tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+			col->setWorldTransform(tr);
+
+			pWorld->addCollisionObject(col, 2, 1 + 2);
+
+			col->setFriction(1);
+			pMultiBody->setBaseCollider(col);
+		}
+	}
+
+	for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+	{
+		const int parent = pMultiBody->getParent(i);
+		world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+		local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+	}
+
+	for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+	{
+		btVector3 posr = local_origin[i + 1];
+		//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
+
+		btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+
+		btCollisionShape* box = new btBoxShape(linkHalfExtents);
+		btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+
+		col->setCollisionShape(box);
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(posr);
+		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+		col->setWorldTransform(tr);
+		col->setFriction(1);
+		pWorld->addCollisionObject(col, 2, 1 + 2);
+
+		pMultiBody->getLink(i).m_collider = col;
+	}
+}
+
+
+
+class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ReducedCollide(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ReducedCollide.h b/examples/ReducedDeformableDemo/ReducedCollide.h
new file mode 100644
index 0000000000..cd2ed89f53
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedCollide.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_COLLIDE_H
+#define _REDUCED_COLLIDE_H
+
+class CommonExampleInterface* ReducedCollideCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_COLLIDE_H
diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.cpp b/examples/ReducedDeformableDemo/ReducedGrasp.cpp
new file mode 100644
index 0000000000..c40e0c5544
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedGrasp.cpp
@@ -0,0 +1,457 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ReducedGrasp.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
+// static btScalar E = 50;
+// static btScalar nu = 0.3;
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0001;
+static int num_modes = 20;
+
+class ReducedGrasp : public CommonDeformableBodyBase
+{
+public:
+    ReducedGrasp(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+    }
+    virtual ~ReducedGrasp()
+    {
+    }
+    void initPhysics();
+
+	void exitPhysics();
+
+	void resetCamera()
+	{
+        float dist = 10;
+        float pitch = -10;
+        float yaw = 90;
+        
+        // float dist = 25;
+        // float pitch = -30;
+        // float yaw = 100;
+        float targetPos[3] = {0, 0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    void stepSimulation(float deltaTime)
+    {
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+        // float internalTimeStep = 1. / 60.f;
+        // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+    }
+    
+    void createGrip()
+    {
+        int count = 2;
+        float mass = 1e6;
+        btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25));
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(0,1,0));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape);
+        }
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(0,1,-4));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape);
+        }
+        
+    }
+
+    void Ctor_RbUpStack()
+    {
+        float mass = 8;
+        btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
+        btTransform startTransform;
+        startTransform.setIdentity();
+
+        startTransform.setOrigin(btVector3(0,9.5,0));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setLinearVelocity(btVector3(0, 0, 0));
+        rb1->setFriction(0.7);
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            // btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            // {
+            //     btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+            //     btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            // }
+
+            // for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
+            // {
+            //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.1, btVector3(0, 1, 0));
+            // }
+
+            btSoftBody* psb = static_cast<btSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
+            }
+        }
+    }
+
+    static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
+};
+
+void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
+{
+    btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
+    if (rbs.size()<2)
+        return;
+    btRigidBody* rb0 = rbs[0];
+    // btScalar pressTime = 0.9;
+    // btScalar pressTime = 0.96;
+    btScalar pressTime = 1.26;
+    btScalar liftTime = 2.5;
+    btScalar shiftTime = 6;
+    btScalar holdTime = 7;
+    btScalar dropTime = 10;
+    // btScalar holdTime = 500;
+    // btScalar dropTime = 1000;
+    btTransform rbTransform;
+    rbTransform.setIdentity();
+    btVector3 translation;
+    btVector3 velocity;
+    
+    btVector3 initialTranslationLeft = btVector3(0,1,0);            // inner face has z=2
+    btVector3 initialTranslationRight = btVector3(0,1,-4);          // inner face has z=-2
+    btVector3 pinchVelocityLeft = btVector3(0,0,-1);
+    btVector3 pinchVelocityRight = btVector3(0,0,1);
+    btVector3 liftVelocity = btVector3(0,4,0);
+    btVector3 shiftVelocity = btVector3(0,0,2);
+    btVector3 holdVelocity = btVector3(0,0,0);
+    btVector3 openVelocityLeft = btVector3(0,0,4);
+    btVector3 openVelocityRight = btVector3(0,0,-4);
+    
+    if (time < pressTime)
+    {
+        velocity = pinchVelocityLeft;
+        translation = initialTranslationLeft + pinchVelocityLeft * time;
+    }
+    // else
+    // {
+    //     velocity = btVector3(0, 0, 0);
+    //     translation = initialTranslationLeft + pinchVelocityLeft * pressTime;
+    // }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityLeft;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb0->setCenterOfMassTransform(rbTransform);
+    rb0->setAngularVelocity(btVector3(0,0,0));
+    rb0->setLinearVelocity(velocity);
+    
+    btRigidBody* rb1 = rbs[1];
+    if (time < pressTime)
+    {
+        velocity = pinchVelocityRight;
+        translation = initialTranslationRight + pinchVelocityRight * time;
+    }
+    // else
+    // {
+    //     velocity = btVector3(0, 0, 0);
+    //     translation = initialTranslationRight + pinchVelocityRight * pressTime;
+    // }
+    else if (time < liftTime)
+    {
+        velocity = liftVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
+    }
+    else if (time < shiftTime)
+    {
+        velocity = shiftVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
+    }
+    else if (time < holdTime)
+    {
+        velocity = btVector3(0,0,0);
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
+    }
+    else if (time < dropTime)
+    {
+        velocity = openVelocityRight;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
+    }
+    else
+    {
+        velocity = holdVelocity;
+        translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
+    }
+    rbTransform.setOrigin(translation);
+    rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+    rb1->setCenterOfMassTransform(rbTransform);
+    rb1->setAngularVelocity(btVector3(0,0,0));
+    rb1->setLinearVelocity(velocity);
+    
+    rb0->setFriction(20);
+    rb1->setFriction(20);
+}
+
+void ReducedGrasp::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    // btDeformableBodySolver* solver = new btDeformableBodySolver();
+    btReducedDeformableBodySolver* solver = new btReducedDeformableBodySolver();
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(solver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
+    btVector3 gravity = btVector3(0, -10, 0);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+    getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics);
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_cube/");
+        std::string vtk_file("cube_mesh.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+                                            
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.015);
+        
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 1, -2));
+        // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
+        // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
+        rsb->transform(init_transform);
+
+        rsb->setStiffnessScale(100);
+        rsb->setDamping(damping_alpha, damping_beta);
+
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+
+    // create full deformable cube
+    {
+        // std::string filepath("../../../examples/SoftDemo/cube/");
+        // std::string filename = filepath + "mesh.vtk";
+        // btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
+        
+        // // psb->scale(btVector3(2, 2, 2));
+        // psb->translate(btVector3(0, 1, -2));
+        // psb->getCollisionShape()->setMargin(0.05);
+        // psb->setTotalMass(28.6);
+        // psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        // psb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        // psb->m_cfg.kDF = .5;
+        // psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        // psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        // getDeformableDynamicsWorld()->addSoftBody(psb);
+        // btSoftBodyHelpers::generateBoundaryFaces(psb);
+        
+        // btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
+        // getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+        // m_forces.push_back(gravity_force);
+        
+        // btScalar E = 10000;
+        // btScalar nu = 0.3;
+        // btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
+        // btScalar mu = E / (2 * (1 + nu));
+        // btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.02);
+        // // neohookean->setPoissonRatio(0.3);
+        // // neohookean->setYoungsModulus(25);
+        // neohookean->setDamping(0.01);
+        // psb->m_cfg.drag = 0.001;
+        // getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        // m_forces.push_back(neohookean);
+    }
+
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+    
+    // grippers
+    createGrip();
+
+    // rigid block
+    // Ctor_RbUpStack();
+
+    // {
+    //     float mass = 10;
+    //     btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
+    //     btTransform startTransform;
+    //     startTransform.setIdentity();
+    //     startTransform.setOrigin(btVector3(0,4,0));
+    //     btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+    //     rb1->setLinearVelocity(btVector3(0, 0, 0));
+    // }
+
+    //create a ground
+    {
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
+
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -25, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
+        btScalar mass(0.);
+
+        //rigidbody is dynamic if and only if mass is non zero, otherwise static
+        bool isDynamic = (mass != 0.f);
+
+        btVector3 localInertia(0, 0, 0);
+        if (isDynamic)
+            groundShape->calculateLocalInertia(mass, localInertia);
+
+        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+        btRigidBody* body = new btRigidBody(rbInfo);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body);
+    }
+
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void ReducedGrasp::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedGraspCreateFunc(struct CommonExampleOptions& options)
+{
+    return new ReducedGrasp(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ReducedGrasp.h b/examples/ReducedDeformableDemo/ReducedGrasp.h
new file mode 100644
index 0000000000..12d2748493
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedGrasp.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_GRASP_H
+#define _REDUCED_GRASP_H
+
+class CommonExampleInterface* ReducedGraspCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_GRASP_H
diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
new file mode 100644
index 0000000000..5dda30f97b
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
@@ -0,0 +1,558 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "ReducedMotorGrasp.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
+#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
+#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include "../CommonInterfaces/CommonFileIOInterface.h"
+#include "Bullet3Common/b3FileUtils.h"
+
+///The ReducedMotorGrasp shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
+static btScalar sGripperVerticalVelocity = 0.f;
+static btScalar sGripperClosingTargetVelocity = 0.f;
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0001;
+static int num_modes = 20;
+static float friction = 1.;
+struct TetraCube
+{
+#include "../SoftDemo/cube.inl"
+};
+
+struct TetraBunny
+{
+#include "../SoftDemo/bunny.inl"
+};
+
+static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
+{
+    bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute
+                         || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic);
+    return canHaveMotor;
+}
+
+class ReducedMotorGrasp : public CommonDeformableBodyBase
+{
+    btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
+public:
+	ReducedMotorGrasp(struct GUIHelperInterface* helper)
+    :CommonDeformableBodyBase(helper)
+	{
+	}
+	virtual ~ReducedMotorGrasp()
+	{
+	}
+	void initPhysics();
+
+	void exitPhysics();
+
+    void Ctor_RbUpStack()
+    {
+        float mass = 8;
+        btCollisionShape* shape = new btBoxShape(btVector3(2, 0.25, 0.5));
+        btTransform startTransform;
+        startTransform.setIdentity();
+
+        startTransform.setOrigin(btVector3(0,0.25,0));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setLinearVelocity(btVector3(0, 0, 0));
+        rb1->setFriction(0.7);
+    }
+
+	void resetCamera()
+	{
+        // float dist = 0.3;
+        // float pitch = -45;
+        // float yaw = 100;
+        // float targetPos[3] = {0, -0.1, 0};
+        float dist = 0.4;
+        float pitch = -25;
+        float yaw = 90;
+        float targetPos[3] = {0, 0, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+    
+    btMultiBody* createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld,const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating);
+    
+    void addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
+    
+    btMultiBody* createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating);
+    
+    void stepSimulation(float deltaTime)
+    {
+        double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
+        int num_multiBody = getDeformableDynamicsWorld()->getNumMultibodies();
+        for (int i = 0; i < num_multiBody; ++i)
+        {
+            btMultiBody* mb = getDeformableDynamicsWorld()->btMultiBodyDynamicsWorld::getMultiBody(i);
+            mb->setBaseVel(btVector3(0,sGripperVerticalVelocity, 0));
+            int dofIndex = 6;  //skip the 3 linear + 3 angular degree of freedom entries of the base
+            for (int link = 0; link < mb->getNumLinks(); link++)
+            {
+                if (supportsJointMotor(mb, link))
+                {
+                    btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
+                    if (motor)
+                    {
+                        if (dofIndex == 6)
+                        {
+                            motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
+                            motor->setMaxAppliedImpulse(10);
+                        }
+                        if (dofIndex == 7)
+                        {
+                            motor->setVelocityTarget(fingerTargetVelocities[1], 1);
+                            motor->setMaxAppliedImpulse(10);
+                        }
+                        motor->setMaxAppliedImpulse(25);
+                    }
+                }
+                dofIndex += mb->getLink(link).m_dofCount;
+            }
+        }
+        
+        //use a smaller internal timestep, there are stability issues
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
+        // float internalTimeStep = 1. / 60.f;
+        // m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+    }
+    
+    void createGrip()
+    {
+        int count = 2;
+        float mass = 2;
+        btCollisionShape* shape[] = {
+            new btBoxShape(btVector3(3, 3, 0.5)),
+        };
+        static const int nshapes = sizeof(shape) / sizeof(shape[0]);
+        for (int i = 0; i < count; ++i)
+        {
+            btTransform startTransform;
+            startTransform.setIdentity();
+            startTransform.setOrigin(btVector3(10, 0, 0));
+            startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
+            createRigidBody(mass, startTransform, shape[i % nshapes]);
+        }
+    }
+    
+    virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
+    {
+        return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
+            }
+            // for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
+            // {
+            //     int index = rsb->m_contactNodesList[p];
+            //     deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
+            // }
+        }
+    }
+    
+    virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+    {
+        return false;
+    }
+    virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+    {
+        return false;
+    }
+    virtual void removePickingConstraint(){}
+};
+
+
+void ReducedMotorGrasp::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+    
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+    // btVector3 gravity = btVector3(0, 0, 0);
+    btVector3 gravity = btVector3(0, -9.81, 0);
+    reducedSoftBodySolver->setGravity(gravity);
+
+	btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+	m_dynamicsWorld->setGravity(gravity);
+    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+    // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1;
+    // getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0;
+    // getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150;
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_maxPickingForce = 0.001;
+    // build a gripper
+    {
+        bool damping = true;
+        bool gyro = false;
+        bool canSleep = false;
+        bool selfCollide = true;
+        int numLinks = 2;
+        // btVector3 linkHalfExtents(0.02, 0.018, .003);
+        // btVector3 baseHalfExtents(0.02, 0.002, .002);
+        btVector3 linkHalfExtents(0.03, 0.04, 0.006);
+        btVector3 baseHalfExtents(0.02, 0.015, 0.015);
+        btVector3 basePosition(0, 0.3, 0);
+        // btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), baseHalfExtents, linkHalfExtents, false);
+        btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basePosition, baseHalfExtents, linkHalfExtents, false);
+        
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+
+        for (int i = 0; i < numLinks; i++)
+        {
+            int mbLinkIndex = i;
+            double maxMotorImpulse = 1;
+
+            if (supportsJointMotor(mbC, mbLinkIndex))
+            {
+                int dof = 0;
+                btScalar desiredVelocity = 0.f;
+                btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mbC, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
+                motor->setPositionTarget(0, 0);
+                motor->setVelocityTarget(0, 1);
+                mbC->getLink(mbLinkIndex).m_userPtr = motor;
+                getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
+                motor->finalizeMultiDof();
+            }
+        }
+        
+        if (!damping)
+        {
+            mbC->setLinearDamping(0.0f);
+            mbC->setAngularDamping(0.0f);
+        }
+        else
+        {
+            mbC->setLinearDamping(0.04f);
+            mbC->setAngularDamping(0.04f);
+        }
+        btScalar q0 = 0.f * SIMD_PI / 180.f;
+        if (numLinks > 0)
+            mbC->setJointPosMultiDof(0, &q0);
+        addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
+    }
+    
+    //create a ground
+    {
+        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.)));
+        groundShape->setMargin(0.001);
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, -5.1, 0));
+        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
+        //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
+        btScalar mass(0.);
+
+        //rigidbody is dynamic if and only if mass is non zero, otherwise static
+        bool isDynamic = (mass != 0.f);
+
+        btVector3 localInertia(0, 0, 0);
+        if (isDynamic)
+            groundShape->calculateLocalInertia(mass, localInertia);
+
+        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
+        btRigidBody* body = new btRigidBody(rbInfo);
+        body->setFriction(0.5);
+
+        //add the ground to the dynamics world
+        m_dynamicsWorld->addRigidBody(body,1,1+2);
+    }
+
+	// create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_cube/");
+        std::string vtk_file("cube_mesh.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.001);
+
+        rsb->setStiffnessScale(100);
+        rsb->setDamping(damping_alpha, damping_beta);
+
+        rsb->scale(btVector3(0.075, 0.075, 0.075));
+        rsb->setTotalMass(1);
+
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 0.1, 0));
+        // init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, SIMD_PI / 2.0));
+        rsb->transform(init_transform);
+        
+        // rsb->setRigidVelocity(btVector3(0, 1, 0));
+
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+    }
+
+    // Ctor_RbUpStack();
+    
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200;
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+    
+    {
+        SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
+        // slider.m_minVal = -.02;
+        // slider.m_maxVal = .02;
+        slider.m_minVal = -.2;
+        slider.m_maxVal = .2;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+    
+    {
+        SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+        slider.m_minVal = -1;
+        slider.m_maxVal = 1;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+    
+}
+
+void ReducedMotorGrasp::exitPhysics()
+{
+	//cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject(obj);
+		delete obj;
+	}
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+	//delete collision shapes
+	for (int j = 0; j < m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+
+	delete m_solver;
+
+	delete m_broadphase;
+
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+}
+
+btMultiBody* ReducedMotorGrasp::createFeatherstoneMultiBody(btMultiBodyDynamicsWorld* pWorld, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool floating)
+{
+    //init the base
+    btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+    float baseMass = 55;
+    float linkMass = 55;
+    int numLinks = 2;
+    
+    if (baseMass)
+    {
+        btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+        pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+        delete pTempBox;
+    }
+    
+    bool canSleep = false;
+    btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+    
+    btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+    pMultiBody->setBasePos(basePosition);
+    pMultiBody->setWorldToBaseRot(baseOriQuat);
+    
+    //init the links
+    btVector3 hingeJointAxis(1, 0, 0);
+    
+    btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+    
+    btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+    pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+    delete pTempBox;
+    
+    //y-axis assumed up
+    btAlignedObjectArray<btVector3> parentComToCurrentCom;
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, -baseHalfExtents[2] * 2.f));
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 2.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset
+
+    
+    btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*2.f, 0);                         //cur body's COM to cur body's PIV offset
+    
+    btAlignedObjectArray<btVector3> parentComToCurrentPivot;
+    parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[0] - currentPivotToCurrentCom));
+    parentComToCurrentPivot.push_back(btVector3(parentComToCurrentCom[1] - currentPivotToCurrentCom));//par body's COM to cur body's PIV offset
+    
+    //////
+    btScalar q0 = 0.f * SIMD_PI / 180.f;
+    btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+    quat0.normalize();
+    /////
+    
+    for (int i = 0; i < numLinks; ++i)
+    {
+        pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot[i], currentPivotToCurrentCom, true);
+    }
+    pMultiBody->finalizeMultiDof();
+    ///
+    pWorld->addMultiBody(pMultiBody);
+    ///
+    return pMultiBody;
+}
+
+void ReducedMotorGrasp::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
+{
+    btAlignedObjectArray<btQuaternion> world_to_local;
+    world_to_local.resize(pMultiBody->getNumLinks() + 1);
+    
+    btAlignedObjectArray<btVector3> local_origin;
+    local_origin.resize(pMultiBody->getNumLinks() + 1);
+    world_to_local[0] = pMultiBody->getWorldToBaseRot();
+    local_origin[0] = pMultiBody->getBasePos();
+    
+    {
+        btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
+        
+        if (1)
+        {
+            btCollisionShape* box = new btBoxShape(baseHalfExtents);
+            box->setMargin(0.001);
+            btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
+            col->setCollisionShape(box);
+            
+            btTransform tr;
+            tr.setIdentity();
+            tr.setOrigin(local_origin[0]);
+            tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+            col->setWorldTransform(tr);
+            
+            pWorld->addCollisionObject(col, 2, 1 + 2);
+            
+            col->setFriction(friction);
+            pMultiBody->setBaseCollider(col);
+        }
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        const int parent = pMultiBody->getParent(i);
+        world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
+        local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
+    }
+    
+    for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
+    {
+        btVector3 posr = local_origin[i + 1];
+        
+        btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
+        
+        btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        box->setMargin(0.001);
+        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+        
+        col->setCollisionShape(box);
+        btTransform tr;
+        tr.setIdentity();
+        tr.setOrigin(posr);
+        tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
+        col->setWorldTransform(tr);
+        col->setFriction(friction);
+        pWorld->addCollisionObject(col, 2, 1 + 2);
+        
+        pMultiBody->getLink(i).m_collider = col;
+    }
+}
+
+class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options)
+{
+	return new ReducedMotorGrasp(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/ReducedMotorGrasp.h b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h
new file mode 100644
index 0000000000..52883ecf1a
--- /dev/null
+++ b/examples/ReducedDeformableDemo/ReducedMotorGrasp.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_MOTOR_GRASP
+#define _REDUCED_MOTOR_GRASP
+
+class CommonExampleInterface* ReducedMotorGraspCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_MOTOR_GRASP
diff --git a/examples/ReducedDeformableDemo/Springboard.cpp b/examples/ReducedDeformableDemo/Springboard.cpp
new file mode 100644
index 0000000000..58641365eb
--- /dev/null
+++ b/examples/ReducedDeformableDemo/Springboard.cpp
@@ -0,0 +1,264 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "Springboard.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+#include <stdio.h>  //printf debugging
+
+#include "../CommonInterfaces/CommonDeformableBodyBase.h"
+#include "../Utils/b3ResourcePath.h"
+
+static btScalar damping_alpha = 0.0;
+static btScalar damping_beta = 0.0001;
+static int num_modes = 20;
+
+class Springboard : public CommonDeformableBodyBase
+{
+    btScalar sim_time;
+    bool first_step;
+
+public:
+    Springboard(struct GUIHelperInterface* helper)
+        : CommonDeformableBodyBase(helper)
+    {
+        sim_time = 0;
+        first_step = true;
+    }
+    virtual ~Springboard()
+    {
+    }
+    void initPhysics();
+
+    void exitPhysics();
+
+    // TODO: disable pick force, non-interactive for now.
+    bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) {
+        return false;
+    } 
+
+    void resetCamera()
+    {
+        float dist = 10;
+        float pitch = 0;
+        float yaw = 90;
+        float targetPos[3] = {0, 3, 0};
+        m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+    }
+    
+    void Ctor_RbUpStack()
+    {
+        float mass = 2;
+        btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
+        btTransform startTransform;
+        startTransform.setIdentity();
+        startTransform.setOrigin(btVector3(0,8,1));
+        btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
+        rb1->setActivationState(DISABLE_DEACTIVATION);
+    }
+    
+    void stepSimulation(float deltaTime)
+    {      
+      float internalTimeStep = 1. / 60.f;
+      m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
+
+      {
+        sim_time += internalTimeStep;
+        btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(getDeformableDynamicsWorld()->getSoftBodyArray()[0]);
+        
+        // std::ofstream myfile("fixed_node.txt", std::ios_base::app);
+        // myfile << sim_time << "\t" << rsb->m_nodes[0].m_x[0] - rsb->m_x0[0][0] << "\t" 
+        //                            << rsb->m_nodes[0].m_x[1] - rsb->m_x0[0][1] << "\t" 
+        //                            << rsb->m_nodes[0].m_x[2] - rsb->m_x0[0][2] << "\n";
+        // myfile.close();
+      }
+    }
+    
+    virtual void renderScene()
+    {
+        CommonDeformableBodyBase::renderScene();
+        btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
+        
+        for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
+        {
+            btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(deformableWorld->getSoftBodyArray()[i]);
+            {
+                btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
+                btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags()); 
+
+                for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
+                {
+                    deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
+                    // std::cout << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[2] << "\n";
+                }
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1));
+                // deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1));
+            }
+        }
+    }
+};
+
+void Springboard::initPhysics()
+{
+    m_guiHelper->setUpAxis(1);
+
+    ///collision configuration contains default setup for memory, collision setup
+    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+
+    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+    m_broadphase = new btDbvtBroadphase();
+    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
+    btVector3 gravity = btVector3(0, -10, 0);
+    reducedSoftBodySolver->setGravity(gravity);
+
+    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
+    sol->setDeformableSolver(reducedSoftBodySolver);
+    m_solver = sol;
+
+    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    m_dynamicsWorld->setGravity(gravity);
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+    // create volumetric reduced deformable body
+    {   
+        std::string file_path("../../../data/reduced_beam/");
+        std::string vtk_file("beam_mesh_origin.vtk");
+        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
+                                            getDeformableDynamicsWorld()->getWorldInfo(),
+                                            file_path,
+                                            vtk_file,
+                                            num_modes,
+                                            false);
+
+        getDeformableDynamicsWorld()->addSoftBody(rsb);
+        rsb->getCollisionShape()->setMargin(0.1);
+        
+        btTransform init_transform;
+        init_transform.setIdentity();
+        init_transform.setOrigin(btVector3(0, 4, 0));
+        // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
+        rsb->transform(init_transform);
+
+        rsb->setStiffnessScale(200);
+        rsb->setDamping(damping_alpha, damping_beta);
+        
+        // set fixed nodes
+        rsb->setFixedNodes(0);
+        rsb->setFixedNodes(1);
+        rsb->setFixedNodes(2);
+        rsb->setFixedNodes(3);
+        
+        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
+        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
+        rsb->m_cfg.kDF = 0;
+        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+        rsb->m_sleepingThreshold = 0;
+        btSoftBodyHelpers::generateBoundaryFaces(rsb);
+        
+        // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
+        // rsb->setRigidVelocity(btVector3(0, 1, 0));
+        // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
+    }
+    getDeformableDynamicsWorld()->setImplicit(false);
+    getDeformableDynamicsWorld()->setLineSearch(false);
+    getDeformableDynamicsWorld()->setUseProjection(false);
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
+    getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
+    getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
+    getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
+    getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
+    // add a few rigid bodies
+    Ctor_RbUpStack();
+
+    // create a static rigid box as the ground
+    {
+        // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
+        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
+        m_collisionShapes.push_back(groundShape);
+
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, 0, 0));
+        {
+            btScalar mass(0.);
+            createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
+        }
+    }
+
+    m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void Springboard::exitPhysics()
+{
+    //cleanup in the reverse order of creation/initialization
+    removePickingConstraint();
+    //remove the rigidbodies from the dynamics world and delete them
+    int i;
+    for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+    {
+        btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+        btRigidBody* body = btRigidBody::upcast(obj);
+        if (body && body->getMotionState())
+        {
+            delete body->getMotionState();
+        }
+        m_dynamicsWorld->removeCollisionObject(obj);
+        delete obj;
+    }
+    // delete forces
+    for (int j = 0; j < m_forces.size(); j++)
+    {
+        btDeformableLagrangianForce* force = m_forces[j];
+        delete force;
+    }
+    m_forces.clear();
+    
+    //delete collision shapes
+    for (int j = 0; j < m_collisionShapes.size(); j++)
+    {
+        btCollisionShape* shape = m_collisionShapes[j];
+        delete shape;
+    }
+    m_collisionShapes.clear();
+
+    delete m_dynamicsWorld;
+
+    delete m_solver;
+
+    delete m_broadphase;
+
+    delete m_dispatcher;
+
+    delete m_collisionConfiguration;
+}
+
+
+
+class CommonExampleInterface* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options)
+{
+    return new Springboard(options.m_guiHelper);
+}
+
+
diff --git a/examples/ReducedDeformableDemo/Springboard.h b/examples/ReducedDeformableDemo/Springboard.h
new file mode 100644
index 0000000000..2636d56239
--- /dev/null
+++ b/examples/ReducedDeformableDemo/Springboard.h
@@ -0,0 +1,19 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2019 Google Inc. http://bulletphysics.org
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef _REDUCED_SPRINGBOARD_H
+#define _REDUCED_SPRINGBOARD_H
+
+class CommonExampleInterface* ReducedSpringboardCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //_REDUCED_SPRINGBOARD_H
diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt
index e78880e24d..c17481f8c7 100644
--- a/examples/RobotSimulator/CMakeLists.txt
+++ b/examples/RobotSimulator/CMakeLists.txt
@@ -58,7 +58,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -110,7 +111,8 @@ IF(WIN32)
 ELSE()
 	IF(APPLE)
 	ELSE(APPLE)
-		TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -144,10 +146,10 @@ IF(WIN32)
                 TARGET_LINK_LIBRARIES(App_HelloBulletRobotics ws2_32 Winmm)
         ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
 ELSE()
-        IF(APPLE)
-        ELSE(APPLE)
-                TARGET_LINK_LIBRARIES( App_HelloBulletRobotics pthread ${DL} )
-        ENDIF(APPLE)
+	IF(NOT APPLE)
+		FIND_PACKAGE(Threads)
+		TARGET_LINK_LIBRARIES( App_HelloBulletRobotics ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
 
diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
index 4fab5104bd..32d73efb30 100644
--- a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
+++ b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.h b/examples/RollingFrictionDemo/RollingFrictionDemo.h
index 2362cc5908..9213aed7f6 100644
--- a/examples/RollingFrictionDemo/RollingFrictionDemo.h
+++ b/examples/RollingFrictionDemo/RollingFrictionDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 4da5cc3e3c..44db190acd 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -120,8 +120,9 @@ IF (WIN32)
                 ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
-			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	IF(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
@@ -129,8 +130,7 @@ ELSE(WIN32)
 			                main.cpp
 			        )
 
-        ELSE(APPLE)
-                                LINK_LIBRARIES(  pthread ${DL} )
+	ELSE(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
@@ -180,8 +180,9 @@ IF (WIN32)
 			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
 			        FIND_LIBRARY(COCOA NAMES Cocoa)
               MESSAGE(${COCOA})
               LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
@@ -197,7 +198,6 @@ ELSE(WIN32)
 			        )
 
         ELSE(APPLE)
-				LINK_LIBRARIES(  pthread ${DL} )
          			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
               ADD_DEFINITIONS("-DGLEW_STATIC")
               ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
@@ -393,9 +393,10 @@ ELSE(WIN32 OR APPLE)
                -std=c++11
        )
 
+       FIND_PACKAGE(Threads)
        target_link_libraries(App_PhysicsServer_SharedMemory_VR PRIVATE
                openvr_api
-               pthread
+               ${CMAKE_THREAD_LIBS_INIT}
                ${DL}
                Bullet3Common
                BulletWorldImporter
diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 33c139ef19..8fc863f277 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -67,6 +67,8 @@ class PhysicsClient
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData) = 0;
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData) = 0;
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 829eeca56c..71bdd5c544 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -260,6 +260,17 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
 	}
 }
 
+B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_MJCF);
+	if (command->m_type == CMD_LOAD_MJCF)
+	{
+		command->m_updateFlags |= URDF_ARGS_USE_MULTIBODY;
+		command->m_mjcfArguments.m_useMultiBody = useMultiBody;
+	}
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -977,6 +988,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedM
 	return (b3SharedMemoryCommandHandle)command;
 }
 
+
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_PERFORM_COLLISION_DETECTION;
+	command->m_updateFlags = 0;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1043,6 +1067,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3S
 		command->m_sendDesiredStateCommandArgument.m_Kp[i] = 0;
 		command->m_sendDesiredStateCommandArgument.m_Kd[i] = 0;
 		command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
+		command->m_sendDesiredStateCommandArgument.m_damping[i] = 0;
 	}
 	command->m_sendDesiredStateCommandArgument.m_desiredStateQ[3] = 1;
 	return (b3SharedMemoryCommandHandle)command;
@@ -1090,6 +1115,22 @@ B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle,
 	return 0;
 }
 
+B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
+	{
+		for (int dof = 0; dof < dofCount; dof++)
+		{
+			command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex + dof] = kps[dof];
+			command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
+			command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KP;
+		}
+	}
+	return 0;
+}
+
 B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1103,6 +1144,22 @@ B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle,
 	return 0;
 }
 
+B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
+	{
+		for (int dof = 0; dof < dofCount; dof++)
+		{
+			command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex + dof] = kds[dof];
+			command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
+			command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KD;
+		}
+	}
+	return 0;
+}
+
 B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1161,6 +1218,35 @@ B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryComm
 	return 0;
 }
 
+B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
+	{
+		command->m_sendDesiredStateCommandArgument.m_damping[dofIndex] = value;
+		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
+		command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_DAMPING;
+	}
+	return 0;
+}
+
+B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
+	{
+		for (int dof = 0; dof < dofCount; dof++)
+		{
+			command->m_sendDesiredStateCommandArgument.m_damping[dofIndex+dof] = damping[dof];
+			command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
+			command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_DAMPING;
+		}
+	}
+	return 0;
+}
+
 B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1398,6 +1484,28 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
 	return -1;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int numVertices, const double* vertices)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_RESET_MESH_DATA;
+		command->m_updateFlags = 0;
+		command->m_resetMeshDataArgs.m_numVertices = numVertices;
+		command->m_resetMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
+		command->m_resetMeshDataArgs.m_flags = 0;
+		int totalUploadSizeInBytes = numVertices * sizeof(double) *3;
+		cl->uploadBulletFileToSharedMemory((const char*)vertices, totalUploadSizeInBytes);
+		return (b3SharedMemoryCommandHandle)command;
+	}
+	return 0;
+}
+
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1417,6 +1525,24 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
 	return 0;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_REQUEST_TETRA_MESH_DATA;
+		command->m_updateFlags = 0;
+		command->m_resetTetraMeshDataArgs.m_startingVertex = 0;
+		command->m_resetTetraMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
+		return (b3SharedMemoryCommandHandle)command;
+	}
+	return 0;
+}
+
 B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1441,6 +1567,34 @@ B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHand
 	}
 }
 
+B3_SHARED_API void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_TETRA_MESH_DATA);
+	if (command->m_type == CMD_REQUEST_TETRA_MESH_DATA)
+	{
+		command->m_updateFlags = B3_TETRA_MESH_DATA_FLAGS;
+		command->m_requestMeshDataArgs.m_flags = flags;
+	}
+}
+
+B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_MESH_DATA);
+	command->m_updateFlags |= B3_MESH_DATA_SIMULATION_MESH;
+}
+
+B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_MESH_DATA || command->m_type == CMD_RESET_MESH_DATA);
+	command->m_updateFlags |= B3_MESH_DATA_SIMULATION_MESH_VELOCITY;
+}
+
 B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1450,6 +1604,15 @@ B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3Mesh
 	}
 }
 
+B3_SHARED_API void b3GetTetraMeshData(b3PhysicsClientHandle physClient, struct b3TetraMeshData* meshData)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	if (cl)
+	{
+		cl->getCachedTetraMeshData(meshData);
+	}
+}
+
 B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius)
 {
 	return b3CreateCollisionShapeAddSphere(commandHandle, radius);
@@ -2097,6 +2260,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
 			command->m_createMultiBodyArgs.m_linkJointAxis[3 * linkIndex + 2] = linkJointAxis[2];
 
 			command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
+			
 			command->m_createMultiBodyArgs.m_numLinks++;
 			return numLinks;
 		}
@@ -3219,6 +3383,18 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
 	return 0;
 }
 
+B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_sleepThreshold = sleepThreshold;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD;
+	return 0;
+}
+
+
+
 B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -3876,6 +4052,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsCli
 	return (b3SharedMemoryCommandHandle)command;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestBodyInfoCommand(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+
+	command->m_type = CMD_REQUEST_BODY_INFO;
+	command->m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -4042,6 +4231,44 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics
 
 	return (b3SharedMemoryCommandHandle)command;
 }
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddPoints3D(b3PhysicsClientHandle physClient, const double positionsXYZ[/*3n*/], const double colorsRGB[/*3n*/], const double pointSize, const double lifeTime, const int pointNum)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_USER_DEBUG_DRAW;
+	command->m_updateFlags = USER_DEBUG_HAS_POINTS;
+
+	command->m_userDebugDrawArgs.m_debugPointNum = pointNum;
+	command->m_userDebugDrawArgs.m_pointSize = pointSize;
+	command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_parentLinkIndex = -1;
+	command->m_userDebugDrawArgs.m_optionFlags = 0;
+
+	int totalUploadSizeInBytes = pointNum * sizeof(double) * 3 * 2;
+	char* data = new char[totalUploadSizeInBytes];
+	double* pointPositionsUpload = (double*) data;
+	double* pointColorsUpload = (double*)(data + pointNum * sizeof(double) * 3);
+	for (int i = 0; i < pointNum; i++)
+	{
+		pointPositionsUpload[i * 3 + 0] = positionsXYZ[i * 3 + 0];
+		pointPositionsUpload[i * 3 + 1] = positionsXYZ[i * 3 + 1];
+		pointPositionsUpload[i * 3 + 2] = positionsXYZ[i * 3 + 2];
+	}
+	for (int i = 0; i < pointNum; i++)
+	{
+		pointColorsUpload[i * 3 + 0] = colorsRGB[i * 3 + 0];
+		pointColorsUpload[i * 3 + 1] = colorsRGB[i * 3 + 1];
+		pointColorsUpload[i * 3 + 2] = colorsRGB[i * 3 + 2];
+	}
+	cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes);
+	delete[] data;
+
+	return (b3SharedMemoryCommandHandle)command;
+}
 
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[3], const double colorRGB[3], double textSize, double lifeTime)
 {
@@ -4472,7 +4699,7 @@ B3_SHARED_API void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetP
 
 	b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);      // rads per deg
 	b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);  // rads per deg
-	b3Scalar rollRad = 0.0;
+	b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);      // rads per deg
 	b3Quaternion eyeRot;
 
 	int forwardAxis(-1);
@@ -5964,6 +6191,21 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCom
 	}
 }
 
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_RGB_BACKGROUND;
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[0] = rgbBackground[0];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[1] = rgbBackground[1];
+		command->m_configureOpenGLVisualizerArguments.m_rgbBackground[2] = rgbBackground[2];
+	}
+}
+
+
 B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 318263b2d9..5632729425 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -106,6 +106,9 @@ extern "C"
 	///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
 
+	// Sync the body info of a single body. Useful when a new body has been added by a different client (e,g, when detecting through a body added notification).
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestBodyInfoCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
+
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
 
 	///return the total number of bodies in the simulation
@@ -156,7 +159,8 @@ extern "C"
 	B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit);
 	B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce);
 	B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType);
-	
+
+	B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold);
 	
 	B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
 	B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
@@ -217,7 +221,9 @@ extern "C"
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapIntensity(b3SharedMemoryCommandHandle commandHandle, double shadowMapIntensity);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightRgbBackground(b3SharedMemoryCommandHandle commandHandle, const float rgbBackground[3]);
 	
+
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
 	
@@ -228,6 +234,7 @@ extern "C"
 
 	/// Add/remove user-specific debug lines and debug text messages
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[/*3*/], const double toXYZ[/*3*/], const double colorRGB[/*3*/], double lineWidth, double lifeTime);
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddPoints3D(b3PhysicsClientHandle physClient, const double positionsXYZ[/*3n*/], const double colorsRGB[/*3*/], double pointSize, double lifeTime, int pointNum);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[/*3*/], const double colorRGB[/*3*/], double textSize, double lifeTime);
 	B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
@@ -382,6 +389,8 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
 
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient);
+
 	B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData);
 
 
@@ -413,6 +422,8 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
 	B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+	B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
+	
 
 	///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
 	B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId,
@@ -482,7 +493,9 @@ extern "C"
 	B3_SHARED_API int b3JointControlSetDesiredPositionMultiDof(b3SharedMemoryCommandHandle commandHandle, int qIndex, const double* position, int dofCount);
 
 	B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
+	B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount);
 	B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
+	B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount);
 	B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity);
 
 	///Only use when controlMode is CONTROL_MODE_VELOCITY
@@ -492,6 +505,8 @@ extern "C"
 
 	B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
 	B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* forces, int dofCount);
+	B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
+	B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount);
 	
 	///Only use if when controlMode is CONTROL_MODE_TORQUE,
 	B3_SHARED_API int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
@@ -518,11 +533,17 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
+	B3_SHARED_API b3SharedMemoryCommandHandle b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
+	B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle);
+	B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
 	B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+	B3_SHARED_API void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 	
 	B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
+	B3_SHARED_API void b3GetTetraMeshData(b3PhysicsClientHandle physClient, struct b3TetraMeshData* meshData);
 
+	B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int num_vertices, const double* vertices);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
 	B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index a55729eafe..491ac7a742 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -13,6 +13,12 @@
 #include "PhysicsDirectC_API.h"
 #include "PhysicsClientC_API.h"
 #include "PhysicsServerSharedMemory.h"
+#include <stdio.h>
+#ifdef _WIN32
+#define safe_printf _snprintf
+#else
+#define safe_printf snprintf
+#endif
 struct MyMotorInfo2
 {
 	btScalar m_velTarget;
@@ -655,7 +661,7 @@ void PhysicsClientExample::createButtons()
 					if (m_numMotors < MAX_NUM_MOTORS)
 					{
 						char motorName[1026];
-						snprintf(motorName, sizeof(motorName), "%s q", info.m_jointName);
+						safe_printf(motorName, sizeof(motorName), "%s q", info.m_jointName);
 						// MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
 						MyMotorInfo2* motorInfo = &m_motorTargetPositions[m_numMotors];
 						motorInfo->m_velTarget = 0.f;
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index bf1096e057..1d8d966a79 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -54,6 +54,7 @@ struct PhysicsClientSharedMemoryInternalData
 	btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
 
 	b3MeshData m_cachedMeshData;
+	b3TetraMeshData m_cachedTetraMeshData;
 	btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
 
 	btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
@@ -702,6 +703,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 				}
 				break;
 			}
+			case CMD_PERFORM_COLLISION_DETECTION_COMPLETED:
+			{
+				B3_PROFILE("CMD_PERFORM_COLLISION_DETECTION_COMPLETED");
+
+				if (m_data->m_verboseOutput)
+				{
+					b3Printf("Server completed performing collision detection");
+				}
+				break;
+			}
 			case CMD_URDF_LOADING_FAILED:
 			{
 				B3_PROFILE("CMD_URDF_LOADING_FAILED");
@@ -1064,6 +1075,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 				b3Warning("Request mesh data failed");
 				break;
 			}
+			case CMD_REQUEST_TETRA_MESH_DATA_COMPLETED:
+			{
+				m_data->m_cachedVertexPositions.resize(serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
+				btVector3* verticesReceived = (btVector3*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
+				for (int i = 0; i < serverCmd.m_sendMeshDataArgs.m_numVerticesCopied; i++)
+				{
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].x = verticesReceived[i].x();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].y = verticesReceived[i].y();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].z = verticesReceived[i].z();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].w = verticesReceived[i].w();
+				}
+				break;
+			}
+			case CMD_REQUEST_TETRA_MESH_DATA_FAILED:
+			{
+				b3Warning("Request tetra mesh data failed");
+				break;
+			}
 			case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
 			{
 				break;
@@ -1511,12 +1540,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 				b3Warning("Removing user data failed");
 				break;
 			}
+			case CMD_RESET_MESH_DATA_FAILED:
+			{
+				b3Warning("resetMeshData failed");
+				break;
+			}
 			case CMD_REQUEST_USER_DATA_COMPLETED:
 			case CMD_SYNC_USER_DATA_COMPLETED:
 			case CMD_REMOVE_USER_DATA_COMPLETED:
 			case CMD_ADD_USER_DATA_COMPLETED:
 			case CMD_REMOVE_STATE_FAILED:
 			case CMD_REMOVE_STATE_COMPLETED:
+			case CMD_RESET_MESH_DATA_COMPLETED:
 			{
 				break;
 			}
@@ -2072,6 +2107,15 @@ void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData)
 	*meshData = m_data->m_cachedMeshData;
 }
 
+void PhysicsClientSharedMemory::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	m_data->m_cachedTetraMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
+	
+	m_data->m_cachedTetraMeshData.m_vertices = m_data->m_cachedTetraMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
+	
+	*meshData = m_data->m_cachedTetraMeshData;
+}
+
 const float* PhysicsClientSharedMemory::getDebugLinesFrom() const
 {
 	if (m_data->m_debugLinesFrom.size())
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index f1a67c5252..cf9113c6d8 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -80,6 +80,8 @@ class PhysicsClientSharedMemory : public PhysicsClient
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index ab6ae5ba2c..f12057ae0b 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -67,6 +67,7 @@ struct PhysicsDirectInternalData
 	btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
 
 	b3MeshData m_cachedMeshData;
+	b3TetraMeshData m_cachedTetraMeshData;
 	btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
 
 	btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
@@ -99,6 +100,7 @@ struct PhysicsDirectInternalData
 		  m_timeOutInSeconds(1e30)
 	{
 		memset(&m_cachedMeshData.m_numVertices, 0, sizeof(b3MeshData));
+		memset(&m_cachedTetraMeshData.m_numVertices, 0, sizeof(b3TetraMeshData));
 		memset(&m_command, 0, sizeof(m_command));
 		memset(&m_serverStatus, 0, sizeof(m_serverStatus));
 		memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
@@ -1008,21 +1010,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 
 				m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
 				m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
-
-				bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
-
-				b3Clock clock;
-				double startTime = clock.getTimeInSeconds();
-				double timeOutInSeconds = m_data->m_timeOutInSeconds;
-				while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
-				{
-					hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
-				}
-
-				if (hasStatus)
-				{
-					processBodyJointInfo(bodyUniqueId, m_data->m_tmpInfoStatus);
-				}
+				processRequestBodyInfo(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus);
 			}
 			break;
 		}
@@ -1166,6 +1154,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		{
 			break;
 		}
+		case CMD_PERFORM_COLLISION_DETECTION_COMPLETED:
+		{
+			break;
+		}
 		case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED:
 		{
 			break;
@@ -1302,6 +1294,14 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			}
 			break;
 		}
+		case CMD_RESET_MESH_DATA_COMPLETED:
+		{
+			break;
+		}
+		case CMD_RESET_MESH_DATA_FAILED:
+		{
+			break;
+		}
 		case CMD_REMOVE_STATE_FAILED:
 		{
 			break;
@@ -1393,6 +1393,22 @@ bool PhysicsDirect::processCustomCommand(const struct SharedMemoryCommand& orgCo
 	return m_data->m_hasStatus;
 }
 
+bool PhysicsDirect::processRequestBodyInfo(const struct SharedMemoryCommand& command, SharedMemoryStatus& status) {
+	bool hasStatus = m_data->m_commandProcessor->processCommand(command, status, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double timeOutInSeconds = m_data->m_timeOutInSeconds;
+	while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
+	{
+		hasStatus = m_data->m_commandProcessor->receiveStatus(status, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+	}
+	if (hasStatus) {
+		processBodyJointInfo(command.m_sdfRequestInfoArgs.m_bodyUniqueId, status);
+	}
+	m_data->m_hasStatus = hasStatus;
+	return m_data->m_hasStatus;
+}
+
 bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
 {
 	if (command.m_type == CMD_CUSTOM_COMMAND)
@@ -1422,10 +1438,14 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
 		return processOverlappingObjects(command);
 	}
 
-  if (command.m_type == CMD_REQUEST_MESH_DATA)
+	if (command.m_type == CMD_REQUEST_MESH_DATA)
 	{
 		return processMeshData(command);
 	}
+	if (command.m_type == CMD_REQUEST_BODY_INFO)
+	{
+		return processRequestBodyInfo(command, m_data->m_serverStatus);
+	}
 
 	bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 	m_data->m_hasStatus = hasStatus;
@@ -1673,6 +1693,16 @@ void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData)
 	*meshData = m_data->m_cachedMeshData;
 }
 
+void PhysicsDirect::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	m_data->m_cachedTetraMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
+
+	m_data->m_cachedTetraMeshData.m_vertices = m_data->m_cachedTetraMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
+
+	*meshData = m_data->m_cachedTetraMeshData;
+}
+
+
 void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
 {
 	contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 2e09a95d27..441b58e746 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -28,6 +28,8 @@ class PhysicsDirect : public PhysicsClient
 
 	void processAddUserData(const struct SharedMemoryStatus& serverCmd);
 
+	bool processRequestBodyInfo(const struct SharedMemoryCommand& command, SharedMemoryStatus& status);
+
 	bool processCustomCommand(const struct SharedMemoryCommand& orgCommand);
 
 	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
@@ -104,6 +106,8 @@ class PhysicsDirect : public PhysicsClient
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index 58e4d59c7e..427da31e88 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -183,6 +183,11 @@ void PhysicsLoopBack::getCachedMeshData(struct b3MeshData* meshData)
 	return m_data->m_physicsClient->getCachedMeshData(meshData);
 }
 
+void PhysicsLoopBack::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	return m_data->m_physicsClient->getCachedTetraMeshData(meshData);
+}
+
 void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
 {
 	return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index 4626aac812..2b6eb87f25 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -78,6 +78,8 @@ class PhysicsLoopBack : public PhysicsClient
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 295e202c50..1d691c550c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -12,10 +12,15 @@
 #include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
 #include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
+
 #include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
 
+//#define USE_DISCRETE_DYNAMICS_WORLD
+//#define SKIP_DEFORMABLE_BODY
+//#define SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 
 #include "../Utils/b3BulletDefaultFileIO.h"
 #include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
@@ -115,6 +120,10 @@
 #include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
 #include "BulletSoftBody/btDeformableBodySolver.h"
 #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
+
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h"
+#include "BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
 #endif  //SKIP_DEFORMABLE_BODY
 
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
@@ -231,6 +240,10 @@ struct InternalVisualShapeData
 
 	b3AlignedObjectArray<std::string> m_pathPrefixes;
 
+	virtual ~InternalVisualShapeData()
+	{
+		clear();
+	}
 	void clear()
 	{
 		m_tinyRendererVisualShapeIndex = -1;
@@ -250,8 +263,14 @@ struct InternalCollisionShapeData
 		  m_used(0)
 	{
 	}
+
+	virtual ~InternalCollisionShapeData()
+	{
+		clear();
+	}
 	void clear()
 	{
+		m_urdfCollisionObjects.clear();
 		m_collisionShape = 0;
 		m_used = 0;
 	}
@@ -1626,7 +1645,11 @@ struct PhysicsServerCommandProcessorInternalData
 
 	b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btAlignedObjectArray<btWorldImporter*> m_worldImporters;
+#else
 	btAlignedObjectArray<btMultiBodyWorldImporter*> m_worldImporters;
+#endif
 
 	btAlignedObjectArray<std::string*> m_strings;
 
@@ -1634,6 +1657,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<const unsigned char*> m_heightfieldDatas;
 	btAlignedObjectArray<int> m_allocatedTextures;
 	btAlignedObjectArray<unsigned char*> m_allocatedTexturesRequireFree;
+	btAlignedObjectArray<double*> m_debugPointsDatas;
 	btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
 	btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
 
@@ -1641,8 +1665,12 @@ struct PhysicsServerCommandProcessorInternalData
 	btHashedOverlappingPairCache* m_pairCache;
 	btBroadphaseInterface* m_broadphase;
 	btCollisionDispatcher* m_dispatcher;
-
+	
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btSequentialImpulseConstraintSolver* m_solver;
+#else
 	btMultiBodyConstraintSolver* m_solver;
+#endif
 
 	btDefaultCollisionConfiguration* m_collisionConfiguration;
 
@@ -1651,10 +1679,16 @@ struct PhysicsServerCommandProcessorInternalData
 	btDeformableMousePickingForce* m_mouseForce;
 	btScalar m_maxPickingForce;
 	btDeformableBodySolver* m_deformablebodySolver;
+	btReducedDeformableBodySolver* m_reducedSoftBodySolver;
 	btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
 #endif
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btDiscreteDynamicsWorld* m_dynamicsWorld;
+#else
 	btMultiBodyDynamicsWorld* m_dynamicsWorld;
+#endif
+	
 
 	int m_constraintSolverType;
 	SharedMemoryDebugDrawer* m_remoteDebugDrawer;
@@ -2232,6 +2266,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 	///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
 	virtual std::string getLinkName(int linkIndex) const
 	{
+		
 		std::string linkName = "link";
 		char numstr[21];  // enough to hold all numbers up to 64-bits
 		sprintf(numstr, "%d", linkIndex);
@@ -2701,33 +2736,61 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
 		m_data->m_broadphase = bv;
 	}
 
+#ifndef SKIP_DEFORMABLE_BODY
 	if (flags & RESET_USE_DEFORMABLE_WORLD)
 	{
-#ifndef SKIP_DEFORMABLE_BODY
+		// deformable
 		m_data->m_deformablebodySolver = new btDeformableBodySolver();
 		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
 		m_data->m_solver = solver;
 		solver->setDeformableSolver(m_data->m_deformablebodySolver);
 		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
-#endif
 	}
+	else if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD)
+	{
+		// reduced deformable
+		m_data->m_reducedSoftBodySolver = new btReducedDeformableBodySolver();
+		btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
+		m_data->m_solver = solver;
+		solver->setDeformableSolver(m_data->m_reducedSoftBodySolver);
+		m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_reducedSoftBodySolver);
+	}
+#endif
+
+	
 
 	if ((0 == m_data->m_dynamicsWorld) && (0 == (flags & RESET_USE_DISCRETE_DYNAMICS_WORLD)))
 	{
-		m_data->m_solver = new btMultiBodyConstraintSolver;
+
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+		m_data->m_solver = new btMultiBodyConstraintSolver;
 		m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
 #else
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+		m_data->m_solver = new btSequentialImpulseConstraintSolver;
+		m_data->m_dynamicsWorld = new btDiscreteDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
+#else
+		m_data->m_solver = new btMultiBodyConstraintSolver;
 		m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
+		#endif 
 #endif
 	}
 
 	if (0 == m_data->m_dynamicsWorld)
 	{
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+		m_data->m_solver = new btSequentialImpulseConstraintSolver;
+		m_data->m_dynamicsWorld = new btDiscreteDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
+#else
+
 		m_data->m_solver = new btMultiBodyConstraintSolver;
 		m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
+#endif
 	}
 
+	 //may help improve run-time performance for many sleeping objects
+	m_data->m_dynamicsWorld->setForceUpdateAllAabbs(false);
+
 	//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
 	m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);
 
@@ -2739,7 +2802,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
 	m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;  //need to check if there are artifacts with frictionERP
 	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
-	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
+	if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD)
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128;
+	}
+	else
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
+	}
 	m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = 0.1;
 	gDbvtMargin = btScalar(0);
 	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
@@ -2860,13 +2930,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 			constraints.push_back(constraint);
 			m_data->m_dynamicsWorld->removeConstraint(constraint);
 		}
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 		for (i = m_data->m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
 		{
 			btMultiBodyConstraint* mbconstraint = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
 			mbconstraints.push_back(mbconstraint);
 			m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbconstraint);
 		}
-
+#endif
 		for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
 		{
 			btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -2878,12 +2949,14 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 			m_data->m_dynamicsWorld->removeCollisionObject(obj);
 			delete obj;
 		}
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 		for (i = m_data->m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
 		{
 			btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
 			m_data->m_dynamicsWorld->removeMultiBody(mb);
 			delete mb;
 		}
+#endif
 #ifndef SKIP_DEFORMABLE_BODY
 		for (int j = 0; j < m_data->m_lf.size(); j++)
 		{
@@ -2981,9 +3054,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 		//we can't free them right away, due to caching based on memory pointer in PhysicsServerExample
 		free(m_data->m_allocatedTexturesRequireFree[i]);
 	}
+
+	for (int i = 0; i < m_data->m_debugPointsDatas.size(); i++)
+	{
+		free(m_data->m_debugPointsDatas[i]);
+	}
+
 	m_data->m_heightfieldDatas.clear();
 	m_data->m_allocatedTextures.clear();
 	m_data->m_allocatedTexturesRequireFree.clear();
+	m_data->m_debugPointsDatas.clear();
 	m_data->m_meshInterfaces.clear();
 	m_data->m_collisionShapes.clear();
 	m_data->m_bulletCollisionShape2UrdfCollision.clear();
@@ -3052,14 +3132,18 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
 			//motor->setRhsClamp(gRhsClamp);
 			//motor->setMaxAppliedImpulse(0);
 			mb->getLink(mbLinkIndex).m_userPtr = motor;
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 			m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
+#endif
 			motor->finalizeMultiDof();
 		}
 		if (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eSpherical)
 		{
 			btMultiBodySphericalJointMotor* motor = new btMultiBodySphericalJointMotor(mb, mbLinkIndex, 1000 * maxMotorImpulse);
 			mb->getLink(mbLinkIndex).m_userPtr = motor;
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 			m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
+#endif 
 			motor->finalizeMultiDof();
 		}
 	}
@@ -3166,11 +3250,15 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 				}
 			}
 			UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
+
 			ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, cachedVisualShapesPtr);
+
 		}
 		else
 		{
+
 			ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);
+
 		}
 
 		mb = creation.getBulletMultiBody();
@@ -3385,34 +3473,46 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 			}
 		}
 
-		// Because the link order between UrdfModel and MultiBody may be different,
-		// create a mapping from link name to link index in order to apply the user
-		// data to the correct link in the MultiBody.
-		btHashMap<btHashString, int> linkNameToIndexMap;
-		if (bodyHandle->m_multiBody)
-		{
-			btMultiBody* mb = bodyHandle->m_multiBody;
-			linkNameToIndexMap.insert(mb->getBaseName(), -1);
-			for (int linkIndex = 0; linkIndex < mb->getNumLinks(); ++linkIndex)
-			{
-				linkNameToIndexMap.insert(mb->getLink(linkIndex).m_linkName, linkIndex);
-			}
-		}
-
+		// Add user data specified in URDF to the added body.
 		const UrdfModel* urdfModel = u2b.getUrdfModel();
 		if (urdfModel)
 		{
 			addUserData(urdfModel->m_userData, bodyUniqueId);
-			for (int i = 0; i < urdfModel->m_links.size(); ++i)
+			if (bodyHandle->m_multiBody)
+			{
+				btMultiBody* mb = bodyHandle->m_multiBody;
+				// Because the link order between UrdfModel and MultiBody may be different,
+				// create a mapping from link name to link index in order to apply the user
+				// data to the correct link in the MultiBody.
+				btHashMap<btHashString, int> linkNameToIndexMap;
+				linkNameToIndexMap.insert(mb->getBaseName(), -1);
+				for (int linkIndex = 0; linkIndex < mb->getNumLinks(); ++linkIndex)
+				{
+					linkNameToIndexMap.insert(mb->getLink(linkIndex).m_linkName, linkIndex);
+				}
+				for (int i = 0; i < urdfModel->m_links.size(); ++i)
+				{
+					const UrdfLink* link = *urdfModel->m_links.getAtIndex(i);
+					int* linkIndex = linkNameToIndexMap.find(link->m_name.c_str());
+					if (linkIndex)
+					{
+						addUserData(link->m_userData, bodyUniqueId, *linkIndex);
+						for (int visualShapeIndex = 0; visualShapeIndex < link->m_visualArray.size(); ++visualShapeIndex)
+						{
+							addUserData(link->m_visualArray.at(visualShapeIndex).m_userData, bodyUniqueId, *linkIndex, visualShapeIndex);
+						}
+					}
+				}
+			}
+			else if (bodyHandle->m_rigidBody)
 			{
-				const UrdfLink* link = *urdfModel->m_links.getAtIndex(i);
-				int* linkIndex = linkNameToIndexMap.find(link->m_name.c_str());
-				if (linkIndex)
+				for (int i = 0; i < urdfModel->m_links.size(); ++i)
 				{
-					addUserData(link->m_userData, bodyUniqueId, *linkIndex);
+					const UrdfLink* link = *urdfModel->m_links.getAtIndex(i);
+					addUserData(link->m_userData, bodyUniqueId, -1);
 					for (int visualShapeIndex = 0; visualShapeIndex < link->m_visualArray.size(); ++visualShapeIndex)
 					{
-						addUserData(link->m_visualArray.at(visualShapeIndex).m_userData, bodyUniqueId, *linkIndex, visualShapeIndex);
+						addUserData(link->m_visualArray.at(visualShapeIndex).m_userData, bodyUniqueId, -1, visualShapeIndex);
 					}
 				}
 			}
@@ -3568,7 +3668,25 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 		{
 			bool use_self_collision = false;
 			use_self_collision = (flags & CUF_USE_SELF_COLLISION);
-			return processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
+			bool ok = processDeformable(u2b.getDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
+			if (ok)
+			{
+				const UrdfModel* urdfModel = u2b.getUrdfModel();
+				if (urdfModel)
+				{
+					addUserData(urdfModel->m_userData, *bodyUniqueIdPtr);
+				}
+				return true;
+			}
+			else
+			{
+				return false;
+			}
+		}
+		if (!(u2b.getReducedDeformableModel().m_visualFileName.empty()))
+		{
+			bool use_self_collision = false;
+			return processReducedDeformable(u2b.getReducedDeformableModel(), pos, orn, bodyUniqueIdPtr, bufferServerToClient, bufferSizeInBytes, globalScaling, use_self_collision);
 		}
 		bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
 		if (ok)
@@ -3788,9 +3906,10 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
 				}
 			}
 		}
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT)
 		{
+
 			std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
 
 			int loggerUid = m_data->m_stateLoggersUniqueId++;
@@ -3848,6 +3967,7 @@ bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct Shar
 			serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
 			serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
 		}
+#endif
 		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VR_CONTROLLERS)
 		{
 			std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
@@ -4733,7 +4853,11 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 	bool hasStatus = true;
 	serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btWorldImporter* worldImporter = new btWorldImporter(m_data->m_dynamicsWorld);
+#else
 	btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
+#endif
 
 	btCollisionShape* shape = 0;
 	b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;
@@ -5208,12 +5332,12 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 						{
 							//create a convex hull for each shape, and store it in a btCompoundShape
 
-							std::vector<tinyobj::shape_t> shapes;
-							tinyobj::attrib_t attribute;
-							std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
+							std::vector<bt_tinyobj::shape_t> shapes;
+							bt_tinyobj::attrib_t attribute;
+							std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
 
 							//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
-							//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
+							//static btCollisionShape* createConvexHullFromShapes(std::vector<bt_tinyobj::shape_t>& shapes, const btVector3& geomScale)
 							B3_PROFILE("createConvexHullFromShapes");
 							if (compound == 0)
 							{
@@ -5225,7 +5349,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 							{
 								btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
 								convexHull->setMargin(m_data->m_defaultCollisionMargin);
-								tinyobj::shape_t& shape = shapes[s];
+								bt_tinyobj::shape_t& shape = shapes[s];
 								int faceCount = shape.mesh.indices.size();
 
 								for (int f = 0; f < faceCount; f += 3)
@@ -5422,6 +5546,57 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
 		}
 	}
 }
+
+bool PhysicsServerCommandProcessor::processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = true;
+	BT_PROFILE("CMD_REQUEST_MESH_DATA");
+	serverStatusOut.m_type = CMD_RESET_MESH_DATA_FAILED;
+	int sizeInBytes = 0;
+
+	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
+	if (bodyHandle)
+	{
+		int totalBytesPerVertex = sizeof(btVector3);
+		double* vertexUpload = (double*)bufferServerToClient;
+
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+
+		if (bodyHandle->m_softBody)
+		{
+			btSoftBody* psb = bodyHandle->m_softBody;
+
+			int numVertices = psb->m_nodes.size();
+			if (clientCmd.m_resetMeshDataArgs.m_numVertices == numVertices)
+			{
+				if (clientCmd.m_updateFlags & B3_MESH_DATA_SIMULATION_MESH_VELOCITY)
+				{
+					for (int i = 0; i < numVertices; ++i)
+					{
+						btSoftBody::Node& n = psb->m_nodes[i];
+						n.m_v.setValue(vertexUpload[i * 3 + 0], vertexUpload[i * 3 + 1], vertexUpload[i * 3 + 2]);
+						n.m_vn.setValue(vertexUpload[i * 3 + 0], vertexUpload[i * 3 + 1], vertexUpload[i * 3 + 2]);
+					}
+				}
+				else
+				{
+					for (int i = 0; i < numVertices; ++i)
+					{
+						btSoftBody::Node& n = psb->m_nodes[i];
+						n.m_x.setValue(vertexUpload[i * 3 + 0], vertexUpload[i * 3 + 1], vertexUpload[i * 3 + 2]);
+						n.m_q.setValue(vertexUpload[i * 3 + 0], vertexUpload[i * 3 + 1], vertexUpload[i * 3 + 2]);
+					}
+				}
+				serverStatusOut.m_type = CMD_RESET_MESH_DATA_COMPLETED;
+			}
+		}
+#endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+	}
+	serverStatusOut.m_numDataStreamBytes = 0;
+
+	return hasStatus;
+}
+
 bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -5497,10 +5672,13 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 			}
 
 			bool separateRenderMesh = false;
-			if ((flags & B3_MESH_DATA_SIMULATION_MESH) == 0)
+			if ((clientCmd.m_updateFlags & B3_MESH_DATA_SIMULATION_MESH) == 0 && (flags & B3_MESH_DATA_SIMULATION_MESH) == 0)
 			{
 				separateRenderMesh = (psb->m_renderNodes.size() != 0);
 			}
+            bool requestVelocity = clientCmd.m_updateFlags & B3_MESH_DATA_SIMULATION_MESH_VELOCITY;
+
+			
 			int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
 			int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
 			int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
@@ -5509,16 +5687,26 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 			{
 				if (separateRenderMesh)
 				{
-					
 					const btSoftBody::RenderNode& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
+                    if(requestVelocity){
+                        b3Warning("Request mesh velocity not implemented for Render Mesh.");
+                        return hasStatus;
+                    }
 					verticesOut[i].setValue(n.m_x.x(), n.m_x.y(), n.m_x.z());
 				}
 				else
 				{
 					const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
-					verticesOut[i].setValue(n.m_x.x(), n.m_x.y(), n.m_x.z());
+                    if(!requestVelocity){
+                        verticesOut[i].setValue(n.m_x.x(), n.m_x.y(), n.m_x.z());
+                    }
+                    else{
+                        verticesOut[i].setValue(n.m_v.x(), n.m_v.y(), n.m_v.z());
+                    }
 				}
 			}
+			
+
 			sizeInBytes = verticesCopied * sizeof(btVector3);
 			serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
 			serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
@@ -5533,6 +5721,51 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 	return hasStatus;
 }
 
+bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = true;
+	BT_PROFILE("CMD_REQUEST_TETRA_MESH_DATA");
+	serverStatusOut.m_type = CMD_REQUEST_TETRA_MESH_DATA_FAILED;
+	serverStatusOut.m_numDataStreamBytes = 0;
+	int sizeInBytes = 0;
+
+	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_resetTetraMeshDataArgs.m_bodyUniqueId);
+	if (bodyHandle)
+	{
+		int totalBytesPerVertex = sizeof(btVector3);
+		btVector3* verticesOut = (btVector3*)bufferServerToClient;
+		const btCollisionShape* colShape = 0;
+
+		if (bodyHandle->m_softBody)
+		{
+			btSoftBody* psb = bodyHandle->m_softBody;
+			
+			int numTetra = psb->m_tetras.size();
+			int maxNumnumVertecies = bufferSizeInBytes / totalBytesPerVertex - 1;
+			int numVerticesRemaining = numTetra * 4;
+			int verticesCopied = btMin(maxNumnumVertecies, numVerticesRemaining);
+			for (int i = 0; i < verticesCopied; i += 4)
+			{
+				const btSoftBody::Tetra& n = psb->m_tetras[i/4];
+				verticesOut[i].setValue(n.m_n[0]->m_x.x(), n.m_n[0]->m_x.y(), n.m_n[0]->m_x.z());
+				verticesOut[i+1].setValue(n.m_n[1]->m_x.x(), n.m_n[1]->m_x.y(), n.m_n[1]->m_x.z());
+				verticesOut[i+2].setValue(n.m_n[2]->m_x.x(), n.m_n[2]->m_x.y(), n.m_n[2]->m_x.z());
+				verticesOut[i+3].setValue(n.m_n[3]->m_x.x(), n.m_n[3]->m_x.y(), n.m_n[3]->m_x.z());
+			}
+
+			sizeInBytes = verticesCopied * sizeof(btVector3);
+			serverStatusOut.m_type = CMD_REQUEST_TETRA_MESH_DATA_COMPLETED;
+			serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
+			serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
+			serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
+		}
+	}
+
+	serverStatusOut.m_numDataStreamBytes = sizeInBytes;
+
+	return hasStatus;
+}
+
 bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -5981,6 +6214,47 @@ bool PhysicsServerCommandProcessor::processUserDebugDrawCommand(const struct Sha
 		}
 	}
 
+	if (clientCmd.m_updateFlags & USER_DEBUG_HAS_POINTS)
+	{
+		int replaceItemUid = -1;
+		if (clientCmd.m_updateFlags & USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID)
+		{
+			replaceItemUid = clientCmd.m_userDebugDrawArgs.m_replaceItemUniqueId;
+		}
+
+		int pointNum = clientCmd.m_userDebugDrawArgs.m_debugPointNum;
+
+		double* pointPositionsUpload = (double*)bufferServerToClient;
+		double* pointPositions = (double*)malloc(pointNum * 3 * sizeof(double));
+		double* pointColorsUpload = (double*)(bufferServerToClient + pointNum * 3 * sizeof(double));
+		double* pointColors = (double*)malloc(pointNum * 3 * sizeof(double));
+		for (int i = 0; i < pointNum; i++) {
+			pointPositions[i * 3 + 0] = pointPositionsUpload[i * 3 + 0];
+			pointPositions[i * 3 + 1] = pointPositionsUpload[i * 3 + 1];
+			pointPositions[i * 3 + 2] = pointPositionsUpload[i * 3 + 2];
+			pointColors[i * 3 + 0] = pointColorsUpload[i * 3 + 0];
+			pointColors[i * 3 + 1] = pointColorsUpload[i * 3 + 1];
+			pointColors[i * 3 + 2] = pointColorsUpload[i * 3 + 2];
+		}
+		m_data->m_debugPointsDatas.push_back(pointPositions);
+		m_data->m_debugPointsDatas.push_back(pointColors);
+
+		int uid = m_data->m_guiHelper->addUserDebugPoints(
+			pointPositions,
+			pointColors,
+			clientCmd.m_userDebugDrawArgs.m_pointSize,
+			clientCmd.m_userDebugDrawArgs.m_lifeTime,
+			trackingVisualShapeIndex,
+			replaceItemUid,
+			clientCmd.m_userDebugDrawArgs.m_debugPointNum);
+
+		if (uid >= 0)
+		{
+			serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
+			serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
+		}
+	}
+
 	if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL)
 	{
 		m_data->m_guiHelper->removeAllUserDebugItems();
@@ -7093,8 +7367,8 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
 									motor->setRhsClamp(clientCmd.m_sendDesiredStateCommandArgument.m_rhsClamp[velIndex]);
 								}
 								bool hasDesiredPosOrVel = false;
-								btScalar kp = 0.f;
-								btScalar kd = 0.f;
+								btVector3 kp(0, 0, 0);
+								btVector3 kd(0, 0, 0);
 								btVector3 desiredVelocity(0, 0, 0);
 								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_QDOT) != 0)
 								{
@@ -7103,7 +7377,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 0],
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 1],
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex + 2]);
-									kd = 0.1;
+									kd.setValue(0.1, 0.1, 0.1);
 								}
 								btQuaternion desiredPosition(0, 0, 0, 1);
 								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[posIndex] & SIM_DESIRED_STATE_HAS_Q) != 0)
@@ -7114,38 +7388,122 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 1],
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 2],
 										clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex + 3]);
-									kp = 0.1;
+									kp.setValue(0.1, 0.1, 0.1);
 								}
 
 								if (hasDesiredPosOrVel)
 								{
+									bool useMultiDof = true;
+
 									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KP) != 0)
 									{
-										kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex];
+										kp.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0]);
+									}
+									if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_KP) != 0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_KP) != 0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_KP) != 0)
+										)
+									{
+										kp.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 1],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex + 2]);
+									} else
+									{
+										useMultiDof = false;
 									}
 
 									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KD) != 0)
 									{
-										kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex];
+										kd.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0]);
 									}
 
-									motor->setVelocityTarget(desiredVelocity, kd);
-									//todo: instead of clamping, combine the motor and limit
-									//and combine handling of limit force and motor force.
+									if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_KD) != 0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_KD) != 0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_KD) != 0))
+									{
+										kd.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 0],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 1],
+											clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex + 2]);
+									} else
+									{
+										useMultiDof = false;
+									}
 
-									//clamp position
-									//if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
-									//{
-									//	btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
-									//}
-									motor->setPositionTarget(desiredPosition, kp);
+									btVector3 maxImp(
+										1000000.f * m_data->m_physicsDeltaTime, 
+										1000000.f * m_data->m_physicsDeltaTime, 
+										1000000.f * m_data->m_physicsDeltaTime);
 
-									btScalar maxImp = 1000000.f * m_data->m_physicsDeltaTime;
+									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
+									{
+										maxImp.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime);
+									}
 
-									if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE) != 0)
-										maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex] * m_data->m_physicsDeltaTime;
+									if (((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) &&
+										((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0))
+									{
+										maxImp.setValue(
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 0] * m_data->m_physicsDeltaTime,
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 1] * m_data->m_physicsDeltaTime,
+											clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex + 2] * m_data->m_physicsDeltaTime);
+									} else
+									{
+										useMultiDof = false;
+									}
+									
+									if (useMultiDof)
+									{
+										motor->setVelocityTargetMultiDof(desiredVelocity, kd);
+										motor->setPositionTargetMultiDof(desiredPosition, kp);
+										motor->setMaxAppliedImpulseMultiDof(maxImp);
+									} else
+									{
+										motor->setVelocityTarget(desiredVelocity, kd[0]);
+										//todo: instead of clamping, combine the motor and limit
+										//and combine handling of limit force and motor force.
+
+										//clamp position
+										//if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
+										//{
+										//	btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
+										//}
+										motor->setPositionTarget(desiredPosition, kp[0]);
+										motor->setMaxAppliedImpulse(maxImp[0]);
+									}
 
-									motor->setMaxAppliedImpulse(maxImp);
+									btVector3 damping(1.f, 1.f, 1.f);
+									if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_DAMPING) != 0) {
+										if (
+						(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+0] & SIM_DESIRED_STATE_HAS_DAMPING)&&
+						(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+1] & SIM_DESIRED_STATE_HAS_DAMPING)&&
+						(clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex+2] & SIM_DESIRED_STATE_HAS_DAMPING)
+											)
+										{
+											damping.setValue(
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 1],
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 2]);
+										} else
+										{
+											damping.setValue(
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0],
+												clientCmd.m_sendDesiredStateCommandArgument.m_damping[velIndex + 0]);
+										}
+									}
+									motor->setDamping(damping);
 								}
 								numMotors++;
 							}
@@ -7876,36 +8234,331 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
 	return hasStatus;
 }
 
-bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
-{
-	bool hasStatus = true;
-	BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
-	SharedMemoryStatus& serverCmd = serverStatusOut;
-	serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
+bool RequestFiltered(const struct SharedMemoryCommand& clientCmd, int& linkIndexA, int& linkIndexB, int& objectIndexA, int& objectIndexB, bool& swap){
 
-	//make a snapshot of the contact manifolds into individual contact points
-	if (clientCmd.m_requestContactPointArguments.m_startingContactPointIndex == 0)
-	{
-		m_data->m_cachedContactPoints.resize(0);
+    if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+    {
+        if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
+        {
+            swap = false;
+        }
+        else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
+        {
+            swap = true;
+        }
+        else
+        {
+            return true;
+        }
+    }
+
+    if (swap)
+    {
+        std::swap(objectIndexA, objectIndexB);
+        std::swap(linkIndexA, linkIndexB);
+    }
+
+    //apply the second object filter, if the user provides it
+    if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
+    {
+        if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
+        {
+            return true;
+        }
+    }
 
-		int mode = CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS;
+    if (
+        (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+        clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+    {
+        return true;
+    }
 
-		if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE)
-		{
-			mode = clientCmd.m_requestContactPointArguments.m_mode;
-		}
+    if (
+        (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+        clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+    {
+        return true;
+    }
 
-		switch (mode)
-		{
-			case CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS:
+    return false;
+}
+
+bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd){
+#ifndef SKIP_DEFORMABLE_BODY
+    btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
+    if (!deformWorld)
+    {
+        return false;
+    }
+	const int max_contacts_per_object = 4;
+	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
+    {
+		int num_contacts_reported = 0;
+		btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
+        for (int c = 0; c < psb->m_faceNodeContacts.size(); c++)
+        {
+            const btSoftBody::DeformableFaceNodeContact* contact = &psb->m_faceNodeContacts[c];
+            //apply the filter, if the user provides it
+            int linkIndexA = -1;
+            int linkIndexB = -1;
+            int objectIndexA = psb->getUserIndex2();
+            int objectIndexB = -1;
+            const btSoftBody* bodyB = btSoftBody::upcast(contact->m_colObj);
+            if (bodyB)
+            {
+                objectIndexB = bodyB->getUserIndex2();
+            }
+            bool swap = false;
+            if(RequestFiltered(clientCmd, linkIndexA, linkIndexB, objectIndexA, objectIndexB, swap)==true){
+                continue;
+            }
+			if (++num_contacts_reported > max_contacts_per_object)
 			{
-				int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds();
-				m_data->m_cachedContactPoints.reserve(numContactManifolds * 4);
-				for (int i = 0; i < numContactManifolds; i++)
-				{
-					const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
-					int linkIndexA = -1;
-					int linkIndexB = -1;
+				break;
+			}
+			//Convert contact info
+            b3ContactPointData pt;
+			btVector3 l = contact->m_node->m_x - BaryEval(contact->m_face->m_n[0]->m_x, contact->m_face->m_n[1]->m_x, contact->m_face->m_n[2]->m_x, contact->m_normal);
+			pt.m_contactDistance = -contact->m_margin + contact->m_normal.dot(l);
+			pt.m_bodyUniqueIdA = objectIndexA;
+            pt.m_bodyUniqueIdB = objectIndexB;
+            pt.m_contactFlags = 0;
+            pt.m_linkIndexA = linkIndexA;
+            pt.m_linkIndexB = linkIndexB;
+            for (int j = 0; j < 3; j++)
+            {
+                if (swap)
+                {
+                    pt.m_contactNormalOnBInWS[j] = -contact->m_normal[j];
+                }
+                else
+                {
+                    pt.m_contactNormalOnBInWS[j] = contact->m_normal[j];
+                }
+                pt.m_positionOnAInWS[j] = contact->m_node->m_x[j];
+                pt.m_positionOnBInWS[j] = contact->m_node->m_x[j];
+                pt.m_linearFrictionDirection1[j] = 0;
+                pt.m_linearFrictionDirection2[j] = 0;
+            }
+            pt.m_normalForce = 0;
+            pt.m_linearFrictionForce1 = 0;
+            pt.m_linearFrictionForce2 = 0;
+           m_data->m_cachedContactPoints.push_back(pt);
+        }
+    }
+#endif
+    return true;
+}
+
+
+
+bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd)
+{
+#ifndef SKIP_DEFORMABLE_BODY
+	btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
+	if (!deformWorld)
+	{
+		return false;
+	}
+
+	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
+	{
+		btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
+		btAlignedObjectArray<b3ContactPointData> distinctContactPoints;
+		btAlignedObjectArray<btSoftBody::Node*> nodesInContact;
+		for (int c = 0; c < psb->m_faceRigidContacts.size(); c++)
+		{
+			const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[c];
+			// calculate normal and tangent impulse
+			btVector3 impulse = contact->m_cti.m_impulse;
+			btVector3 impulseNormal = impulse.dot(contact->m_cti.m_normal) * contact->m_cti.m_normal;
+			btVector3 impulseTangent = impulse - impulseNormal;
+			// get node in contact
+			int contactNodeIdx = contact->m_bary.maxAxis();
+			btSoftBody::Node* node = contact->m_face->m_n[contactNodeIdx];
+			// check if node is already in the list
+			int idx = nodesInContact.findLinearSearch2(node);
+
+			//apply the filter, if the user provides it
+			int linkIndexA = -1;
+			int linkIndexB = -1;
+			int objectIndexA = psb->getUserIndex2();
+
+			int objectIndexB = -1;
+			const btRigidBody* bodyB = btRigidBody::upcast(contact->m_cti.m_colObj);
+			if (bodyB)
+			{
+				objectIndexB = bodyB->getUserIndex2();
+			}
+			const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(contact->m_cti.m_colObj);
+			if (mblB && mblB->m_multiBody)
+			{
+				linkIndexB = mblB->m_link;
+				objectIndexB = mblB->m_multiBody->getUserIndex2();
+			}
+			bool swap = false;
+			if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+			{
+				if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
+				{
+					swap = false;
+				}
+				else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
+				{
+					swap = true;
+				}
+				else
+				{
+					continue;
+				}
+			}
+
+			if (swap)
+			{
+				std::swap(objectIndexA, objectIndexB);
+				std::swap(linkIndexA, linkIndexB);
+			}
+
+			//apply the second object filter, if the user provides it
+			if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
+			{
+				if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
+				{
+					continue;
+				}
+			}
+
+			if (
+				(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+				clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+			{
+				continue;
+			}
+
+			if (
+				(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+				clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+			{
+				continue;
+			}
+
+			if (idx < 0)
+			{
+				// add new node and contact point
+				nodesInContact.push_back(node);
+				b3ContactPointData pt;
+				pt.m_bodyUniqueIdA = objectIndexA;
+				pt.m_bodyUniqueIdB = objectIndexB;
+				pt.m_contactDistance = -contact->m_cti.m_offset;
+				pt.m_contactFlags = 0;
+				pt.m_linkIndexA = linkIndexA;
+				pt.m_linkIndexB = linkIndexB;
+				for (int j = 0; j < 3; j++)
+				{
+					if (swap)
+					{
+						pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j];
+						pt.m_positionOnAInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912
+						// node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node)
+						pt.m_positionOnBInWS[j] = node->m_x[j];
+					}
+					else
+					{
+						pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j];
+						// node is force application point, therefore node position is contact point (not contact->m_contactPoint, because not equal to node)
+						pt.m_positionOnAInWS[j] = node->m_x[j];
+						pt.m_positionOnBInWS[j] = node->m_x[j] - pt.m_contactDistance * pt.m_contactNormalOnBInWS[j]; // not really precise because of margins in btSoftBody.cpp:line 2912
+					}
+				}
+				pt.m_normalForce = (impulseNormal / m_data->m_physicsDeltaTime).norm();
+				pt.m_linearFrictionForce1 = (impulseTangent.dot(contact->t1) * contact->t1 / m_data->m_physicsDeltaTime).norm();
+				pt.m_linearFrictionForce2 = (impulseTangent.dot(contact->t2) * contact->t2 / m_data->m_physicsDeltaTime).norm();
+				for (int j = 0; j < 3; j++)
+				{
+					pt.m_linearFrictionDirection1[j] = contact->t1[j];
+					pt.m_linearFrictionDirection2[j] = contact->t2[j];
+				}
+				distinctContactPoints.push_back(pt);
+			}
+			else
+			{
+				// add values to existing contact point
+				b3ContactPointData* pt = &distinctContactPoints[idx];
+				// current normal force of node
+				btVector3 normalForce = btVector3(btScalar(pt->m_contactNormalOnBInWS[0]),
+												  btScalar(pt->m_contactNormalOnBInWS[1]),
+												  btScalar(pt->m_contactNormalOnBInWS[2])) * pt->m_normalForce;
+				// add normal force of additional node contact
+				btScalar swapFactor = swap ? -1.0 : 1.0;
+				normalForce += swapFactor * contact->m_cti.m_normal * (impulseNormal / m_data->m_physicsDeltaTime).norm();
+				// get magnitude of normal force
+				pt->m_normalForce = normalForce.norm();
+				// get direction of normal force
+				if (!normalForce.fuzzyZero())
+				{
+					// normalize for unit vectors if above numerical threshold
+					normalForce.normalize();
+					for (int j = 0; j < 3; j++)
+					{
+						pt->m_contactNormalOnBInWS[j] = normalForce[j];
+					}
+				}
+
+				// add magnitudes of tangential forces in existing directions
+				btVector3 linearFrictionDirection1 = btVector3(btScalar(pt->m_linearFrictionDirection1[0]),
+															   btScalar(pt->m_linearFrictionDirection1[1]),
+															   btScalar(pt->m_linearFrictionDirection1[2]));
+				btVector3 linearFrictionDirection2 = btVector3(btScalar(pt->m_linearFrictionDirection2[0]),
+															   btScalar(pt->m_linearFrictionDirection2[1]),
+															   btScalar(pt->m_linearFrictionDirection2[2]));
+				pt->m_linearFrictionForce1 = (impulseTangent.dot(linearFrictionDirection1) * linearFrictionDirection1 / m_data->m_physicsDeltaTime).norm();
+				pt->m_linearFrictionForce2 = (impulseTangent.dot(linearFrictionDirection2) * linearFrictionDirection2 / m_data->m_physicsDeltaTime).norm();
+			}
+		}
+
+		int num_contact_points = m_data->m_cachedContactPoints.size() + distinctContactPoints.size();
+		m_data->m_cachedContactPoints.reserve(num_contact_points);
+		// add points to contact points cache
+		for (int p = 0; p < distinctContactPoints.size(); p++)
+		{
+			m_data->m_cachedContactPoints.push_back(distinctContactPoints[p]);
+		}
+	}
+#endif
+	return true;
+}
+
+bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = true;
+	BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
+	SharedMemoryStatus& serverCmd = serverStatusOut;
+	serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
+
+	//make a snapshot of the contact manifolds into individual contact points
+	if (clientCmd.m_requestContactPointArguments.m_startingContactPointIndex == 0)
+	{
+		m_data->m_cachedContactPoints.resize(0);
+
+		int mode = CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS;
+
+		if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE)
+		{
+			mode = clientCmd.m_requestContactPointArguments.m_mode;
+		}
+
+		switch (mode)
+		{
+			case CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS:
+			{
+				int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds();
+				m_data->m_cachedContactPoints.reserve(numContactManifolds * 4);
+				for (int i = 0; i < numContactManifolds; i++)
+				{
+					const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
+					int linkIndexA = -1;
+					int linkIndexB = -1;
 
 					int objectIndexB = -1;
 					const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
@@ -8018,6 +8671,11 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
 						m_data->m_cachedContactPoints.push_back(pt);
 					}
 				}
+
+#ifndef SKIP_DEFORMABLE_BODY
+				processRequestDeformableContactpointHelper(clientCmd);
+ 				processRequestDeformableDeformableContactpointHelper(clientCmd);
+#endif
 				break;
 			}
 
@@ -8659,12 +9317,12 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 	}
 	if (out_sim_type == UrdfGeometry::FILE_OBJ)
 	{
-		std::vector<tinyobj::shape_t> shapes;
-		tinyobj::attrib_t attribute;
-		std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
+		std::vector<bt_tinyobj::shape_t> shapes;
+		bt_tinyobj::attrib_t attribute;
+		std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
 		if (!shapes.empty())
 		{
-			const tinyobj::shape_t& shape = shapes[0];
+			const bt_tinyobj::shape_t& shape = shapes[0];
 			btAlignedObjectArray<btScalar> vertices;
 			btAlignedObjectArray<int> indices;
 			for (int i = 0; i < attribute.vertices.size(); i++)
@@ -8808,14 +9466,14 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			}
 			else
 			{
-				tinyobj::attrib_t attribute;
-				std::vector<tinyobj::shape_t> shapes;
+				bt_tinyobj::attrib_t attribute;
+				std::vector<bt_tinyobj::shape_t> shapes;
 
-				std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
+				std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
 
 				for (int s = 0; s < (int)shapes.size(); s++)
 				{
-					tinyobj::shape_t& shape = shapes[s];
+					bt_tinyobj::shape_t& shape = shapes[s];
 					int faceCount = shape.mesh.indices.size();
 					int vertexCount = attribute.vertices.size() / 3;
 					for (int v = 0; v < vertexCount; v++)
@@ -8830,9 +9488,9 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 						{
 							continue;
 						}
-						tinyobj::index_t v_0 = shape.mesh.indices[f];
-						tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
-						tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
+						bt_tinyobj::index_t v_0 = shape.mesh.indices[f];
+						bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
+						bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
 						btSoftBody::RenderFace ff;
 						ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
 						ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
@@ -8892,6 +9550,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			psb->setGravityFactor(deformable.m_gravFactor);
 			psb->setCacheBarycenter(deformable.m_cache_barycenter);
 			psb->initializeFaceTree();
+
 		}
 #endif  //SKIP_DEFORMABLE_BODY
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -9153,6 +9812,447 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 	return true;
 }
 
+bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
+{
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+	btReducedDeformableBody* rsb = NULL;
+	CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
+	char relativeFileName[1024];
+	char pathPrefix[1024];
+	pathPrefix[0] = 0;
+	if (fileIO->findResourcePath(reduced_deformable.m_visualFileName.c_str(), relativeFileName, 1024))
+	{
+		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+	}
+	const std::string& error_message_prefix = "";
+	std::string out_found_filename, out_found_sim_filename;
+	int out_type(0), out_sim_type(0);
+
+	bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
+	if (!reduced_deformable.m_simFileName.empty())
+	{
+		bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, reduced_deformable.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
+	}
+	else
+	{
+		out_sim_type = out_type;
+		out_found_sim_filename = out_found_filename;
+	}
+
+	if (out_sim_type == UrdfGeometry::FILE_OBJ)
+	{
+		printf("Obj file is currently unsupported\n");
+		return false;
+	}
+	else if (out_sim_type == UrdfGeometry::FILE_VTK)
+	{
+#ifndef SKIP_DEFORMABLE_BODY
+		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
+		if (deformWorld)
+		{
+			rsb = btReducedDeformableBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
+			if (!rsb)
+			{
+				printf("Load reduced deformable failed\n");
+				return false;
+			}
+
+			// load modes, reduced stiffness matrix
+			rsb->setReducedModes(reduced_deformable.m_numModes, rsb->m_nodes.size());
+			rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
+			rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
+			btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
+			// set total mass
+			rsb->setTotalMass(reduced_deformable.m_mass);
+		}
+#endif
+	}
+	b3ImportMeshData meshData;
+
+	if (rsb != NULL)
+	{
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+		// load render mesh
+		if ((out_found_sim_filename != out_found_filename) || ((out_sim_type == UrdfGeometry::FILE_OBJ)))
+		{
+			// load render mesh
+			if (!m_data->m_useAlternativeDeformableIndexing)
+			{
+
+				float rgbaColor[4] = { 1,1,1,1 };
+
+				if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
+					out_found_filename.c_str(), meshData, fileIO))
+				{
+
+					for (int v = 0; v < meshData.m_gfxShape->m_numvertices; v++)
+					{
+						btSoftBody::RenderNode n;
+						n.m_x.setValue(
+							meshData.m_gfxShape->m_vertices->at(v).xyzw[0],
+							meshData.m_gfxShape->m_vertices->at(v).xyzw[1],
+							meshData.m_gfxShape->m_vertices->at(v).xyzw[2]);
+						n.m_uv1.setValue(meshData.m_gfxShape->m_vertices->at(v).uv[0],
+							meshData.m_gfxShape->m_vertices->at(v).uv[1],
+							0.);
+						n.m_normal.setValue(meshData.m_gfxShape->m_vertices->at(v).normal[0],
+							meshData.m_gfxShape->m_vertices->at(v).normal[1],
+							meshData.m_gfxShape->m_vertices->at(v).normal[2]);
+						rsb->m_renderNodes.push_back(n);
+					}
+					for (int f = 0; f < meshData.m_gfxShape->m_numIndices; f += 3)
+					{
+						btSoftBody::RenderFace ff;
+						ff.m_n[0] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 0)];
+						ff.m_n[1] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 1)];
+						ff.m_n[2] = &rsb->m_renderNodes[meshData.m_gfxShape->m_indices->at(f + 2)];
+						rsb->m_renderFaces.push_back(ff);
+					}
+				}
+			}
+			else
+			{
+				bt_tinyobj::attrib_t attribute;
+				std::vector<bt_tinyobj::shape_t> shapes;
+
+				std::string err = bt_tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
+
+				for (int s = 0; s < (int)shapes.size(); s++)
+				{
+					bt_tinyobj::shape_t& shape = shapes[s];
+					int faceCount = shape.mesh.indices.size();
+					int vertexCount = attribute.vertices.size() / 3;
+					for (int v = 0; v < vertexCount; v++)
+					{
+						btSoftBody::RenderNode n;
+						n.m_x = btVector3(attribute.vertices[3 * v], attribute.vertices[3 * v + 1], attribute.vertices[3 * v + 2]);
+						rsb->m_renderNodes.push_back(n);
+					}
+					for (int f = 0; f < faceCount; f += 3)
+					{
+						if (f < 0 && f >= int(shape.mesh.indices.size()))
+						{
+							continue;
+						}
+						bt_tinyobj::index_t v_0 = shape.mesh.indices[f];
+						bt_tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
+						bt_tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
+						btSoftBody::RenderFace ff;
+						ff.m_n[0] = &rsb->m_renderNodes[v_0.vertex_index];
+						ff.m_n[1] = &rsb->m_renderNodes[v_1.vertex_index];
+						ff.m_n[2] = &rsb->m_renderNodes[v_2.vertex_index];
+						rsb->m_renderFaces.push_back(ff);
+					}
+				}
+			}
+			if (out_sim_type == UrdfGeometry::FILE_VTK)
+			{
+				btSoftBodyHelpers::interpolateBarycentricWeights(rsb);
+			}
+			else if (out_sim_type == UrdfGeometry::FILE_OBJ)
+			{
+				btSoftBodyHelpers::extrapolateBarycentricWeights(rsb);
+			}
+		}
+		else
+		{
+			rsb->m_renderNodes.resize(0);
+		}
+#endif
+#ifndef SKIP_DEFORMABLE_BODY
+		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
+		if (deformWorld)
+		{
+			btScalar collision_hardness = 1;
+			rsb->m_cfg.kKHR = collision_hardness;
+			rsb->m_cfg.kCHR = collision_hardness;
+
+			rsb->m_cfg.kDF = reduced_deformable.m_friction;
+			btSoftBody::Material* pm = rsb->appendMaterial();
+			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
+
+			// turn on the collision flag for deformable
+			// collision between deformable and rigid
+			rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+			/// turn on node contact for rigid body
+			rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
+			// turn on face contact for multibodies
+			// rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
+			// collion between deformable and deformable and self-collision
+			// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
+			rsb->setCollisionFlags(0);
+			rsb->setSelfCollision(useSelfCollision);
+			rsb->initializeFaceTree();
+		}
+#endif  //SKIP_DEFORMABLE_BODY
+// #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+// 		btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
+// 		if (softWorld)
+// 		{
+// 			btSoftBody::Material* pm = rsb->appendMaterial();
+// 			pm->m_kLST = 0.5;
+// 			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
+// 			rsb->generateBendingConstraints(2, pm);
+// 			rsb->m_cfg.piterations = 20;
+// 			rsb->m_cfg.kDF = 0.5;
+// 			//turn on softbody vs softbody collision
+// 			rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
+// 			rsb->randomizeConstraints();
+// 			rsb->setTotalMass(reduced_deformable.m_mass, true);
+// 		}
+// #endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+		rsb->scale(btVector3(scale, scale, scale));
+		btTransform init_transform;
+		init_transform.setOrigin(pos);
+		init_transform.setRotation(orn);
+		rsb->transform(init_transform);
+
+		rsb->getCollisionShape()->setMargin(reduced_deformable.m_collisionMargin);
+		rsb->getCollisionShape()->setUserPointer(rsb);
+#ifndef SKIP_DEFORMABLE_BODY
+		if (deformWorld)
+		{
+			deformWorld->addSoftBody(rsb);
+			deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp;
+			deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm;
+			deformWorld->getSolverInfo().m_friction = reduced_deformable.m_friction;
+			deformWorld->getSolverInfo().m_splitImpulse = false;
+			deformWorld->setImplicit(false);
+			deformWorld->setLineSearch(false);
+			deformWorld->setUseProjection(false);
+		}
+		else
+#endif  //SKIP_DEFORMABLE_BODY
+		{
+			btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
+			if (softWorld)
+			{
+				softWorld->addSoftBody(rsb);
+			}
+		}
+
+		*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
+		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
+		bodyHandle->m_softBody = rsb;
+		rsb->setUserIndex2(*bodyUniqueId);
+
+		b3VisualShapeData visualShape;
+
+		visualShape.m_objectUniqueId = *bodyUniqueId;
+		visualShape.m_linkIndex = -1;
+		visualShape.m_visualGeometryType = URDF_GEOM_MESH;
+		//dimensions just contains the scale
+		visualShape.m_dimensions[0] = 1;
+		visualShape.m_dimensions[1] = 1;
+		visualShape.m_dimensions[2] = 1;
+		//filename
+		strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
+		visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
+		//position and orientation
+		visualShape.m_localVisualFrame[0] = 0;
+		visualShape.m_localVisualFrame[1] = 0;
+		visualShape.m_localVisualFrame[2] = 0;
+		visualShape.m_localVisualFrame[3] = 0;
+		visualShape.m_localVisualFrame[4] = 0;
+		visualShape.m_localVisualFrame[5] = 0;
+		visualShape.m_localVisualFrame[6] = 1;
+		//color and ids to be set by the renderer
+		visualShape.m_rgbaColor[0] = 1;
+		visualShape.m_rgbaColor[1] = 1;
+		visualShape.m_rgbaColor[2] = 1;
+		visualShape.m_rgbaColor[3] = 1;
+		visualShape.m_tinyRendererTextureId = -1;
+		visualShape.m_textureUniqueId = -1;
+		visualShape.m_openglTextureId = -1;
+
+		if (meshData.m_gfxShape)
+		{
+			int texUid1 = -1;
+			if (meshData.m_textureHeight > 0 && meshData.m_textureWidth > 0 && meshData.m_textureImage1)
+			{
+				texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
+			}
+			visualShape.m_openglTextureId = texUid1;
+			int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], meshData.m_gfxShape->m_numvertices, &meshData.m_gfxShape->m_indices->at(0), meshData.m_gfxShape->m_numIndices, B3_GL_TRIANGLES, texUid1);
+			rsb->getCollisionShape()->setUserIndex(shapeUid1);
+			float position[4] = { 0,0,0,1 };
+			float orientation[4] = { 0,0,0,1 };
+			float color[4] = { 1,1,1,1 };
+			float scaling[4] = { 1,1,1,1 };
+ 			int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid1, position, orientation, color, scaling);
+			rsb->setUserIndex(instanceUid);
+
+			if (m_data->m_enableTinyRenderer)
+			{
+				int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
+				visualShape.m_tinyRendererTextureId = texUid2;
+				int linkIndex = -1;
+				int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
+					visualShape,
+					&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
+					meshData.m_gfxShape->m_numvertices,
+					&meshData.m_gfxShape->m_indices->at(0),
+					meshData.m_gfxShape->m_numIndices,
+					B3_GL_TRIANGLES,
+					texUid2,
+					rsb->getBroadphaseHandle()->getUid(),
+					*bodyUniqueId,
+					linkIndex);
+
+				rsb->setUserIndex3(softBodyGraphicsShapeUid);
+			}
+			delete meshData.m_gfxShape;
+			meshData.m_gfxShape = 0;
+		}
+		else
+		{
+			//m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
+
+			btAlignedObjectArray<GLInstanceVertex> gfxVertices;
+			btAlignedObjectArray<int> indices;
+			int strideInBytes = 9 * sizeof(float);
+			gfxVertices.resize(rsb->m_faces.size() * 3);
+			for (int i = 0; i < rsb->m_faces.size(); i++)  // Foreach face
+			{
+				for (int k = 0; k < 3; k++)  // Foreach vertex on a face
+				{
+					int currentIndex = i * 3 + k;
+					for (int j = 0; j < 3; j++)
+					{
+						gfxVertices[currentIndex].xyzw[j] = rsb->m_faces[i].m_n[k]->m_x[j];
+					}
+					for (int j = 0; j < 3; j++)
+					{
+						gfxVertices[currentIndex].normal[j] = rsb->m_faces[i].m_n[k]->m_n[j];
+					}
+					for (int j = 0; j < 2; j++)
+					{
+						gfxVertices[currentIndex].uv[j] = btFabs(btFabs(10. * rsb->m_faces[i].m_n[k]->m_x[j]));
+					}
+					indices.push_back(currentIndex);
+				}
+			}
+			if (gfxVertices.size() && indices.size())
+			{
+				int red = 173;
+				int green = 199;
+				int blue = 255;
+
+				int texWidth = 256;
+				int texHeight = 256;
+				btAlignedObjectArray<unsigned char> texels;
+				texels.resize(texWidth* texHeight * 3);
+				for (int i = 0; i < texWidth * texHeight * 3; i++)
+					texels[i] = 255;
+				for (int i = 0; i < texWidth; i++)
+				{
+					for (int j = 0; j < texHeight; j++)
+					{
+						int a = i < texWidth / 2 ? 1 : 0;
+						int b = j < texWidth / 2 ? 1 : 0;
+
+						if (a == b)
+						{
+							texels[(i + j * texWidth) * 3 + 0] = red;
+							texels[(i + j * texWidth) * 3 + 1] = green;
+							texels[(i + j * texWidth) * 3 + 2] = blue;
+						}
+					}
+				}
+
+				int texId = m_data->m_guiHelper->registerTexture(&texels[0], texWidth, texHeight);
+				visualShape.m_openglTextureId = texId;
+				int shapeId = m_data->m_guiHelper->registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texId);
+				b3Assert(shapeId >= 0);
+				rsb->getCollisionShape()->setUserIndex(shapeId);
+				if (m_data->m_enableTinyRenderer)
+				{
+
+					int texUid2 = m_data->m_pluginManager.getRenderInterface()->registerTexture(&texels[0], texWidth, texHeight);
+					visualShape.m_tinyRendererTextureId = texUid2;
+					int linkIndex = -1;
+					int softBodyGraphicsShapeUid = m_data->m_pluginManager.getRenderInterface()->registerShapeAndInstance(
+						visualShape,
+						&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, texUid2,
+						rsb->getBroadphaseHandle()->getUid(),
+						*bodyUniqueId,
+						linkIndex);
+					rsb->setUserIndex3(softBodyGraphicsShapeUid);
+				}
+			}
+		}
+
+
+
+		btAlignedObjectArray<btVector3> vertices;
+		btAlignedObjectArray<btVector3> normals;
+		if (rsb->m_renderNodes.size() == 0)
+		{
+			rsb->m_renderNodes.resize(rsb->m_faces.size()*3);
+			vertices.resize(rsb->m_faces.size() * 3);
+			normals.resize(rsb->m_faces.size() * 3);
+
+			for (int i = 0; i < rsb->m_faces.size(); i++)  // Foreach face
+			{
+
+				for (int k = 0; k < 3; k++)  // Foreach vertex on a face
+				{
+					int currentIndex = i * 3 + k;
+					for (int j = 0; j < 3; j++)
+					{
+						rsb->m_renderNodes[currentIndex].m_x[j] = rsb->m_faces[i].m_n[k]->m_x[j];
+					}
+					for (int j = 0; j < 3; j++)
+					{
+						rsb->m_renderNodes[currentIndex].m_normal[j] = rsb->m_faces[i].m_n[k]->m_n[j];
+					}
+					for (int j = 0; j < 2; j++)
+					{
+						rsb->m_renderNodes[currentIndex].m_uv1[j] = btFabs(10*rsb->m_faces[i].m_n[k]->m_x[j]);
+					}
+					rsb->m_renderNodes[currentIndex].m_uv1[2] = 0;
+					vertices[currentIndex] = rsb->m_faces[i].m_n[k]->m_x;
+					normals[currentIndex] = rsb->m_faces[i].m_n[k]->m_n;
+				}
+			}
+			btSoftBodyHelpers::extrapolateBarycentricWeights(rsb);
+		}
+		else
+		{
+			vertices.resize(rsb->m_renderNodes.size());
+			normals.resize(rsb->m_renderNodes.size());
+			for (int i = 0; i < rsb->m_renderNodes.size(); i++)  // Foreach face
+			{
+				vertices[i] = rsb->m_renderNodes[i].m_x;
+				normals[i] = rsb->m_renderNodes[i].m_normal;
+			}
+		}
+		m_data->m_pluginManager.getRenderInterface()->updateShape(rsb->getUserIndex3(), &vertices[0], vertices.size(), &normals[0], normals.size());
+
+		if (!reduced_deformable.m_name.empty())
+		{
+			bodyHandle->m_bodyName = reduced_deformable.m_name;
+		}
+		else
+		{
+			int pos = strlen(relativeFileName) - 1;
+			while (pos >= 0 && relativeFileName[pos] != '/')
+			{
+				pos--;
+			}
+			btAssert(strlen(relativeFileName) - pos - 5 > 0);
+			std::string object_name(std::string(relativeFileName).substr(pos + 1, strlen(relativeFileName) - 5 - pos));
+			bodyHandle->m_bodyName = object_name;
+		}
+		b3Notification notification;
+		notification.m_notificationType = BODY_ADDED;
+		notification.m_bodyArgs.m_bodyUniqueId = *bodyUniqueId;
+		m_data->m_pluginManager.addNotification(notification);
+	}
+#endif
+	return true;
+}
+
 bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
@@ -9433,6 +10533,24 @@ bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const str
 	return hasStatus;
 }
 
+bool PhysicsServerCommandProcessor::performCollisionDetectionCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = true;
+
+	BT_PROFILE("CMD_PERFORM_COLLISION_DETECTION");
+
+	if (m_data->m_verboseOutput)
+	{
+		b3Printf("Perform Collision Detection command");
+		b3Printf("CMD_PERFORM_COLLISION_DETECTION clientCmd = %d\n", clientCmd.m_sequenceNumber);
+	}
+
+	 m_data->m_dynamicsWorld->performDiscreteCollisionDetection();
+	 SharedMemoryStatus& serverCmd = serverStatusOut;
+	 serverCmd.m_type = CMD_PERFORM_COLLISION_DETECTION_COMPLETED;
+	 return true;
+}
+
 bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -9444,6 +10562,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 		b3Printf("Step simulation request");
 		b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
 	}
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 	///todo(erwincoumans) move this damping inside Bullet
 	for (int i = 0; i < m_data->m_dynamicsWorld->getNumMultibodies(); i++)
 	{
@@ -9458,7 +10577,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 			}
 		}
 	}
-
+	#endif
 	btScalar deltaTimeScaled = m_data->m_physicsDeltaTime * simTimeScalingFactor;
 
 	int numSteps = 0;
@@ -9483,8 +10602,9 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	serverCmd.m_forwardDynamicsAnalyticsArgs.m_numSteps = numSteps;
 
 	btAlignedObjectArray<btSolverAnalyticsData> islandAnalyticsData;
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 	m_data->m_dynamicsWorld->getAnalyticsData(islandAnalyticsData);
+#endif 
 	serverCmd.m_forwardDynamicsAnalyticsArgs.m_numIslands = islandAnalyticsData.size();
 	int numIslands = btMin(islandAnalyticsData.size(), MAX_ISLANDS_ANALYTICS);
 
@@ -9555,7 +10675,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 	if (bodyUniqueId >= 0)
 	{
 		InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 		if (body && body->m_multiBody)
 		{
 			btMultiBody* mb = body->m_multiBody;
@@ -9597,6 +10717,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 				mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
 			}
 
+			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
+			{
+				mb->setSleepThreshold(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
+			}
+
 			if (linkIndex == -1)
 			{
 				if (mb->getBaseCollider())
@@ -9741,6 +10866,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 								}
 							}
 						}
+						
 
 						if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS)
 						{
@@ -9875,10 +11001,12 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 			}
 		}
 		else
+#endif
 		{
 			btRigidBody* rb = 0;
 			if (body && body->m_rigidBody)
 			{
+
 				if (linkIndex == -1)
 				{
 					rb = body->m_rigidBody;
@@ -10014,6 +11142,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 						m_data->m_dynamicsWorld->addCollisionObject(rb, collisionFilterGroup, collisionFilterMask);
 					}
 				}
+
+				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
+				{
+					btScalar threshold2 = btSqrt(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
+					rb->setSleepingThresholds(threshold2,threshold2);
+				}
+
 			}
 		}
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -10207,6 +11342,12 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 		serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY;
 
 		btRigidBody* rb = body->m_rigidBody;
+
+
+		serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = rb->getLocalInertia()[0];
+		serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = rb->getLocalInertia()[1];
+		serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = rb->getLocalInertia()[2];
+
 		serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
 		serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction();
 		serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction();
@@ -10345,7 +11486,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 		btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
 		if (deformWorld)
 		{
-			deformWorld->getWorldInfo().m_gravity = grav;
+			// deformWorld->getWorldInfo().m_gravity = grav;
+			deformWorld->setGravity(grav);
 			for (int i = 0; i < m_data->m_lf.size(); ++i)
 			{
 				btDeformableLagrangianForce* force = m_data->m_lf[i];
@@ -10401,7 +11543,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 
 			btConstraintSolver* oldSolver = m_data->m_dynamicsWorld->getConstraintSolver();
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+			btSequentialImpulseConstraintSolver* newSolver = 0;
+#else
 			btMultiBodyConstraintSolver* newSolver = 0;
+#endif
 
 			switch (clientCmd.m_physSimParamArgs.m_constraintSolverType)
 			{
@@ -10414,7 +11560,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 				case eConstraintSolverLCP_PGS:
 				{
 					btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel();
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+					newSolver = new btMLCPSolver(mlcp);
+#else
 					newSolver = new btMultiBodyMLCPConstraintSolver(mlcp);
+#endif
+
 					b3Printf("PyBullet: Constraint Solver: MLCP + PGS\n");
 					break;
 				}
@@ -10438,7 +11589,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 			{
 				delete oldSolver;
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+				m_data->m_dynamicsWorld->setConstraintSolver(newSolver);
+#else
 				m_data->m_dynamicsWorld->setMultiBodyConstraintSolver(newSolver);
+#endif
 				m_data->m_solver = newSolver;
 				printf("switched solver\n");
 			}
@@ -10718,6 +11873,12 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
 		scratch_m.resize(nLinks + 1);
 
 		mb->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
+		
+		m_data->m_dynamicsWorld->updateSingleAabb(mb->getBaseCollider());
+		for (int i=0;i<mb->getNumLinks();i++)
+		{
+			m_data->m_dynamicsWorld->updateSingleAabb(mb->getLinkCollider(i));
+		}
 	}
 
 	if (body && body->m_rigidBody)
@@ -10742,6 +11903,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
 			body->m_rigidBody->getWorldTransform().setRotation(baseOrn);
 			body->m_rigidBody->setAngularVelocity(baseAngVel);
 		}
+		m_data->m_dynamicsWorld->updateSingleAabb(body->m_rigidBody);
 	}
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	if (body && body->m_softBody)
@@ -10768,6 +11930,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
 			}
 			body->m_softBody->transformTo(tr);
 		}
+		m_data->m_dynamicsWorld->updateSingleAabb(body->m_softBody);
 	}
 #endif
 	syncPhysicsToGraphics2();
@@ -10840,7 +12003,11 @@ bool PhysicsServerCommandProcessor::processCreateRigidBodyCommand(const struct S
 		shapeType = clientCmd.m_createBoxShapeArguments.m_collisionShapeType;
 	}
 
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+	btWorldImporter* worldImporter = new btWorldImporter(m_data->m_dynamicsWorld);
+#else
 	btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
+#endif
 	m_data->m_worldImporters.push_back(worldImporter);
 
 	btCollisionShape* shape = 0;
@@ -11092,6 +12259,10 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
 		{
 			m_data->m_guiHelper->getRenderInterface()->setLightPosition(clientCmd.m_configureOpenGLVisualizerArguments.m_lightPosition);
 		}
+		if (clientCmd.m_updateFlags & COV_SET_RGB_BACKGROUND)
+		{
+			m_data->m_guiHelper->setBackgroundColor(clientCmd.m_configureOpenGLVisualizerArguments.m_rgbBackground);
+		}
 		if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_RESOLUTION)
 		{
 			m_data->m_guiHelper->getRenderInterface()->setShadowMapResolution(clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapResolution);
@@ -11169,17 +12340,17 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S
 				btInverseDynamics::vecx nu(num_dofs + baseDofQdot), qdot(num_dofs + baseDofQdot), q(num_dofs + baseDofQdot), joint_force(num_dofs + baseDofQdot);
 
 				//for floating base, inverse dynamics expects euler angle x,y,z and position x,y,z in that order
-				//PyBullet expects quaternion, so convert and swap to have a more consistent PyBullet API
+				//PyBullet expects xyz and quaternion in that order, so convert and swap to have a more consistent PyBullet API
 				if (baseDofQ)
 				{
 					btVector3 pos(clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[0],
 								  clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1],
 								  clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2]);
 
-					btQuaternion orn(clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[0],
-									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[1],
-									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[2],
-									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[3]);
+					btQuaternion orn(clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[3],
+									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[4],
+									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[5],
+									 clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[6]);
 					btScalar yawZ, pitchY, rollX;
 					orn.getEulerZYX(yawZ, pitchY, rollX);
 					q[0] = rollX;
@@ -11189,12 +12360,9 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S
 					q[4] = pos[1];
 					q[5] = pos[2];
 				}
-				else
+				for (int i = 0; i < num_dofs; i++)
 				{
-					for (int i = 0; i < num_dofs; i++)
-					{
-						q[i] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i];
-					}
+					q[i + baseDofQ] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i + baseDofQ];
 				}
 				for (int i = 0; i < num_dofs + baseDofQdot; i++)
 				{
@@ -11477,7 +12645,6 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
 				else
 				{
 					int link = clientCmd.m_externalForceArguments.m_linkIds[i];
-
 					btVector3 forceWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis() * tmpForce : tmpForce;
 					btVector3 relPosWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis() * tmpPosition : tmpPosition - mb->getLink(link).m_cachedWorldTransform.getOrigin();
 					mb->addLinkForce(link, forceWorld);
@@ -11487,20 +12654,20 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
 			}
 			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE) != 0)
 			{
-				btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
-									  clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
-									  clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
+				btVector3 tmpTorque(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
+									clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
+									clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
 
 				if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
 				{
-					btVector3 torqueWorld = isLinkFrame ? torqueLocal : mb->getBaseWorldTransform().getBasis() * torqueLocal;
+					btVector3 torqueWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis() * tmpTorque : tmpTorque;
 					mb->addBaseTorque(torqueWorld);
 					//b3Printf("apply base torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]);
 				}
 				else
 				{
 					int link = clientCmd.m_externalForceArguments.m_linkIds[i];
-					btVector3 torqueWorld = mb->getLink(link).m_cachedWorldTransform.getBasis() * torqueLocal;
+					btVector3 torqueWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis() * tmpTorque : tmpTorque;
 					mb->addLinkTorque(link, torqueWorld);
 					//b3Printf("apply link torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]);
 				}
@@ -11512,26 +12679,26 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
 			btRigidBody* rb = body->m_rigidBody;
 			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
 			{
-				btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
-									 clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
-									 clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
-				btVector3 positionLocal(
+				btVector3 tmpForce(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
+								   clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
+								   clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
+				btVector3 tmpPosition(
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]);
 
-				btVector3 forceWorld = isLinkFrame ? forceLocal : rb->getWorldTransform().getBasis() * forceLocal;
-				btVector3 relPosWorld = isLinkFrame ? positionLocal : rb->getWorldTransform().getBasis() * positionLocal;
+				btVector3 forceWorld = isLinkFrame ? rb->getWorldTransform().getBasis() * tmpForce : tmpForce;
+				btVector3 relPosWorld = isLinkFrame ? rb->getWorldTransform().getBasis() * tmpPosition : tmpPosition - rb->getWorldTransform().getOrigin();
 				rb->applyForce(forceWorld, relPosWorld);
 			}
 
 			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE) != 0)
 			{
-				btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
-									  clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
-									  clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
+				btVector3 tmpTorque(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
+									clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
+									clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
 
-				btVector3 torqueWorld = isLinkFrame ? torqueLocal : rb->getWorldTransform().getBasis() * torqueLocal;
+				btVector3 torqueWorld = isLinkFrame ? rb->getWorldTransform().getBasis() * tmpTorque : tmpTorque;
 				rb->applyTorque(torqueWorld);
 			}
 		}
@@ -11543,16 +12710,16 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
 			int link = clientCmd.m_externalForceArguments.m_linkIds[i];
 			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
 			{
-				btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
-									 clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
-									 clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
-				btVector3 positionLocal(
+				btVector3 tmpForce(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
+								   clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
+								   clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
+				btVector3 tmpPosition(
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
 					clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]);
 
-				btVector3 forceWorld = isLinkFrame ? forceLocal : sb->getWorldTransform().getBasis() * forceLocal;
-				btVector3 relPosWorld = isLinkFrame ? positionLocal : sb->getWorldTransform().getBasis() * positionLocal;
+				btVector3 forceWorld = isLinkFrame ? sb->getWorldTransform().getBasis() * tmpForce : tmpForce;
+				btVector3 relPosWorld = isLinkFrame ? sb->getWorldTransform().getBasis() * tmpPosition : tmpPosition - sb->getWorldTransform().getOrigin();
 				if (link >= 0 && link < sb->m_nodes.size())
 				{
 					sb->addForce(forceWorld, link);
@@ -11585,6 +12752,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 		if (bodyHandle)
 		{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 			if (bodyHandle->m_multiBody)
 			{
 				serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
@@ -11654,6 +12822,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 				bodyHandle->m_multiBody = 0;
 				serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
 			}
+#endif
 			if (bodyHandle->m_rigidBody)
 			{
 				if (m_data->m_pluginManager.getRenderInterface())
@@ -11731,7 +12900,11 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 
 				for (int i = 0; i < m_data->m_worldImporters.size(); i++)
 				{
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+					btWorldImporter* importer = m_data->m_worldImporters[i];
+#else
 					btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
+#endif
 					for (int c = 0; c < importer->getNumCollisionShapes(); c++)
 					{
 						if (importer->getCollisionShapeByIndex(c) == handle->m_collisionShape)
@@ -11747,7 +12920,11 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 				}
 				if (foundIndex >= 0)
 				{
+#ifdef USE_DISCRETE_DYNAMICS_WORLD
+					btWorldImporter* importer = m_data->m_worldImporters[foundIndex];
+#else
 					btMultiBodyWorldImporter* importer = m_data->m_worldImporters[foundIndex];
+#endif
 					m_data->m_worldImporters.removeAtIndex(foundIndex);
 					importer->deleteAllData();
 					delete importer;
@@ -11901,6 +13078,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
 	{
 		btScalar defaultMaxForce = 500.0;
 		InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 		if (parentBody && parentBody->m_multiBody)
 		{
 			if ((clientCmd.m_userConstraintArguments.m_parentJointIndex >= -1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
@@ -12054,6 +13232,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
 			}
 		}
 		else
+#endif
 		{
 			InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex >= 0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex) : 0;
 
@@ -12301,12 +13480,14 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
 		InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidRemove);
 		if (userConstraintPtr)
 		{
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 			if (userConstraintPtr->m_mbConstraint)
 			{
 				m_data->m_dynamicsWorld->removeMultiBodyConstraint(userConstraintPtr->m_mbConstraint);
 				delete userConstraintPtr->m_mbConstraint;
 				m_data->m_userConstraints.remove(userConstraintUidRemove);
 			}
+#endif//USE_DISCRETE_DYNAMICS_WORLD
 			if (userConstraintPtr->m_rbConstraint)
 			{
 				m_data->m_dynamicsWorld->removeConstraint(userConstraintPtr->m_rbConstraint);
@@ -13654,12 +14835,14 @@ bool PhysicsServerCommandProcessor::processRemoveStateCommand(const struct Share
 
 bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
+
 	BT_PROFILE("CMD_RESTORE_STATE");
 	bool hasStatus = true;
 	SharedMemoryStatus& serverCmd = serverStatusOut;
 	serverCmd.m_type = CMD_RESTORE_STATE_FAILED;
-
+#ifndef USE_DISCRETE_DYNAMICS_WORLD	
 	btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
+	
 	importer->setImporterFlags(eRESTORE_EXISTING_OBJECTS);
 
 	bool ok = false;
@@ -13727,7 +14910,7 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar
 	{
 		serverCmd.m_type = CMD_RESTORE_STATE_COMPLETED;
 	}
-
+#endif
 	return hasStatus;
 }
 
@@ -13739,6 +14922,7 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
 	SharedMemoryStatus& serverCmd = serverStatusOut;
 	serverCmd.m_type = CMD_BULLET_LOADING_FAILED;
 
+#ifndef USE_DISCRETE_DYNAMICS_WORLD
 	//btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
 	btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
 
@@ -13817,6 +15001,7 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
 			m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
 		}
 	}
+#endif
 	return hasStatus;
 }
 
@@ -13983,6 +15168,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
 			break;
 		}
+		case CMD_REQUEST_TETRA_MESH_DATA:
+		{
+			hasStatus = processRequestTetraMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+			break;
+		}
+		case CMD_RESET_MESH_DATA:
+		{
+			hasStatus = processResetMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+			break;
+		}
+
 		case CMD_CREATE_MULTI_BODY:
 		{
 			hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
@@ -14034,6 +15230,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			hasStatus = processForwardDynamicsCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
 			break;
 		}
+		case CMD_PERFORM_COLLISION_DETECTION:
+		{
+			hasStatus = performCollisionDetectionCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+			break;
+		}
 
 		case CMD_REQUEST_INTERNAL_DATA:
 		{
@@ -14398,7 +15599,12 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
 			{
 				m_data->m_pickedBody = body;
 				m_data->m_savedActivationState = body->getActivationState();
+				if (m_data->m_savedActivationState==ISLAND_SLEEPING)
+				{
+					m_data->m_savedActivationState = ACTIVE_TAG;
+				}
 				m_data->m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
+				m_data->m_pickedBody->setDeactivationTime(0);
 				//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
 				btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
 				btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
@@ -14859,6 +16065,9 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags)
 	m_data->m_bodyHandles.exitHandles();
 	m_data->m_bodyHandles.initHandles();
 
+	m_data->m_userVisualShapeHandles.exitHandles();
+	m_data->m_userVisualShapeHandles.initHandles();
+
 	m_data->m_userCollisionShapeHandles.exitHandles();
 	m_data->m_userCollisionShapeHandles.initHandles();
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index cbc4cbab41..4035d7d0cc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -32,6 +32,8 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 	bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestTetraMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
@@ -44,6 +46,8 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 	bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
+    bool processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
 	bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
@@ -55,6 +59,7 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 	bool processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool performCollisionDetectionCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
@@ -106,6 +111,7 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 
 	bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
 	bool processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision);
+	bool processReducedDeformable(const UrdfReducedDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision);
 
 	bool supportsJointMotor(class btMultiBody* body, int linkIndex);
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 172c0030ff..52c30dee53 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -133,6 +133,8 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIUserDebugRemoveAllParameters,
 	eGUIHelperResetCamera,
 	eGUIHelperChangeGraphicsInstanceFlags,
+	eGUIHelperSetRgbBackground,
+	eGUIUserDebugAddPoints,
 };
 
 #include <stdio.h>
@@ -490,6 +492,19 @@ struct UserDebugDrawLine
 	int m_replaceItemUid;
 };
 
+struct UserDebugDrawPoint
+{
+	const double* m_debugPointPositions;
+	const double* m_debugPointColors;
+	int m_debugPointNum;
+	double m_pointSize;
+
+	double m_lifeTime;
+	int m_itemUniqueId;
+	int m_trackingVisualShapeIndex;
+	int m_replaceItemUid;
+};
+
 struct UserDebugParameter
 {
 	char m_text[1024];
@@ -640,7 +655,7 @@ MultithreadedDebugDrawer : public btIDebugDraw
 		return m_debugMode;
 	}
 
-	virtual void clearLines() override
+	virtual void clearLines()
 	{
 		m_hashedLines.clear();
 		m_sortedIndices.clear();
@@ -709,7 +724,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	{
 		BT_PROFILE("mainThreadRelease");
 
-		getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
+		setSharedParam(1, eGUIHelperIdle);
 		getCriticalSection3()->lock();
 		getCriticalSection2()->unlock();
 		getCriticalSection()->lock();
@@ -724,7 +739,9 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 
 		if (m_skipGraphicsUpdate)
 		{
+			this->m_csGUI->lock();
 			getCriticalSection()->setSharedParam(1, eGUIHelperIdle);
+			this->m_csGUI->unlock();
 			m_cs->unlock();
 			return;
 		}
@@ -734,9 +751,18 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_cs3->lock();
 		m_cs3->unlock();
 
-		while (m_cs->getSharedParam(1) != eGUIHelperIdle)
+
+		m_csGUI->lock();
+		unsigned int cachedSharedParam = m_cs->getSharedParam(1);
+		m_csGUI->unlock();
+
+		
+		while (cachedSharedParam != eGUIHelperIdle)
 		{
 			b3Clock::usleep(0);
+			m_csGUI->lock();
+			cachedSharedParam = m_cs->getSharedParam(1);
+			m_csGUI->unlock();
 		}
 	}
 
@@ -818,10 +844,11 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	btVector3 m_color3;
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
 	{
-		m_body = body;
-		m_color3 = color;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperCreateRigidBodyGraphicsObject);
+
+    m_body = body;
+		m_color3 = color;
+		setSharedParam(1, eGUIHelperCreateRigidBodyGraphicsObject);
 		workerThreadWait();
 	}
 
@@ -830,19 +857,21 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
 	{
-		m_obj = obj;
-		m_color2 = color;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperCreateCollisionObjectGraphicsObject);
+
+    m_obj = obj;
+		m_color2 = color;
+		setSharedParam(1, eGUIHelperCreateCollisionObjectGraphicsObject);
 		workerThreadWait();
 	}
 
 	btCollisionShape* m_colShape;
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 	{
-		m_colShape = collisionShape;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperCreateCollisionShapeGraphicsObject);
+
+    m_colShape = collisionShape;
+    setSharedParam(1, eGUIHelperCreateCollisionShapeGraphicsObject);
 		workerThreadWait();
 	}
 
@@ -889,9 +918,10 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void removeTexture(int textureUid)
 	{
-		m_removeTextureUid = textureUid;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRemoveTexture);
+
+    m_removeTextureUid = textureUid;
+		setSharedParam(1, eGUIHelperRemoveTexture);
 
 		workerThreadWait();
 	}
@@ -901,11 +931,12 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	int m_updateNumShapeVertices;
 	virtual void updateShape(int shapeIndex, float* vertices, int numVertices)
 	{
-		m_updateShapeIndex = shapeIndex;
+		m_cs->lock();
+
+    m_updateShapeIndex = shapeIndex;
 		m_updateShapeVertices = vertices;
 		m_updateNumShapeVertices = numVertices;
-		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperUpdateShape);
+		setSharedParam(1, eGUIHelperUpdateShape);
 		workerThreadWait();
 	}
 	virtual int registerTexture(const unsigned char* texels, int width, int height)
@@ -915,12 +946,13 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		{
 			return *cachedTexture;
 		}
-		m_texels = texels;
+		m_cs->lock();
+
+    m_texels = texels;
 		m_textureWidth = width;
 		m_textureHeight = height;
 
-		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRegisterTexture);
+		setSharedParam(1, eGUIHelperRegisterTexture);
 
 		workerThreadWait();
 		m_cachedTextureIds.insert(texels, m_textureId);
@@ -928,31 +960,44 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	}
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
 	{
-		m_vertices = vertices;
+		m_cs->lock();
+    m_csGUI->lock();
+    m_vertices = vertices;
 		m_numvertices = numvertices;
 		m_indices = indices;
 		m_numIndices = numIndices;
 		m_primitiveType = primitiveType;
 		m_textureId = textureId;
-
-		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRegisterGraphicsShape);
+    m_csGUI->unlock();
+		setSharedParam(1, eGUIHelperRegisterGraphicsShape);
 		workerThreadWait();
 
-		return m_shapeIndex;
+    m_csGUI->lock();
+    int shapeIndex = m_shapeIndex;
+    m_csGUI->unlock();
+
+
+		return shapeIndex;
 	}
 
 	int m_visualizerFlag;
 	int m_visualizerEnable;
 	int m_renderedFrames;
 
+  void setSharedParam(int slot, int param)
+  {
+    m_csGUI->lock();
+    m_cs->setSharedParam(slot, param);
+    m_csGUI->unlock();
+  }
 	void setVisualizerFlag(int flag, int enable)
 	{
-		m_visualizerFlag = flag;
+		m_cs->lock();
+
+    m_visualizerFlag = flag;
 		m_visualizerEnable = enable;
 
-		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperSetVisualizerFlag);
+		setSharedParam(1, eGUIHelperSetVisualizerFlag);
 		workerThreadWait();
 	}
 
@@ -970,16 +1015,16 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_scaling = scaling;
 
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRegisterGraphicsInstance);
+		setSharedParam(1, eGUIHelperRegisterGraphicsInstance);
 		workerThreadWait();
 		return m_instanceId;
 	}
 
 	virtual void removeAllGraphicsInstances()
 	{
+    m_cs->lock();
 		m_cachedTextureIds.clear();
-		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRemoveAllGraphicsInstances);
+    setSharedParam(1, eGUIHelperRemoveAllGraphicsInstances);
 		workerThreadWait();
 	}
 
@@ -988,7 +1033,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	{
 		m_graphicsInstanceRemove = graphicsUid;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperRemoveGraphicsInstance);
+		setSharedParam(1, eGUIHelperRemoveGraphicsInstance);
 		workerThreadWait();
 	}
 
@@ -999,7 +1044,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	{
 		m_getShapeIndex_instance = instance;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperGetShapeIndexFromInstance);
+		setSharedParam(1, eGUIHelperGetShapeIndexFromInstance);
 		getShapeIndex_shapeIndex = -1;
 		workerThreadWait();
 		return getShapeIndex_shapeIndex;
@@ -1012,7 +1057,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_graphicsInstanceChangeTextureShapeIndex = shapeIndex;
 		m_graphicsInstanceChangeTextureId = textureUid;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceTextureId);
+		setSharedParam(1, eGUIHelperChangeGraphicsInstanceTextureId);
 		workerThreadWait();
 	}
 
@@ -1028,7 +1073,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_changeTextureWidth = width;
 		m_changeTextureHeight = height;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeTexture);
+	  setSharedParam(1, eGUIHelperChangeTexture);
 		workerThreadWait();
 	}
 
@@ -1042,7 +1087,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_rgbaColor[2] = rgbaColor[2];
 		m_rgbaColor[3] = rgbaColor[3];
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceRGBAColor);
+		setSharedParam(1, eGUIHelperChangeGraphicsInstanceRGBAColor);
 		workerThreadWait();
 	}
 
@@ -1054,11 +1099,22 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_graphicsInstanceFlagsInstanceUid = instanceUid;
 		m_graphicsInstanceFlags = flags;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceFlags);
+		setSharedParam(1, eGUIHelperChangeGraphicsInstanceFlags);
 		workerThreadWait();
 	}
 
-	
+	double m_rgbBackground[3];
+	virtual void setBackgroundColor(const double rgbBackground[3])
+	{
+		m_cs->lock();
+		m_rgbBackground[0] = rgbBackground[0];
+		m_rgbBackground[1] = rgbBackground[1];
+		m_rgbBackground[2] = rgbBackground[2];
+		
+		setSharedParam(1, eGUIHelperSetRgbBackground);
+		workerThreadWait();
+		
+	}
 
 
 	int m_graphicsInstanceChangeScaling;
@@ -1070,7 +1126,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_baseScaling[1] = scaling[1];
 		m_baseScaling[2] = scaling[2];
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceScaling);
+		setSharedParam(1, eGUIHelperChangeGraphicsInstanceScaling);
 		workerThreadWait();
 	}
 
@@ -1083,7 +1139,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_specularColor[1] = specularColor[1];
 		m_specularColor[2] = specularColor[2];
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceSpecularColor);
+		setSharedParam(1, eGUIHelperChangeGraphicsInstanceSpecularColor);
 		workerThreadWait();
 	}
 
@@ -1134,7 +1190,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 #ifdef SYNC_CAMERA_USING_GUI_CS
 		m_csGUI->unlock();
 #else
-		m_cs->setSharedParam(1, eGUIHelperResetCamera);
+		setSharedParam(1, eGUIHelperResetCamera);
 		workerThreadWait();
 		m_childGuiHelper->resetCamera(camDist, yaw, pitch, camPosX, camPosY, camPosZ);
 #endif //SYNC_CAMERA_USING_GUI_CS
@@ -1182,7 +1238,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_destinationHeight = destinationHeight;
 		m_numPixelsCopied = numPixelsCopied;
 
-		m_cs->setSharedParam(1, eGUIHelperCopyCameraImageData);
+		setSharedParam(1, eGUIHelperCopyCameraImageData);
 		workerThreadWait();
 	}
 
@@ -1209,7 +1265,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_destinationHeight = destinationHeight;
 		m_numPixelsCopied = numPixelsCopied;
 
-		m_cs->setSharedParam(1, eGUIHelperDisplayCameraImageData);
+		setSharedParam(1, eGUIHelperDisplayCameraImageData);
 		workerThreadWait();
 	}
 
@@ -1235,7 +1291,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	{
 		m_dynamicsWorld = rbWorld;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIHelperAutogenerateGraphicsObjects);
+		setSharedParam(1, eGUIHelperAutogenerateGraphicsObjects);
 		workerThreadWait();
 	}
 
@@ -1288,7 +1344,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_tmpText.m_textOrientation[3] = orientation[3];
 
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIUserDebugAddText);
+		setSharedParam(1, eGUIUserDebugAddText);
 		m_resultUserDebugTextUid = -1;
 		workerThreadWait();
 
@@ -1321,7 +1377,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		m_tmpParam.m_itemUniqueId = m_uidGenerator++;
 
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
+	  setSharedParam(1, eGUIUserDebugAddParameter);
 		m_userDebugParamUid = -1;
 		workerThreadWait();
 
@@ -1376,33 +1432,82 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 		{
 
 			m_cs->lock();
-			m_cs->setSharedParam(1, eGUIUserDebugAddLine);
+			setSharedParam(1, eGUIUserDebugAddLine);
 			m_resultDebugLineUid = -1;
 			workerThreadWait();
 		}
 		return m_resultDebugLineUid;
 	}
 
+	btAlignedObjectArray<UserDebugDrawPoint> m_userDebugPoints;
+	UserDebugDrawPoint m_tmpPoint;
+	int m_resultDebugPointUid;
+
+	virtual int addUserDebugPoints(const double* debugPointPositions, const double* debugPointColors, double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum)
+	{
+		m_tmpPoint.m_lifeTime = lifeTime;
+		m_tmpPoint.m_pointSize = pointSize;
+
+		m_tmpPoint.m_itemUniqueId = replaceItemUid < 0 ? m_uidGenerator++ : replaceItemUid;
+		m_tmpPoint.m_debugPointPositions = debugPointPositions;
+		m_tmpPoint.m_debugPointColors = debugPointColors;
+		m_tmpPoint.m_debugPointNum = debugPointNum;
+
+		m_tmpPoint.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
+		m_tmpPoint.m_replaceItemUid = replaceItemUid;
+
+		//don't block when replacing an item
+		if (replaceItemUid>=0 && replaceItemUid<m_userDebugPoints.size())
+		{
+			//find the right slot
+
+			int slot=-1;
+			for (int i=0;i<m_userDebugPoints.size();i++)
+			{
+				if (replaceItemUid == m_userDebugPoints[i].m_itemUniqueId)
+				{
+						slot = i;
+				}
+			}
+
+			if (slot>=0)
+			{
+				m_userDebugPoints[slot] = m_tmpPoint;
+			}
+			m_resultDebugPointUid = replaceItemUid;
+		}
+		else
+		{
+
+			m_cs->lock();
+			setSharedParam(1, eGUIUserDebugAddPoints);
+			m_resultDebugPointUid = -1;
+			workerThreadWait();
+		}
+		return m_resultDebugPointUid;
+	}
+
+
 	int m_removeDebugItemUid;
 
 	virtual void removeUserDebugItem(int debugItemUniqueId)
 	{
 		m_removeDebugItemUid = debugItemUniqueId;
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIUserDebugRemoveItem);
+		setSharedParam(1, eGUIUserDebugRemoveItem);
 		workerThreadWait();
 	}
 	virtual void removeAllUserDebugItems()
 	{
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems);
+		setSharedParam(1, eGUIUserDebugRemoveAllItems);
 		workerThreadWait();
 	}
 
 	virtual void removeAllUserParameters()
 	{
 		m_cs->lock();
-		m_cs->setSharedParam(1, eGUIUserDebugRemoveAllParameters);
+		setSharedParam(1, eGUIUserDebugRemoveAllParameters);
 		workerThreadWait();
 	}
 
@@ -1414,7 +1519,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
 	{
 		m_cs->lock();
 		m_mp4FileName = mp4FileName;
-		m_cs->setSharedParam(1, eGUIDumpFramesToVideo);
+		setSharedParam(1, eGUIDumpFramesToVideo);
 		workerThreadWait();
 		m_mp4FileName = 0;
 	}
@@ -1887,8 +1992,10 @@ void PhysicsServerExample::initPhysics()
 		}
 	}
 	m_args[0].m_cs->lock();
+  m_args[0].m_csGUI->lock();
 	m_args[0].m_cs->setSharedParam(1, eGUIHelperIdle);
-	m_args[0].m_cs->unlock();
+  m_args[0].m_csGUI->unlock();
+  m_args[0].m_cs->unlock();
 	m_args[0].m_cs2->lock();
 
 	{
@@ -1995,7 +2102,12 @@ void PhysicsServerExample::updateGraphics()
 	}
 	m_multiThreadedHelper->getCriticalSectionGUI()->unlock();
 #endif
-	switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
+
+	m_multiThreadedHelper->getCriticalSectionGUI()->lock();
+	unsigned int cachedSharedParam = m_multiThreadedHelper->getCriticalSection()->getSharedParam(1);
+	m_multiThreadedHelper->getCriticalSectionGUI()->unlock();
+
+	switch (cachedSharedParam)
 	{
 		case eGUIHelperCreateCollisionShapeGraphicsObject:
 		{
@@ -2048,14 +2160,22 @@ void PhysicsServerExample::updateGraphics()
 		case eGUIHelperRegisterGraphicsShape:
 		{
 			B3_PROFILE("eGUIHelperRegisterGraphicsShape");
-			m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
+			int shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
 				m_multiThreadedHelper->m_vertices,
 				m_multiThreadedHelper->m_numvertices,
 				m_multiThreadedHelper->m_indices,
 				m_multiThreadedHelper->m_numIndices,
 				m_multiThreadedHelper->m_primitiveType,
 				m_multiThreadedHelper->m_textureId);
-			m_multiThreadedHelper->mainThreadRelease();
+
+       m_multiThreadedHelper->getCriticalSectionGUI()->lock();
+       m_multiThreadedHelper->m_shapeIndex = shapeIndex;
+       m_multiThreadedHelper->getCriticalSectionGUI()->unlock();
+
+
+      m_multiThreadedHelper->mainThreadRelease();
+
+
 			break;
 		}
 
@@ -2156,8 +2276,8 @@ void PhysicsServerExample::updateGraphics()
 
 			m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag, m_multiThreadedHelper->m_visualizerEnable);
 
-			//postpone the release until an actual frame is rendered
-			if (flag == COV_ENABLE_SINGLE_STEP_RENDERING)
+			//postpone the release until an actual frame is rendered, unless it is a remote visualizer
+			if ((!m_multiThreadedHelper->m_childGuiHelper->isRemoteVisualizer()) && flag == COV_ENABLE_SINGLE_STEP_RENDERING)
 			{
 				m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperSetVisualizerFlagCheckRenderedFrame);
 			}
@@ -2267,6 +2387,13 @@ void PhysicsServerExample::updateGraphics()
 			break;
 		}
 
+		case eGUIHelperSetRgbBackground:
+		{
+			m_multiThreadedHelper->m_childGuiHelper->setBackgroundColor(m_multiThreadedHelper->m_rgbBackground);
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
+
 		case eGUIHelperChangeGraphicsInstanceScaling:
 		{
 			B3_PROFILE("eGUIHelperChangeGraphicsInstanceScaling");
@@ -2537,6 +2664,29 @@ void PhysicsServerExample::updateGraphics()
 			m_multiThreadedHelper->mainThreadRelease();
 			break;
 		}
+		case eGUIUserDebugAddPoints:
+		{
+			B3_PROFILE("eGUIUserDebugAddPoints");
+
+			if (m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid >= 0)
+			{
+				for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++)
+				{
+					if (m_multiThreadedHelper->m_userDebugPoints[i].m_itemUniqueId == m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid)
+					{
+						m_multiThreadedHelper->m_userDebugPoints[i] = m_multiThreadedHelper->m_tmpPoint;
+						m_multiThreadedHelper->m_resultDebugPointUid = m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid;
+					}
+				}
+			}
+			else
+			{
+				m_multiThreadedHelper->m_userDebugPoints.push_back(m_multiThreadedHelper->m_tmpPoint);
+				m_multiThreadedHelper->m_resultDebugPointUid = m_multiThreadedHelper->m_userDebugPoints[m_multiThreadedHelper->m_userDebugPoints.size() - 1].m_itemUniqueId;
+			}
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
 		case eGUIUserDebugRemoveItem:
 		{
 			B3_PROFILE("eGUIUserDebugRemoveItem");
@@ -2551,6 +2701,16 @@ void PhysicsServerExample::updateGraphics()
 				}
 			}
 
+			for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++)
+			{
+				if (m_multiThreadedHelper->m_userDebugPoints[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
+				{
+					m_multiThreadedHelper->m_userDebugPoints.swap(i, m_multiThreadedHelper->m_userDebugPoints.size() - 1);
+					m_multiThreadedHelper->m_userDebugPoints.pop_back();
+					break;
+				}
+			}
+
 			for (int i = 0; i < m_multiThreadedHelper->m_userDebugText.size(); i++)
 			{
 				if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
@@ -2639,6 +2799,20 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
 			}
 		}
 	}
+
+	for (int i = m_multiThreadedHelper->m_userDebugPoints.size() - 1; i >= 0; i--)
+	{
+		if (m_multiThreadedHelper->m_userDebugPoints[i].m_lifeTime)
+		{
+			m_multiThreadedHelper->m_userDebugPoints[i].m_lifeTime -= deltaTime;
+			if (m_multiThreadedHelper->m_userDebugPoints[i].m_lifeTime <= 0)
+			{
+				m_multiThreadedHelper->m_userDebugPoints.swap(i, m_multiThreadedHelper->m_userDebugPoints.size() - 1);
+				m_multiThreadedHelper->m_userDebugPoints.pop_back();
+			}
+		}
+	}
+
 	updateGraphics();
 
 
@@ -2868,6 +3042,28 @@ void PhysicsServerExample::drawUserDebugLines()
 				m_multiThreadedHelper->m_userDebugText[i].textSize);
 				*/
 		}
+
+		for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++) {
+			const double* positions = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointPositions;
+			const double* colors = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointColors;
+			const int pointNum = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointNum;
+			const double sz = m_multiThreadedHelper->m_userDebugPoints[i].m_pointSize;
+
+			float* pos = (float*)malloc(pointNum * 3 * sizeof(float));
+			float* clr = (float*)malloc(pointNum * 4 * sizeof(float));
+			for (int i = 0; i < pointNum; i++) {
+				pos[i * 3 + 0] = (float)positions[i * 3 + 0];
+				pos[i * 3 + 1] = (float)positions[i * 3 + 1];
+				pos[i * 3 + 2] = (float)positions[i * 3 + 2];
+				clr[i * 4 + 0] = (float)colors[i * 3 + 0];
+				clr[i * 4 + 1] = (float)colors[i * 3 + 1];
+				clr[i * 4 + 2] = (float)colors[i * 3 + 2];
+				clr[i * 4 + 3] = 1.f;
+			}
+			m_guiHelper->getAppInterface()->m_renderer->drawPoints(pos, clr, pointNum, 3 * sizeof(float), sz);
+			free(pos);
+			free(clr);
+		}
 	}
 }
 
diff --git a/examples/SharedMemory/PosixSharedMemory.cpp b/examples/SharedMemory/PosixSharedMemory.cpp
index 00bcf75842..dac21eeb40 100644
--- a/examples/SharedMemory/PosixSharedMemory.cpp
+++ b/examples/SharedMemory/PosixSharedMemory.cpp
@@ -8,6 +8,11 @@
 #define TEST_SHARED_MEMORY
 #endif  //_WIN32
 
+//Shmem not available on target api < 26
+#if defined(__ANDROID_API__) && (__ANDROID_API__ < 26)
+#undef TEST_SHARED_MEMORY
+#endif  //__ANDROID__
+
 #include <stddef.h>
 
 #ifdef TEST_SHARED_MEMORY
diff --git a/examples/SharedMemory/RemoteGUIHelper.cpp b/examples/SharedMemory/RemoteGUIHelper.cpp
index b5754e1850..4ef9395a14 100644
--- a/examples/SharedMemory/RemoteGUIHelper.cpp
+++ b/examples/SharedMemory/RemoteGUIHelper.cpp
@@ -627,6 +627,10 @@ int RemoteGUIHelper::addUserDebugLine(const double debugLineFromXYZ[3], const do
 {
 	return -1;
 }
+int RemoteGUIHelper::addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum)
+{
+	return -1;
+}
 void RemoteGUIHelper::removeUserDebugItem(int debugItemUniqueId)
 {
 }
diff --git a/examples/SharedMemory/RemoteGUIHelper.h b/examples/SharedMemory/RemoteGUIHelper.h
index 3d74b03fdf..5ac8900480 100644
--- a/examples/SharedMemory/RemoteGUIHelper.h
+++ b/examples/SharedMemory/RemoteGUIHelper.h
@@ -69,6 +69,7 @@ struct RemoteGUIHelper : public GUIHelperInterface
 	virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
 
 	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid);
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum);
 	virtual void removeUserDebugItem(int debugItemUniqueId);
 	virtual void removeAllUserDebugItems();
 
diff --git a/examples/SharedMemory/RemoteGUIHelperTCP.cpp b/examples/SharedMemory/RemoteGUIHelperTCP.cpp
index 8573fd0de5..5831f0c044 100644
--- a/examples/SharedMemory/RemoteGUIHelperTCP.cpp
+++ b/examples/SharedMemory/RemoteGUIHelperTCP.cpp
@@ -639,6 +639,10 @@ int RemoteGUIHelperTCP::addUserDebugLine(const double debugLineFromXYZ[3], const
 {
 	return -1;
 }
+int RemoteGUIHelperTCP::addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum)
+{
+	return -1;
+}
 void RemoteGUIHelperTCP::removeUserDebugItem(int debugItemUniqueId)
 {
 }
diff --git a/examples/SharedMemory/RemoteGUIHelperTCP.h b/examples/SharedMemory/RemoteGUIHelperTCP.h
index 606eab581d..56b3a98c15 100644
--- a/examples/SharedMemory/RemoteGUIHelperTCP.h
+++ b/examples/SharedMemory/RemoteGUIHelperTCP.h
@@ -66,10 +66,12 @@ struct RemoteGUIHelperTCP : public GUIHelperInterface
 	virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
 
 	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid);
+	virtual int addUserDebugPoints(const double debugPointPositionXYZ[3], const double debugPointColorRGB[3], double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum);
 	virtual void removeUserDebugItem(int debugItemUniqueId);
 	virtual void removeAllUserDebugItems();
 
 	int uploadData(const unsigned char* data, int sizeInBytes, int slot);
+	virtual bool isRemoteVisualizer() { return true; }
 };
 
 #endif  //REMOTE_HELPER_TCP_H
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index a019a58ca2..37fc351457 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -174,6 +174,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS = 1 << 18,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE = 1 << 19,
 	CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE = 1 << 20,
+	CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD = 1 << 21,
 };
 
 struct ChangeDynamicsInfoArgs
@@ -205,6 +206,9 @@ struct ChangeDynamicsInfoArgs
 	double m_jointLimitForce;
 	
 	int m_dynamicType;
+
+	double m_sleepThreshold;
+
 };
 
 struct GetDynamicsInfoArgs
@@ -465,6 +469,8 @@ struct SendDesiredStateArgs
 	//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
 	//indexed by degree of freedom, 6 dof base, and then dofs for each link
 	double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
+
+	double m_damping[MAX_DEGREE_OF_FREEDOM];
 };
 
 enum EnumSimDesiredStateUpdateFlags
@@ -475,6 +481,7 @@ enum EnumSimDesiredStateUpdateFlags
 	SIM_DESIRED_STATE_HAS_KP = 8,
 	SIM_DESIRED_STATE_HAS_MAX_FORCE = 16,
 	SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32,
+	SIM_DESIRED_STATE_HAS_DAMPING = 64,
 };
 
 enum EnumSimParamUpdateFlags
@@ -840,6 +847,7 @@ enum EnumUserDebugDrawFlags
 	USER_DEBUG_HAS_PARENT_OBJECT = 1024,
 	USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID = 2048,
 	USER_DEBUG_REMOVE_ALL_PARAMETERS = 4096,
+	USER_DEBUG_HAS_POINTS = 8192,
 };
 
 struct UserDebugDrawArgs
@@ -869,6 +877,9 @@ struct UserDebugDrawArgs
 	double m_objectDebugColorRGB[3];
 	int m_objectUniqueId;
 	int m_linkIndex;
+
+	int m_debugPointNum;
+	double m_pointSize;
 };
 
 struct UserDebugDrawResultArgs
@@ -955,6 +966,7 @@ enum InternalOpenGLVisualizerUpdateFlags
 	COV_SET_SHADOWMAP_WORLD_SIZE = 16,
 	COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
 	COV_SET_SHADOWMAP_INTENSITY = 64,
+	COV_SET_RGB_BACKGROUND = 128,
 };
 
 struct ConfigureOpenGLVisualizerRequest
@@ -970,6 +982,7 @@ struct ConfigureOpenGLVisualizerRequest
 	int m_setFlag;
 	int m_setEnabled;
 	double m_shadowMapIntensity;
+	double m_rgbBackground[3];
 };
 
 enum
@@ -1131,6 +1144,20 @@ struct b3RequestMeshDataArgs
 	int m_flags;
 };
 
+struct b3RequestTetraMeshDataArgs
+{
+	int m_bodyUniqueId;
+	int m_startingVertex;
+	int m_flags;
+};
+
+struct b3ResetMeshDataArgs
+{
+	int m_bodyUniqueId;
+	int m_numVertices;
+	int m_flags;
+};
+
 struct b3SendMeshDataArgs
 {
 	int m_numVerticesCopied;
@@ -1199,6 +1226,9 @@ struct SharedMemoryCommand
 		struct UserDataRequestArgs m_removeUserDataRequestArgs;
 		struct b3CollisionFilterArgs m_collisionFilterArgs;
 		struct b3RequestMeshDataArgs m_requestMeshDataArgs;
+		struct b3RequestTetraMeshDataArgs m_requestTetraMeshDataArgs;
+		struct b3ResetMeshDataArgs m_resetMeshDataArgs;
+		struct b3RequestTetraMeshDataArgs m_resetTetraMeshDataArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 775f9f708e..4e3f6d3f3f 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -115,7 +115,11 @@ enum EnumSharedMemoryClientCommand
 	CMD_REMOVE_USER_DATA,
 	CMD_COLLISION_FILTER,
 	CMD_REQUEST_MESH_DATA,
+	
+	CMD_PERFORM_COLLISION_DETECTION,
+	CMD_RESET_MESH_DATA,
 
+	CMD_REQUEST_TETRA_MESH_DATA,
 	//don't go beyond this command!
 	CMD_MAX_CLIENT_COMMANDS,
 };
@@ -239,6 +243,12 @@ enum EnumSharedMemoryServerStatus
 	CMD_REQUEST_MESH_DATA_COMPLETED,
 	CMD_REQUEST_MESH_DATA_FAILED,
 
+	CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
+	CMD_RESET_MESH_DATA_COMPLETED,
+	CMD_RESET_MESH_DATA_FAILED,
+
+	CMD_REQUEST_TETRA_MESH_DATA_COMPLETED,
+	CMD_REQUEST_TETRA_MESH_DATA_FAILED,
 	//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
 	CMD_MAX_SERVER_COMMANDS
 };
@@ -456,12 +466,12 @@ struct b3MeshVertex
 	double x, y, z, w;
 };
 
-
 enum eMeshDataFlags
 {
-	B3_MESH_DATA_SIMULATION_MESH=1,
-	B3_MESH_DATA_SIMULATION_INDICES,
-	B3_MESH_DATA_GRAPHICS_INDICES,
+	B3_MESH_DATA_SIMULATION_MESH = 1,
+	B3_MESH_DATA_SIMULATION_INDICES = 2,
+	B3_MESH_DATA_GRAPHICS_INDICES = 4,
+	B3_MESH_DATA_SIMULATION_MESH_VELOCITY = 8,
 };
 
 enum eMeshDataEnum
@@ -476,6 +486,17 @@ struct b3MeshData
 	struct b3MeshVertex* m_vertices;
 };
 
+enum eTetraMeshDataEnum
+{
+	B3_TETRA_MESH_DATA_FLAGS=2,
+};
+
+struct b3TetraMeshData
+{
+	int m_numVertices;
+	struct b3MeshVertex* m_vertices;
+};
+
 struct b3OpenGLVisualizerCameraInfo
 {
 	int m_width;
@@ -612,6 +633,7 @@ enum b3ResetSimulationFlags
 	RESET_USE_DEFORMABLE_WORLD=1,
 	RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
 	RESET_USE_SIMPLE_BROADPHASE=4,
+	RESET_USE_REDUCED_DEFORMABLE_WORLD=8,
 };
 
 struct b3BodyNotificationArgs
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 980f140633..23ceb48874 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -123,7 +123,7 @@ if (_OPTIONS["enable_static_vr_plugin"]) then
 	files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
 end
 
-if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+if (_OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -222,7 +222,7 @@ language "C++"
 		
 	end
 
-if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+if ( _OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -381,7 +381,7 @@ if os.is("Windows") then
 		initOpenGL()
 	  initGlew()
 	
-	if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+	if ( _OPTIONS["enable_static_tinyrenderer_plugin"]) then
 	files 
 		{
 		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
@@ -477,13 +477,24 @@ end
 include "udp"
 include "tcp"
 
+if (_OPTIONS["enable_static_test_plugin"]) then
 include "plugins/testPlugin"
+end
+
+if (_OPTIONS["enable_vr_sync_plugin"]) then
 include "plugins/vrSyncPlugin"
-include "plugins/tinyRendererPlugin"
+end
 
+if (_OPTIONS["enable_static_tiny_renderer__plugin"]) then
+include "plugins/tinyRendererPlugin"
+end
+if (_OPTIONS["enable_static_pd_control_plugin"]) then
 include "plugins/pdControlPlugin"
-include "plugins/collisionFilterPlugin"
+end
 
+if (_OPTIONS["enable_static_collision_filter_plugin"]) then
+include "plugins/collisionFilterPlugin"
+end
 if _OPTIONS["enable_egl"] then
 		include "plugins/eglPlugin"
 end
diff --git a/examples/SimpleOpenGL3/CMakeLists.txt b/examples/SimpleOpenGL3/CMakeLists.txt
index ef0bbb0505..4de9fdfd3b 100644
--- a/examples/SimpleOpenGL3/CMakeLists.txt
+++ b/examples/SimpleOpenGL3/CMakeLists.txt
@@ -37,7 +37,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES( X11 pthread ${DL} Xext)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( X11 ${CMAKE_THREAD_LIBS_INIT} ${DL} Xext )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
diff --git a/examples/SoftDemo/SoftDemo.cpp b/examples/SoftDemo/SoftDemo.cpp
index 046cd9b15c..7d65000d8f 100644
--- a/examples/SoftDemo/SoftDemo.cpp
+++ b/examples/SoftDemo/SoftDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/SoftDemo/SoftDemo.h b/examples/SoftDemo/SoftDemo.h
index 16de205100..23dbf256c2 100644
--- a/examples/SoftDemo/SoftDemo.h
+++ b/examples/SoftDemo/SoftDemo.h
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/ThirdPartyLibs/BussIK/LICENSE.txt b/examples/ThirdPartyLibs/BussIK/LICENSE.txt
new file mode 100644
index 0000000000..1463ea0ed1
--- /dev/null
+++ b/examples/ThirdPartyLibs/BussIK/LICENSE.txt
@@ -0,0 +1,12 @@
+* Author: Samuel R. Buss, sbuss@ucsd.edu.
+* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
+*
+*
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/examples/ThirdPartyLibs/Eigen/CMakeLists.txt b/examples/ThirdPartyLibs/Eigen/CMakeLists.txt
deleted file mode 100644
index 9eb502b792..0000000000
--- a/examples/ThirdPartyLibs/Eigen/CMakeLists.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-include(RegexUtils)
-test_escape_string_as_regex()
-
-file(GLOB Eigen_directory_files "*")
-
-escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-
-foreach(f ${Eigen_directory_files})
-  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/src")
-    list(APPEND Eigen_directory_files_to_install ${f})
-  endif()
-endforeach(f ${Eigen_directory_files})
-
-install(FILES
-  ${Eigen_directory_files_to_install}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
-  )
-
-install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/examples/ThirdPartyLibs/Eigen/Cholesky b/examples/ThirdPartyLibs/Eigen/Cholesky
index 1332b540d8..a318ceb797 100644
--- a/examples/ThirdPartyLibs/Eigen/Cholesky
+++ b/examples/ThirdPartyLibs/Eigen/Cholesky
@@ -43,4 +43,3 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_CHOLESKY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/Core b/examples/ThirdPartyLibs/Eigen/Core
index c66359b796..3c03519fe9 100644
--- a/examples/ThirdPartyLibs/Eigen/Core
+++ b/examples/ThirdPartyLibs/Eigen/Core
@@ -11,260 +11,55 @@
 #ifndef EIGEN_CORE_H
 #define EIGEN_CORE_H
 
-// first thing Eigen does: stop the compiler from committing suicide
+// first thing Eigen does: stop the compiler from reporting useless warnings.
 #include "src/Core/util/DisableStupidWarnings.h"
 
-#if defined(__CUDACC__) && !defined(EIGEN_NO_CUDA)
-  #define EIGEN_CUDACC __CUDACC__
-#endif
-
-#if defined(__CUDA_ARCH__) && !defined(EIGEN_NO_CUDA)
-  #define EIGEN_CUDA_ARCH __CUDA_ARCH__
-#endif
-
-// Starting with CUDA 9 the composite __CUDACC_VER__ is not available.
-#if defined(__CUDACC_VER_MAJOR__) && (__CUDACC_VER_MAJOR__ >= 9)
-#define EIGEN_CUDACC_VER  ((__CUDACC_VER_MAJOR__ * 10000) + (__CUDACC_VER_MINOR__ * 100))
-#elif defined(__CUDACC_VER__)
-#define EIGEN_CUDACC_VER __CUDACC_VER__
-#else
-#define EIGEN_CUDACC_VER 0
-#endif
-
-// Handle NVCC/CUDA/SYCL
-#if defined(EIGEN_CUDACC) || defined(__SYCL_DEVICE_ONLY__)
-  // Do not try asserts on CUDA and SYCL!
-  #ifndef EIGEN_NO_DEBUG
-  #define EIGEN_NO_DEBUG
-  #endif
-
-  #ifdef EIGEN_INTERNAL_DEBUGGING
-  #undef EIGEN_INTERNAL_DEBUGGING
-  #endif
-
-  #ifdef EIGEN_EXCEPTIONS
-  #undef EIGEN_EXCEPTIONS
-  #endif
+// 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 compiler/OS/arch detections and define most defaults.
+#include "src/Core/util/Macros.h"
 
-  // All functions callable from CUDA code must be qualified with __device__
-  #ifdef EIGEN_CUDACC
-    // Do not try to vectorize on CUDA and SYCL!
-    #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-    #endif
-
-    #define EIGEN_DEVICE_FUNC __host__ __device__
-    // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro
-    // works properly on the device side
-    #include <math_functions.hpp>
-  #else
-    #define EIGEN_DEVICE_FUNC
-  #endif
-#else
-  #define EIGEN_DEVICE_FUNC
-#endif
+// This detects SSE/AVX/NEON/etc. and configure alignment settings
+#include "src/Core/util/ConfigureVectorization.h"
 
-#ifdef __NVCC__
-#define EIGEN_DONT_VECTORIZE
+// We need cuda_runtime.h/hip_runtime.h to ensure that
+// the EIGEN_USING_STD macro works properly on the device side
+#if defined(EIGEN_CUDACC)
+  #include <cuda_runtime.h>
+#elif defined(EIGEN_HIPCC)
+  #include <hip/hip_runtime.h>
 #endif
 
-// When compiling CUDA device code with NVCC, pull in math functions from the
-// global namespace.  In host mode, and when device doee with clang, use the
-// std versions.
-#if defined(EIGEN_CUDA_ARCH) && defined(__NVCC__)
-  #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
-#else
-  #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
-#endif
-
-#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_CUDA_ARCH) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
-  #define EIGEN_EXCEPTIONS
-#endif
 
 #ifdef EIGEN_EXCEPTIONS
   #include <new>
 #endif
 
-// 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"
-
 // Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
 // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
-#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
+#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6) && EIGEN_GNUC_AT_MOST(5,5)
   #pragma GCC optimize ("-fno-ipa-cp-clone")
 #endif
 
+// Prevent ICC from specializing std::complex operators that silently fail
+// on device. This allows us to use our own device-compatible specializations
+// instead.
+#if defined(EIGEN_COMP_ICC) && defined(EIGEN_GPU_COMPILE_PHASE) \
+    && !defined(_OVERRIDE_COMPLEX_SPECIALIZATION_)
+#define _OVERRIDE_COMPLEX_SPECIALIZATION_ 1
+#endif
 #include <complex>
 
 // this include file manages BLAS and MKL related macros
 // and inclusion of their respective header files
 #include "src/Core/util/MKL_support.h"
 
-// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
-// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
-#if EIGEN_MAX_ALIGN_BYTES==0
-  #ifndef EIGEN_DONT_VECTORIZE
-    #define EIGEN_DONT_VECTORIZE
-  #endif
-#endif
-
-#if EIGEN_COMP_MSVC
-  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (EIGEN_COMP_MSVC >= 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)) || EIGEN_ARCH_x86_64
-      #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__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || 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
-    #ifdef __AVX__
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_SSE3
-      #define EIGEN_VECTORIZE_SSSE3
-      #define EIGEN_VECTORIZE_SSE4_1
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __AVX2__
-      #define EIGEN_VECTORIZE_AVX2
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_SSE3
-      #define EIGEN_VECTORIZE_SSSE3
-      #define EIGEN_VECTORIZE_SSE4_1
-      #define EIGEN_VECTORIZE_SSE4_2
-    #endif
-    #ifdef __FMA__
-      #define EIGEN_VECTORIZE_FMA
-    #endif
-    #if defined(__AVX512F__)
-      #define EIGEN_VECTORIZE_AVX512
-      #define EIGEN_VECTORIZE_AVX2
-      #define EIGEN_VECTORIZE_AVX
-      #define EIGEN_VECTORIZE_FMA
-      #define EIGEN_VECTORIZE_SSE3
-      #define EIGEN_VECTORIZE_SSSE3
-      #define EIGEN_VECTORIZE_SSE4_1
-      #define EIGEN_VECTORIZE_SSE4_2
-      #ifdef __AVX512DQ__
-        #define EIGEN_VECTORIZE_AVX512DQ
-      #endif
-    #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" {
-      // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
-      // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
-      #if EIGEN_COMP_ICC >= 1110
-        #include <immintrin.h>
-      #else
-        #include <mmintrin.h>
-        #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
-        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
-        #include <immintrin.h>
-        #endif
-      #endif
-    } // end extern "C"
-  #elif defined __VSX__
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_VSX
-    #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 __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) || (defined __ARM_NEON__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_NEON
-    #include <arm_neon.h>
-  #elif (defined __s390x__ && defined __VEC__)
-    #define EIGEN_VECTORIZE
-    #define EIGEN_VECTORIZE_ZVECTOR
-    #include <vecintrin.h>
-  #endif
-#endif
 
-#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
-  // We can use the optimized fp16 to float and float to fp16 conversion routines
-  #define EIGEN_HAS_FP16_C
+#if defined(EIGEN_HAS_CUDA_FP16) || defined(EIGEN_HAS_HIP_FP16)
+  #define EIGEN_HAS_GPU_FP16
 #endif
 
-#if defined EIGEN_CUDACC
-  #define EIGEN_VECTORIZE_CUDA
-  #include <vector_types.h>
-  #if EIGEN_CUDACC_VER >= 70500
-    #define EIGEN_HAS_CUDA_FP16
-  #endif
-#endif
-
-#if defined EIGEN_HAS_CUDA_FP16
-  #include <host_defines.h>
-  #include <cuda_fp16.h>
+#if defined(EIGEN_HAS_CUDA_BF16) || defined(EIGEN_HAS_HIP_BF16)
+  #define EIGEN_HAS_GPU_BF16
 #endif
 
 #if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
@@ -288,7 +83,10 @@
 #include <cmath>
 #include <cassert>
 #include <functional>
-#include <iosfwd>
+#include <sstream>
+#ifndef EIGEN_NO_IO
+  #include <iosfwd>
+#endif
 #include <cstring>
 #include <string>
 #include <limits>
@@ -296,6 +94,10 @@
 // for min/max:
 #include <algorithm>
 
+#if EIGEN_HAS_CXX11
+#include <array>
+#endif
+
 // for std::is_nothrow_move_assignable
 #ifdef EIGEN_INCLUDE_TYPE_TRAITS
 #include <type_traits>
@@ -307,51 +109,30 @@
 #endif
 
 // required for __cpuid, needs to be included after cmath
-#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
+// also required for _BitScanReverse on Windows on ARM
+#if EIGEN_COMP_MSVC && (EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM64) && !EIGEN_OS_WINCE
   #include <intrin.h>
 #endif
 
-#if defined(__SYCL_DEVICE_ONLY__)
+#if defined(EIGEN_USE_SYCL)
   #undef min
   #undef max
   #undef isnan
   #undef isinf
   #undef isfinite
-  #include <SYCL/sycl.hpp>
-#endif
-
-/** \brief Namespace containing all symbols from the %Eigen library. */
-namespace Eigen {
-
-inline static const char *SimdInstructionSetsInUse(void) {
-#if defined(EIGEN_VECTORIZE_AVX512)
-  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif defined(EIGEN_VECTORIZE_AVX)
-  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
-#elif 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_VSX)
-  return "VSX";
-#elif defined(EIGEN_VECTORIZE_NEON)
-  return "ARM NEON";
-#elif defined(EIGEN_VECTORIZE_ZVECTOR)
-  return "S390X ZVECTOR";
-#else
-  return "None";
+  #include <CL/sycl.hpp>
+  #include <map>
+  #include <memory>
+  #include <utility>
+  #include <thread>
+  #ifndef EIGEN_SYCL_LOCAL_THREAD_DIM0
+  #define EIGEN_SYCL_LOCAL_THREAD_DIM0 16
+  #endif
+  #ifndef EIGEN_SYCL_LOCAL_THREAD_DIM1
+  #define EIGEN_SYCL_LOCAL_THREAD_DIM1 16
+  #endif
 #endif
-}
 
-} // end namespace Eigen
 
 #if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
 // This will generate an error message:
@@ -360,7 +141,7 @@ inline static const char *SimdInstructionSetsInUse(void) {
 
 namespace Eigen {
 
-// we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
+// we use size_t frequently and we'll never remember to prepend it with std:: every time just to
 // ensure QNX/QCC support
 using std::size_t;
 // gcc 4.6.0 wants std:: for ptrdiff_t
@@ -387,59 +168,87 @@ using std::ptrdiff_t;
 #include "src/Core/util/IntegralConstant.h"
 #include "src/Core/util/SymbolicIndex.h"
 
-
 #include "src/Core/NumTraits.h"
 #include "src/Core/MathFunctions.h"
 #include "src/Core/GenericPacketMath.h"
 #include "src/Core/MathFunctionsImpl.h"
 #include "src/Core/arch/Default/ConjHelper.h"
+// Generic half float support
+#include "src/Core/arch/Default/Half.h"
+#include "src/Core/arch/Default/BFloat16.h"
+#include "src/Core/arch/Default/TypeCasting.h"
+#include "src/Core/arch/Default/GenericPacketMathFunctionsFwd.h"
 
 #if defined EIGEN_VECTORIZE_AVX512
   #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/TypeCasting.h"
+  #include "src/Core/arch/SSE/Complex.h"
   #include "src/Core/arch/AVX/PacketMath.h"
+  #include "src/Core/arch/AVX/TypeCasting.h"
+  #include "src/Core/arch/AVX/Complex.h"
   #include "src/Core/arch/AVX512/PacketMath.h"
+  #include "src/Core/arch/AVX512/TypeCasting.h"
+  #include "src/Core/arch/AVX512/Complex.h"
   #include "src/Core/arch/SSE/MathFunctions.h"
   #include "src/Core/arch/AVX/MathFunctions.h"
   #include "src/Core/arch/AVX512/MathFunctions.h"
 #elif defined EIGEN_VECTORIZE_AVX
   // Use AVX for floats and doubles, SSE for integers
   #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/TypeCasting.h"
   #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/MathFunctions.h"
   #include "src/Core/arch/AVX/PacketMath.h"
-  #include "src/Core/arch/AVX/MathFunctions.h"
-  #include "src/Core/arch/AVX/Complex.h"
   #include "src/Core/arch/AVX/TypeCasting.h"
+  #include "src/Core/arch/AVX/Complex.h"
+  #include "src/Core/arch/SSE/MathFunctions.h"
+  #include "src/Core/arch/AVX/MathFunctions.h"
 #elif defined EIGEN_VECTORIZE_SSE
   #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/TypeCasting.h"
   #include "src/Core/arch/SSE/MathFunctions.h"
   #include "src/Core/arch/SSE/Complex.h"
-  #include "src/Core/arch/SSE/TypeCasting.h"
 #elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
   #include "src/Core/arch/AltiVec/PacketMath.h"
   #include "src/Core/arch/AltiVec/MathFunctions.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/TypeCasting.h"
   #include "src/Core/arch/NEON/MathFunctions.h"
   #include "src/Core/arch/NEON/Complex.h"
+#elif defined EIGEN_VECTORIZE_SVE
+  #include "src/Core/arch/SVE/PacketMath.h"
+  #include "src/Core/arch/SVE/TypeCasting.h"
+  #include "src/Core/arch/SVE/MathFunctions.h"
 #elif defined EIGEN_VECTORIZE_ZVECTOR
   #include "src/Core/arch/ZVector/PacketMath.h"
   #include "src/Core/arch/ZVector/MathFunctions.h"
   #include "src/Core/arch/ZVector/Complex.h"
+#elif defined EIGEN_VECTORIZE_MSA
+  #include "src/Core/arch/MSA/PacketMath.h"
+  #include "src/Core/arch/MSA/MathFunctions.h"
+  #include "src/Core/arch/MSA/Complex.h"
 #endif
 
-// Half float support
-#include "src/Core/arch/CUDA/Half.h"
-#include "src/Core/arch/CUDA/PacketMathHalf.h"
-#include "src/Core/arch/CUDA/TypeCasting.h"
+#if defined EIGEN_VECTORIZE_GPU
+  #include "src/Core/arch/GPU/PacketMath.h"
+  #include "src/Core/arch/GPU/MathFunctions.h"
+  #include "src/Core/arch/GPU/TypeCasting.h"
+#endif
 
-#if defined EIGEN_VECTORIZE_CUDA
-  #include "src/Core/arch/CUDA/PacketMath.h"
-  #include "src/Core/arch/CUDA/MathFunctions.h"
+#if defined(EIGEN_USE_SYCL)
+  #include "src/Core/arch/SYCL/SyclMemoryModel.h"
+  #include "src/Core/arch/SYCL/InteropHeaders.h"
+#if !defined(EIGEN_DONT_VECTORIZE_SYCL)
+  #include "src/Core/arch/SYCL/PacketMath.h"
+  #include "src/Core/arch/SYCL/MathFunctions.h"
+  #include "src/Core/arch/SYCL/TypeCasting.h"
+#endif
 #endif
 
 #include "src/Core/arch/Default/Settings.h"
+// This file provides generic implementations valid for scalar as well
+#include "src/Core/arch/Default/GenericPacketMathFunctions.h"
 
 #include "src/Core/functors/TernaryFunctors.h"
 #include "src/Core/functors/BinaryFunctors.h"
@@ -450,11 +259,16 @@ using std::ptrdiff_t;
 
 // Specialized functors to enable the processing of complex numbers
 // on CUDA devices
+#ifdef EIGEN_CUDACC
 #include "src/Core/arch/CUDA/Complex.h"
+#endif
 
 #include "src/Core/util/IndexedViewHelper.h"
+#include "src/Core/util/ReshapedHelper.h"
 #include "src/Core/ArithmeticSequence.h"
-#include "src/Core/IO.h"
+#ifndef EIGEN_NO_IO
+  #include "src/Core/IO.h"
+#endif
 #include "src/Core/DenseCoeffsBase.h"
 #include "src/Core/DenseBase.h"
 #include "src/Core/MatrixBase.h"
@@ -496,6 +310,7 @@ using std::ptrdiff_t;
 #include "src/Core/Block.h"
 #include "src/Core/VectorBlock.h"
 #include "src/Core/IndexedView.h"
+#include "src/Core/Reshaped.h"
 #include "src/Core/Transpose.h"
 #include "src/Core/DiagonalMatrix.h"
 #include "src/Core/Diagonal.h"
@@ -532,13 +347,21 @@ using std::ptrdiff_t;
 #include "src/Core/CoreIterators.h"
 #include "src/Core/ConditionEstimator.h"
 
+#if defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
+  #include "src/Core/arch/AltiVec/MatrixProduct.h"
+#elif defined EIGEN_VECTORIZE_NEON
+  #include "src/Core/arch/NEON/GeneralBlockPanelKernel.h"
+#endif
+
 #include "src/Core/BooleanRedux.h"
 #include "src/Core/Select.h"
 #include "src/Core/VectorwiseOp.h"
+#include "src/Core/PartialReduxEvaluator.h"
 #include "src/Core/Random.h"
 #include "src/Core/Replicate.h"
 #include "src/Core/Reverse.h"
 #include "src/Core/ArrayWrapper.h"
+#include "src/Core/StlIterators.h"
 
 #ifdef EIGEN_USE_BLAS
 #include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
diff --git a/examples/ThirdPartyLibs/Eigen/Eigenvalues b/examples/ThirdPartyLibs/Eigen/Eigenvalues
index f3f661b074..5467a2e7b3 100644
--- a/examples/ThirdPartyLibs/Eigen/Eigenvalues
+++ b/examples/ThirdPartyLibs/Eigen/Eigenvalues
@@ -10,14 +10,14 @@
 
 #include "Core"
 
-#include "src/Core/util/DisableStupidWarnings.h"
-
 #include "Cholesky"
 #include "Jacobi"
 #include "Householder"
 #include "LU"
 #include "Geometry"
 
+#include "src/Core/util/DisableStupidWarnings.h"
+
 /** \defgroup Eigenvalues_Module Eigenvalues module
   *
   *
@@ -58,4 +58,3 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_EIGENVALUES_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/Geometry b/examples/ThirdPartyLibs/Eigen/Geometry
index 131a4edfc6..bc78110a84 100644
--- a/examples/ThirdPartyLibs/Eigen/Geometry
+++ b/examples/ThirdPartyLibs/Eigen/Geometry
@@ -10,12 +10,12 @@
 
 #include "Core"
 
-#include "src/Core/util/DisableStupidWarnings.h"
-
 #include "SVD"
 #include "LU"
 #include <limits>
 
+#include "src/Core/util/DisableStupidWarnings.h"
+
 /** \defgroup Geometry_Module Geometry module
   *
   * This module provides support for:
@@ -49,13 +49,11 @@
 #include "src/Geometry/AlignedBox.h"
 #include "src/Geometry/Umeyama.h"
 
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-#include "src/Geometry/arch/Geometry_SSE.h"
+// Use the SSE optimized version whenever possible.
+#if (defined EIGEN_VECTORIZE_SSE) || (defined EIGEN_VECTORIZE_NEON)
+#include "src/Geometry/arch/Geometry_SIMD.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_GEOMETRY_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/Householder b/examples/ThirdPartyLibs/Eigen/Householder
index 89cd81b1af..f2fa79969c 100644
--- a/examples/ThirdPartyLibs/Eigen/Householder
+++ b/examples/ThirdPartyLibs/Eigen/Householder
@@ -27,4 +27,3 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_HOUSEHOLDER_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/Jacobi b/examples/ThirdPartyLibs/Eigen/Jacobi
index 17c1d785a1..43edc7a194 100644
--- a/examples/ThirdPartyLibs/Eigen/Jacobi
+++ b/examples/ThirdPartyLibs/Eigen/Jacobi
@@ -29,5 +29,4 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_JACOBI_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
 
diff --git a/examples/ThirdPartyLibs/Eigen/KLUSupport b/examples/ThirdPartyLibs/Eigen/KLUSupport
new file mode 100644
index 0000000000..b23d905351
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/KLUSupport
@@ -0,0 +1,41 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_KLUSUPPORT_MODULE_H
+#define EIGEN_KLUSUPPORT_MODULE_H
+
+#include <Eigen/SparseCore>
+
+#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+
+extern "C" {
+#include <btf.h>
+#include <klu.h>
+   }
+
+/** \ingroup Support_modules
+  * \defgroup KLUSupport_Module KLUSupport module
+  *
+  * This module provides an interface to the KLU library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
+  * It provides the following factorization class:
+  * - class KLU: a sparse LU factorization, well-suited for circuit simulation.
+  *
+  * \code
+  * #include <Eigen/KLUSupport>
+  * \endcode
+  *
+  * In order to use this module, the klu and btf headers must be accessible from the include paths, and your binary must be linked to the klu library and its dependencies.
+  * The dependencies depend on how umfpack has been compiled.
+  * For a cmake based project, you can use our FindKLU.cmake module to help you in this task.
+  *
+  */
+
+#include "src/KLUSupport/KLUSupport.h"
+
+#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
+
+#endif // EIGEN_KLUSUPPORT_MODULE_H
diff --git a/examples/ThirdPartyLibs/Eigen/LU b/examples/ThirdPartyLibs/Eigen/LU
index 6418a86e19..1236ceb046 100644
--- a/examples/ThirdPartyLibs/Eigen/LU
+++ b/examples/ThirdPartyLibs/Eigen/LU
@@ -38,13 +38,10 @@
 #include "src/LU/Determinant.h"
 #include "src/LU/InverseImpl.h"
 
-// Use the SSE optimized version whenever possible. At the moment the
-// SSE version doesn't compile when AVX is enabled
-#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-  #include "src/LU/arch/Inverse_SSE.h"
+#if defined EIGEN_VECTORIZE_SSE || defined EIGEN_VECTORIZE_NEON
+  #include "src/LU/arch/InverseSize4.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_LU_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/OrderingMethods b/examples/ThirdPartyLibs/Eigen/OrderingMethods
index d8ea361936..29691a62b4 100644
--- a/examples/ThirdPartyLibs/Eigen/OrderingMethods
+++ b/examples/ThirdPartyLibs/Eigen/OrderingMethods
@@ -63,10 +63,7 @@
   * \endcode
   */
 
-#ifndef EIGEN_MPL2_ONLY
 #include "src/OrderingMethods/Amd.h"
-#endif
-
 #include "src/OrderingMethods/Ordering.h"
 #include "src/Core/util/ReenableStupidWarnings.h"
 
diff --git a/examples/ThirdPartyLibs/Eigen/PaStiXSupport b/examples/ThirdPartyLibs/Eigen/PaStiXSupport
index de3a63b4d1..234619acce 100644
--- a/examples/ThirdPartyLibs/Eigen/PaStiXSupport
+++ b/examples/ThirdPartyLibs/Eigen/PaStiXSupport
@@ -36,6 +36,7 @@ extern "C" {
   * \endcode
   *
   * In order to use this module, the PaSTiX headers must be accessible from the include paths, and your binary must be linked to the PaSTiX library and its dependencies.
+  * This wrapper resuires PaStiX version 5.x compiled without MPI support.
   * The dependencies depend on how PaSTiX has been compiled.
   * For a cmake based project, you can use our FindPaSTiX.cmake module to help you in this task.
   *
diff --git a/examples/ThirdPartyLibs/Eigen/QR b/examples/ThirdPartyLibs/Eigen/QR
index c7e9144699..8465b62cee 100644
--- a/examples/ThirdPartyLibs/Eigen/QR
+++ b/examples/ThirdPartyLibs/Eigen/QR
@@ -10,12 +10,12 @@
 
 #include "Core"
 
-#include "src/Core/util/DisableStupidWarnings.h"
-
 #include "Cholesky"
 #include "Jacobi"
 #include "Householder"
 
+#include "src/Core/util/DisableStupidWarnings.h"
+
 /** \defgroup QR_Module QR module
   *
   *
@@ -48,4 +48,3 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_QR_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/QtAlignedMalloc b/examples/ThirdPartyLibs/Eigen/QtAlignedMalloc
index 4f07df02ae..6fe82374a5 100644
--- a/examples/ThirdPartyLibs/Eigen/QtAlignedMalloc
+++ b/examples/ThirdPartyLibs/Eigen/QtAlignedMalloc
@@ -37,4 +37,3 @@ void *qRealloc(void *ptr, std::size_t size)
 #endif
 
 #endif // EIGEN_QTMALLOC_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/SVD b/examples/ThirdPartyLibs/Eigen/SVD
index 5d0e75f7f7..3451794963 100644
--- a/examples/ThirdPartyLibs/Eigen/SVD
+++ b/examples/ThirdPartyLibs/Eigen/SVD
@@ -48,4 +48,3 @@
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SVD_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/examples/ThirdPartyLibs/Eigen/Sparse b/examples/ThirdPartyLibs/Eigen/Sparse
index 136e681a1f..a2ef7a6652 100644
--- a/examples/ThirdPartyLibs/Eigen/Sparse
+++ b/examples/ThirdPartyLibs/Eigen/Sparse
@@ -25,9 +25,7 @@
 
 #include "SparseCore"
 #include "OrderingMethods"
-#ifndef EIGEN_MPL2_ONLY
 #include "SparseCholesky"
-#endif
 #include "SparseLU"
 #include "SparseQR"
 #include "IterativeLinearSolvers"
diff --git a/examples/ThirdPartyLibs/Eigen/SparseCholesky b/examples/ThirdPartyLibs/Eigen/SparseCholesky
index b6a320c402..d2b1f1276d 100644
--- a/examples/ThirdPartyLibs/Eigen/SparseCholesky
+++ b/examples/ThirdPartyLibs/Eigen/SparseCholesky
@@ -30,16 +30,8 @@
   * \endcode
   */
 
-#ifdef EIGEN_MPL2_ONLY
-#error The SparseCholesky module has nothing to offer in MPL2 only mode
-#endif
-
 #include "src/SparseCholesky/SimplicialCholesky.h"
-
-#ifndef EIGEN_MPL2_ONLY
 #include "src/SparseCholesky/SimplicialCholesky_impl.h"
-#endif
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SPARSECHOLESKY_MODULE_H
diff --git a/examples/ThirdPartyLibs/Eigen/SparseLU b/examples/ThirdPartyLibs/Eigen/SparseLU
index 38b38b531d..37c4a5c5a8 100644
--- a/examples/ThirdPartyLibs/Eigen/SparseLU
+++ b/examples/ThirdPartyLibs/Eigen/SparseLU
@@ -23,6 +23,8 @@
 // Ordering interface
 #include "OrderingMethods"
 
+#include "src/Core/util/DisableStupidWarnings.h"
+
 #include "src/SparseLU/SparseLU_gemm_kernel.h"
 
 #include "src/SparseLU/SparseLU_Structs.h"
@@ -43,4 +45,6 @@
 #include "src/SparseLU/SparseLU_Utils.h"
 #include "src/SparseLU/SparseLU.h"
 
+#include "src/Core/util/ReenableStupidWarnings.h"
+
 #endif // EIGEN_SPARSELU_MODULE_H
diff --git a/examples/ThirdPartyLibs/Eigen/SparseQR b/examples/ThirdPartyLibs/Eigen/SparseQR
index a6f3b7f7d7..f5fc5fa7fe 100644
--- a/examples/ThirdPartyLibs/Eigen/SparseQR
+++ b/examples/ThirdPartyLibs/Eigen/SparseQR
@@ -28,7 +28,6 @@
   * 
   */
 
-#include "OrderingMethods"
 #include "src/SparseCore/SparseColEtree.h"
 #include "src/SparseQR/SparseQR.h"
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Cholesky/LDLT.h b/examples/ThirdPartyLibs/Eigen/src/Cholesky/LDLT.h
index 968427b3af..1013ca045d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Cholesky/LDLT.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Cholesky/LDLT.h
@@ -16,6 +16,15 @@
 namespace Eigen {
 
 namespace internal {
+  template<typename _MatrixType, int _UpLo> struct traits<LDLT<_MatrixType, _UpLo> >
+   : traits<_MatrixType>
+  {
+    typedef MatrixXpr XprKind;
+    typedef SolverStorage StorageKind;
+    typedef int StorageIndex;
+    enum { Flags = 0 };
+  };
+
   template<typename MatrixType, int UpLo> struct LDLT_Traits;
 
   // PositiveSemiDef means positive semi-definite and non-zero; same for NegativeSemiDef
@@ -36,7 +45,7 @@ namespace internal {
   * 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
+  * The decomposition uses pivoting to ensure stability, so that D will have
   * zeros in the bottom right rank(A) - n submatrix. Avoiding the square root
   * on D also stabilizes the computation.
   *
@@ -44,24 +53,23 @@ namespace internal {
   * decomposition to determine whether a system of equations has a solution.
   *
   * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
+  *
   * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT
   */
 template<typename _MatrixType, int _UpLo> class LDLT
+        : public SolverBase<LDLT<_MatrixType, _UpLo> >
 {
   public:
     typedef _MatrixType MatrixType;
+    typedef SolverBase<LDLT> Base;
+    friend class SolverBase<LDLT>;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(LDLT)
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
       UpLo = _UpLo
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar, RowsAtCompileTime, 1, 0, MaxRowsAtCompileTime, 1> TmpMatrixType;
 
     typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
@@ -180,6 +188,7 @@ template<typename _MatrixType, int _UpLo> class LDLT
       return m_sign == internal::NegativeSemiDef || m_sign == internal::ZeroSign;
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \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> .
@@ -191,19 +200,14 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * \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.
+      * computes the least-square solution of \f$ A x = b \f$ if \f$ A \f$ is singular.
       *
       * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt()
       */
     template<typename Rhs>
     inline const Solve<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 Solve<LDLT, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     template<typename Derived>
     bool solveInPlace(MatrixBase<Derived> &bAndX) const;
@@ -242,12 +246,12 @@ template<typename _MatrixType, int _UpLo> class LDLT
       */
     const LDLT& adjoint() const { return *this; };
 
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC inline EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC inline EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the factorization failed because of a zero pivot.
       */
     ComputationInfo info() const
@@ -259,6 +263,9 @@ template<typename _MatrixType, int _UpLo> class LDLT
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
     void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
     #endif
 
   protected:
@@ -304,7 +311,8 @@ template<> struct ldlt_inplace<Lower>
     if (size <= 1)
     {
       transpositions.setIdentity();
-      if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
+      if(size==0) sign = ZeroSign;
+      else if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
       else if (numext::real(mat.coeff(0,0)) < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
       else sign = ZeroSign;
       return true;
@@ -375,6 +383,8 @@ template<> struct ldlt_inplace<Lower>
 
       if((rs>0) && pivot_is_valid)
         A21 /= realAkk;
+      else if(rs>0)
+        ret = ret && (A21.array()==Scalar(0)).all();
 
       if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed
       else if(!pivot_is_valid) found_zero_pivot = true;
@@ -556,25 +566,33 @@ template<typename _MatrixType, int _UpLo>
 template<typename RhsType, typename DstType>
 void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  eigen_assert(rhs.rows() == rows());
+  _solve_impl_transposed<true>(rhs, dst);
+}
+
+template<typename _MatrixType,int _UpLo>
+template<bool Conjugate, typename RhsType, typename DstType>
+void LDLT<_MatrixType,_UpLo>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
   // dst = P b
   dst = m_transpositions * rhs;
 
   // dst = L^-1 (P b)
-  matrixL().solveInPlace(dst);
+  // dst = L^-*T (P b)
+  matrixL().template conjugateIf<!Conjugate>().solveInPlace(dst);
 
-  // dst = D^-1 (L^-1 P b)
+  // dst = D^-* (L^-1 P b)
+  // dst = D^-1 (L^-*T P b)
   // more precisely, use pseudo-inverse of D (see bug 241)
   using std::abs;
   const typename Diagonal<const MatrixType>::RealReturnType vecD(vectorD());
-  // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
-  // as motivated by LAPACK's xGELSS:
+  // In some previous versions, tolerance was set to the max of 1/highest (or rather numeric_limits::min())
+  // and the maximal diagonal entry * epsilon as motivated by LAPACK's xGELSS:
   // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
   // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
   // diagonal element is not well justified and leads to numerical issues in some cases.
   // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
-  RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
-
+  // Using numeric_limits::min() gives us more robustness to denormals.
+  RealScalar tolerance = (std::numeric_limits<RealScalar>::min)();
   for (Index i = 0; i < vecD.size(); ++i)
   {
     if(abs(vecD(i)) > tolerance)
@@ -583,10 +601,12 @@ void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) cons
       dst.row(i).setZero();
   }
 
-  // dst = L^-T (D^-1 L^-1 P b)
-  matrixU().solveInPlace(dst);
+  // dst = L^-* (D^-* L^-1 P b)
+  // dst = L^-T (D^-1 L^-*T P b)
+  matrixL().transpose().template conjugateIf<Conjugate>().solveInPlace(dst);
 
-  // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+  // dst = P^T (L^-* D^-* L^-1 P b) = A^-1 b
+  // dst = P^-T (L^-T D^-1 L^-*T P b) = A^-1 b
   dst = m_transpositions.transpose() * dst;
 }
 #endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/Cholesky/LLT.h b/examples/ThirdPartyLibs/Eigen/src/Cholesky/LLT.h
index 814174d47c..8c9b2b3987 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Cholesky/LLT.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Cholesky/LLT.h
@@ -13,6 +13,16 @@
 namespace Eigen {
 
 namespace internal{
+
+template<typename _MatrixType, int _UpLo> struct traits<LLT<_MatrixType, _UpLo> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
+  enum { Flags = 0 };
+};
+
 template<typename MatrixType, int UpLo> struct LLT_Traits;
 }
 
@@ -54,18 +64,17 @@ template<typename MatrixType, int UpLo> struct LLT_Traits;
   * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT
   */
 template<typename _MatrixType, int _UpLo> class LLT
+        : public SolverBase<LLT<_MatrixType, _UpLo> >
 {
   public:
     typedef _MatrixType MatrixType;
+    typedef SolverBase<LLT> Base;
+    friend class SolverBase<LLT>;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(LLT)
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
-    typedef typename MatrixType::StorageIndex StorageIndex;
 
     enum {
       PacketSize = internal::packet_traits<Scalar>::size,
@@ -100,7 +109,7 @@ template<typename _MatrixType, int _UpLo> class LLT
       compute(matrix.derived());
     }
 
-    /** \brief Constructs a LDLT factorization from a given matrix
+    /** \brief Constructs a LLT factorization from a given matrix
       *
       * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
       * \c MatrixType is a Eigen::Ref.
@@ -129,6 +138,7 @@ template<typename _MatrixType, int _UpLo> class LLT
       return Traits::getL(m_matrix);
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \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
@@ -141,13 +151,8 @@ template<typename _MatrixType, int _UpLo> class LLT
       */
     template<typename Rhs>
     inline const Solve<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 Solve<LLT, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     template<typename Derived>
     void solveInPlace(const MatrixBase<Derived> &bAndX) const;
@@ -180,7 +185,7 @@ template<typename _MatrixType, int _UpLo> class LLT
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix.appears not to be positive definite.
       */
     ComputationInfo info() const
@@ -194,17 +199,20 @@ template<typename _MatrixType, int _UpLo> class LLT
       * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
       * \code x = decomposition.adjoint().solve(b) \endcode
       */
-    const LLT& adjoint() const { return *this; };
+    const LLT& adjoint() const EIGEN_NOEXCEPT { return *this; };
 
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
+    inline EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    inline EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
     template<typename VectorType>
-    LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
+    LLT & rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
     void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
     #endif
 
   protected:
@@ -458,7 +466,7 @@ LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>
   */
 template<typename _MatrixType, int _UpLo>
 template<typename VectorType>
-LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma)
+LLT<_MatrixType,_UpLo> & LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, const RealScalar& sigma)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType);
   eigen_assert(v.size()==m_matrix.cols());
@@ -476,8 +484,17 @@ template<typename _MatrixType,int _UpLo>
 template<typename RhsType, typename DstType>
 void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  dst = rhs;
-  solveInPlace(dst);
+  _solve_impl_transposed<true>(rhs, dst);
+}
+
+template<typename _MatrixType,int _UpLo>
+template<bool Conjugate, typename RhsType, typename DstType>
+void LLT<_MatrixType,_UpLo>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+    dst = rhs;
+
+    matrixL().template conjugateIf<!Conjugate>().solveInPlace(dst);
+    matrixU().template conjugateIf<!Conjugate>().solveInPlace(dst);
 }
 #endif
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/CholmodSupport/CholmodSupport.h b/examples/ThirdPartyLibs/Eigen/src/CholmodSupport/CholmodSupport.h
index dc199ece61..adaf52858e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/CholmodSupport/CholmodSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/CholmodSupport/CholmodSupport.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_CHOLMODSUPPORT_H
 #define EIGEN_CHOLMODSUPPORT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -79,12 +79,12 @@ cholmod_sparse viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_StorageIndex> >
 
   res.dtype   = 0;
   res.stype   = -1;
-  
+
   if (internal::is_same<_StorageIndex,int>::value)
   {
     res.itype = CHOLMOD_INT;
   }
-  else if (internal::is_same<_StorageIndex,long>::value)
+  else if (internal::is_same<_StorageIndex,SuiteSparse_long>::value)
   {
     res.itype = CHOLMOD_LONG;
   }
@@ -95,9 +95,9 @@ cholmod_sparse viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_StorageIndex> >
 
   // setup res.xtype
   internal::cholmod_configure_matrix<_Scalar>::run(res);
-  
+
   res.stype = 0;
-  
+
   return res;
 }
 
@@ -121,7 +121,7 @@ template<typename _Scalar, int _Options, typename _Index, unsigned int UpLo>
 cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<const SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
 {
   cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.matrix().const_cast_derived()));
-  
+
   if(UpLo==Upper) res.stype =  1;
   if(UpLo==Lower) res.stype = -1;
   // swap stype for rowmajor matrices (only works for real matrices)
@@ -168,11 +168,11 @@ namespace internal {
 
 #define EIGEN_CHOLMOD_SPECIALIZE0(ret, name) \
     template<typename _StorageIndex> inline ret cm_ ## name       (cholmod_common &Common) { return cholmod_ ## name   (&Common); } \
-    template<>                       inline ret cm_ ## name<long> (cholmod_common &Common) { return cholmod_l_ ## name (&Common); }
+    template<>                       inline ret cm_ ## name<SuiteSparse_long> (cholmod_common &Common) { return cholmod_l_ ## name (&Common); }
 
 #define EIGEN_CHOLMOD_SPECIALIZE1(ret, name, t1, a1) \
     template<typename _StorageIndex> inline ret cm_ ## name       (t1& a1, cholmod_common &Common) { return cholmod_ ## name   (&a1, &Common); } \
-    template<>                       inline ret cm_ ## name<long> (t1& a1, cholmod_common &Common) { return cholmod_l_ ## name (&a1, &Common); }
+    template<>                       inline ret cm_ ## name<SuiteSparse_long> (t1& a1, cholmod_common &Common) { return cholmod_l_ ## name (&a1, &Common); }
 
 EIGEN_CHOLMOD_SPECIALIZE0(int, start)
 EIGEN_CHOLMOD_SPECIALIZE0(int, finish)
@@ -184,15 +184,15 @@ EIGEN_CHOLMOD_SPECIALIZE1(int, free_sparse, cholmod_sparse*, A)
 EIGEN_CHOLMOD_SPECIALIZE1(cholmod_factor*, analyze, cholmod_sparse, A)
 
 template<typename _StorageIndex> inline cholmod_dense*  cm_solve         (int sys, cholmod_factor& L, cholmod_dense&  B, cholmod_common &Common) { return cholmod_solve     (sys, &L, &B, &Common); }
-template<>                       inline cholmod_dense*  cm_solve<long>   (int sys, cholmod_factor& L, cholmod_dense&  B, cholmod_common &Common) { return cholmod_l_solve   (sys, &L, &B, &Common); }
+template<>                       inline cholmod_dense*  cm_solve<SuiteSparse_long>   (int sys, cholmod_factor& L, cholmod_dense&  B, cholmod_common &Common) { return cholmod_l_solve   (sys, &L, &B, &Common); }
 
 template<typename _StorageIndex> inline cholmod_sparse* cm_spsolve       (int sys, cholmod_factor& L, cholmod_sparse& B, cholmod_common &Common) { return cholmod_spsolve   (sys, &L, &B, &Common); }
-template<>                       inline cholmod_sparse* cm_spsolve<long> (int sys, cholmod_factor& L, cholmod_sparse& B, cholmod_common &Common) { return cholmod_l_spsolve (sys, &L, &B, &Common); }
+template<>                       inline cholmod_sparse* cm_spsolve<SuiteSparse_long> (int sys, cholmod_factor& L, cholmod_sparse& B, cholmod_common &Common) { return cholmod_l_spsolve (sys, &L, &B, &Common); }
 
 template<typename _StorageIndex>
 inline int  cm_factorize_p       (cholmod_sparse*  A, double beta[2], _StorageIndex* fset, std::size_t fsize, cholmod_factor* L, cholmod_common &Common) { return cholmod_factorize_p   (A, beta, fset, fsize, L, &Common); }
 template<>
-inline int  cm_factorize_p<long> (cholmod_sparse*  A, double beta[2], long* fset,          std::size_t fsize, cholmod_factor* L, cholmod_common &Common) { return cholmod_l_factorize_p (A, beta, fset, fsize, L, &Common); }
+inline int  cm_factorize_p<SuiteSparse_long> (cholmod_sparse*  A, double beta[2], SuiteSparse_long* fset,          std::size_t fsize, cholmod_factor* L, cholmod_common &Common) { return cholmod_l_factorize_p (A, beta, fset, fsize, L, &Common); }
 
 #undef EIGEN_CHOLMOD_SPECIALIZE0
 #undef EIGEN_CHOLMOD_SPECIALIZE1
@@ -254,10 +254,10 @@ class CholmodBase : public SparseSolverBase<Derived>
         internal::cm_free_factor<StorageIndex>(m_cholmodFactor, m_cholmod);
       internal::cm_finish<StorageIndex>(m_cholmod);
     }
-    
+
     inline StorageIndex cols() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
     inline StorageIndex rows() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
-    
+
     /** \brief Reports whether previous computation was successful.
       *
       * \returns \c Success if computation was successful,
@@ -276,11 +276,11 @@ class CholmodBase : public SparseSolverBase<Derived>
       factorize(matrix);
       return derived();
     }
-    
+
     /** Performs a symbolic decomposition on the sparsity pattern of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
-      * 
+      *
       * \sa factorize()
       */
     void analyzePattern(const MatrixType& matrix)
@@ -292,13 +292,13 @@ class CholmodBase : public SparseSolverBase<Derived>
       }
       cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView<UpLo>());
       m_cholmodFactor = internal::cm_analyze<StorageIndex>(A, m_cholmod);
-      
+
       this->m_isInitialized = true;
       this->m_info = Success;
       m_analysisIsOk = true;
       m_factorizationIsOk = false;
     }
-    
+
     /** Performs a numeric decomposition of \a matrix
       *
       * The given matrix must have the same sparsity pattern as the matrix on which the symbolic decomposition has been performed.
@@ -315,11 +315,11 @@ class CholmodBase : public SparseSolverBase<Derived>
       this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue);
       m_factorizationIsOk = true;
     }
-    
+
     /** Returns a reference to the Cholmod's configuration structure to get a full control over the performed operations.
      *  See the Cholmod user guide for details. */
     cholmod_common& cholmod() { return m_cholmod; }
-    
+
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
@@ -329,7 +329,7 @@ class CholmodBase : public SparseSolverBase<Derived>
       const Index size = m_cholmodFactor->n;
       EIGEN_UNUSED_VARIABLE(size);
       eigen_assert(size==b.rows());
-      
+
       // Cholmod needs column-major storage without inner-stride, which corresponds to the default behavior of Ref.
       Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b.derived());
 
@@ -345,7 +345,7 @@ class CholmodBase : public SparseSolverBase<Derived>
       dest = Matrix<Scalar,Dest::RowsAtCompileTime,Dest::ColsAtCompileTime>::Map(reinterpret_cast<Scalar*>(x_cd->x),b.rows(),b.cols());
       internal::cm_free_dense<StorageIndex>(x_cd, m_cholmod);
     }
-    
+
     /** \internal */
     template<typename RhsDerived, typename DestDerived>
     void _solve_impl(const SparseMatrixBase<RhsDerived> &b, SparseMatrixBase<DestDerived> &dest) const
@@ -370,8 +370,8 @@ class CholmodBase : public SparseSolverBase<Derived>
       internal::cm_free_sparse<StorageIndex>(x_cs, m_cholmod);
     }
     #endif // EIGEN_PARSED_BY_DOXYGEN
-    
-    
+
+
     /** Sets the shift parameter that will be used to adjust the diagonal coefficients during the numerical factorization.
       *
       * During the numerical factorization, an offset term is added to the diagonal coefficients:\n
@@ -386,7 +386,7 @@ class CholmodBase : public SparseSolverBase<Derived>
       m_shiftOffset[0] = double(offset);
       return derived();
     }
-    
+
     /** \returns the determinant of the underlying matrix from the current factorization */
     Scalar determinant() const
     {
@@ -441,7 +441,7 @@ class CholmodBase : public SparseSolverBase<Derived>
     template<typename Stream>
     void dumpMemory(Stream& /*s*/)
     {}
-    
+
   protected:
     mutable cholmod_common m_cholmod;
     cholmod_factor* m_cholmodFactor;
@@ -478,11 +478,11 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl
 {
     typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT> Base;
     using Base::m_cholmod;
-    
+
   public:
-    
+
     typedef _MatrixType MatrixType;
-    
+
     CholmodSimplicialLLT() : Base() { init(); }
 
     CholmodSimplicialLLT(const MatrixType& matrix) : Base()
@@ -529,11 +529,11 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp
 {
     typedef CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT> Base;
     using Base::m_cholmod;
-    
+
   public:
-    
+
     typedef _MatrixType MatrixType;
-    
+
     CholmodSimplicialLDLT() : Base() { init(); }
 
     CholmodSimplicialLDLT(const MatrixType& matrix) : Base()
@@ -578,11 +578,11 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper
 {
     typedef CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT> Base;
     using Base::m_cholmod;
-    
+
   public:
-    
+
     typedef _MatrixType MatrixType;
-    
+
     CholmodSupernodalLLT() : Base() { init(); }
 
     CholmodSupernodalLLT(const MatrixType& matrix) : Base()
@@ -629,11 +629,11 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
 {
     typedef CholmodBase<_MatrixType, _UpLo, CholmodDecomposition> Base;
     using Base::m_cholmod;
-    
+
   public:
-    
+
     typedef _MatrixType MatrixType;
-    
+
     CholmodDecomposition() : Base() { init(); }
 
     CholmodDecomposition(const MatrixType& matrix) : Base()
@@ -643,7 +643,7 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
     }
 
     ~CholmodDecomposition() {}
-    
+
     void setMode(CholmodMode mode)
     {
       switch(mode)
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ArithmeticSequence.h b/examples/ThirdPartyLibs/Eigen/src/Core/ArithmeticSequence.h
index ada1571f13..b6200fac1b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ArithmeticSequence.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ArithmeticSequence.h
@@ -29,17 +29,17 @@ template<int N> struct aseq_negate<FixedInt<N> > {
 template<> struct aseq_negate<FixedInt<DynamicIndex> > {};
 
 template<typename FirstType,typename SizeType,typename IncrType,
-         bool FirstIsSymbolic=Symbolic::is_symbolic<FirstType>::value,
-         bool SizeIsSymbolic =Symbolic::is_symbolic<SizeType>::value>
+         bool FirstIsSymbolic=symbolic::is_symbolic<FirstType>::value,
+         bool SizeIsSymbolic =symbolic::is_symbolic<SizeType>::value>
 struct aseq_reverse_first_type {
   typedef Index type;
 };
 
 template<typename FirstType,typename SizeType,typename IncrType>
 struct aseq_reverse_first_type<FirstType,SizeType,IncrType,true,true> {
-  typedef Symbolic::AddExpr<FirstType,
-                            Symbolic::ProductExpr<Symbolic::AddExpr<SizeType,Symbolic::ValueExpr<FixedInt<-1> > >,
-                                                  Symbolic::ValueExpr<IncrType> >
+  typedef symbolic::AddExpr<FirstType,
+                            symbolic::ProductExpr<symbolic::AddExpr<SizeType,symbolic::ValueExpr<FixedInt<-1> > >,
+                                                  symbolic::ValueExpr<IncrType> >
                            > type;
 };
 
@@ -56,14 +56,14 @@ struct aseq_reverse_first_type_aux<SizeType,IncrType,typename internal::enable_i
 template<typename FirstType,typename SizeType,typename IncrType>
 struct aseq_reverse_first_type<FirstType,SizeType,IncrType,true,false> {
   typedef typename aseq_reverse_first_type_aux<SizeType,IncrType>::type Aux;
-  typedef Symbolic::AddExpr<FirstType,Symbolic::ValueExpr<Aux> > type;
+  typedef symbolic::AddExpr<FirstType,symbolic::ValueExpr<Aux> > type;
 };
 
 template<typename FirstType,typename SizeType,typename IncrType>
 struct aseq_reverse_first_type<FirstType,SizeType,IncrType,false,true> {
-  typedef Symbolic::AddExpr<Symbolic::ProductExpr<Symbolic::AddExpr<SizeType,Symbolic::ValueExpr<FixedInt<-1> > >,
-                                                  Symbolic::ValueExpr<IncrType> >,
-                            Symbolic::ValueExpr<> > type;
+  typedef symbolic::AddExpr<symbolic::ProductExpr<symbolic::AddExpr<SizeType,symbolic::ValueExpr<FixedInt<-1> > >,
+                                                  symbolic::ValueExpr<IncrType> >,
+                            symbolic::ValueExpr<> > type;
 };
 #endif
 
@@ -225,10 +225,11 @@ auto seq(FirstType f, LastType l, IncrType incr)
                -typename internal::cleanup_index_type<FirstType>::type(f)+CleanedIncrType(incr)) / CleanedIncrType(incr),
               CleanedIncrType(incr));
 }
-#else
+
+#else // EIGEN_HAS_CXX11
 
 template<typename FirstType,typename LastType>
-typename internal::enable_if<!(Symbolic::is_symbolic<FirstType>::value || Symbolic::is_symbolic<LastType>::value),
+typename internal::enable_if<!(symbolic::is_symbolic<FirstType>::value || symbolic::is_symbolic<LastType>::value),
                              ArithmeticSequence<typename internal::cleanup_index_type<FirstType>::type,Index> >::type
 seq(FirstType f, LastType l)
 {
@@ -237,35 +238,35 @@ seq(FirstType f, LastType l)
 }
 
 template<typename FirstTypeDerived,typename LastType>
-typename internal::enable_if<!Symbolic::is_symbolic<LastType>::value,
-    ArithmeticSequence<FirstTypeDerived, Symbolic::AddExpr<Symbolic::AddExpr<Symbolic::NegateExpr<FirstTypeDerived>,Symbolic::ValueExpr<> >,
-                                                            Symbolic::ValueExpr<internal::FixedInt<1> > > > >::type
-seq(const Symbolic::BaseExpr<FirstTypeDerived> &f, LastType l)
+typename internal::enable_if<!symbolic::is_symbolic<LastType>::value,
+    ArithmeticSequence<FirstTypeDerived, symbolic::AddExpr<symbolic::AddExpr<symbolic::NegateExpr<FirstTypeDerived>,symbolic::ValueExpr<> >,
+                                                            symbolic::ValueExpr<internal::FixedInt<1> > > > >::type
+seq(const symbolic::BaseExpr<FirstTypeDerived> &f, LastType l)
 {
   return seqN(f.derived(),(typename internal::cleanup_index_type<LastType>::type(l)-f.derived()+fix<1>()));
 }
 
 template<typename FirstType,typename LastTypeDerived>
-typename internal::enable_if<!Symbolic::is_symbolic<FirstType>::value,
+typename internal::enable_if<!symbolic::is_symbolic<FirstType>::value,
     ArithmeticSequence<typename internal::cleanup_index_type<FirstType>::type,
-                        Symbolic::AddExpr<Symbolic::AddExpr<LastTypeDerived,Symbolic::ValueExpr<> >,
-                                          Symbolic::ValueExpr<internal::FixedInt<1> > > > >::type
-seq(FirstType f, const Symbolic::BaseExpr<LastTypeDerived> &l)
+                        symbolic::AddExpr<symbolic::AddExpr<LastTypeDerived,symbolic::ValueExpr<> >,
+                                          symbolic::ValueExpr<internal::FixedInt<1> > > > >::type
+seq(FirstType f, const symbolic::BaseExpr<LastTypeDerived> &l)
 {
   return seqN(typename internal::cleanup_index_type<FirstType>::type(f),(l.derived()-typename internal::cleanup_index_type<FirstType>::type(f)+fix<1>()));
 }
 
 template<typename FirstTypeDerived,typename LastTypeDerived>
 ArithmeticSequence<FirstTypeDerived,
-                    Symbolic::AddExpr<Symbolic::AddExpr<LastTypeDerived,Symbolic::NegateExpr<FirstTypeDerived> >,Symbolic::ValueExpr<internal::FixedInt<1> > > >
-seq(const Symbolic::BaseExpr<FirstTypeDerived> &f, const Symbolic::BaseExpr<LastTypeDerived> &l)
+                    symbolic::AddExpr<symbolic::AddExpr<LastTypeDerived,symbolic::NegateExpr<FirstTypeDerived> >,symbolic::ValueExpr<internal::FixedInt<1> > > >
+seq(const symbolic::BaseExpr<FirstTypeDerived> &f, const symbolic::BaseExpr<LastTypeDerived> &l)
 {
   return seqN(f.derived(),(l.derived()-f.derived()+fix<1>()));
 }
 
 
 template<typename FirstType,typename LastType, typename IncrType>
-typename internal::enable_if<!(Symbolic::is_symbolic<FirstType>::value || Symbolic::is_symbolic<LastType>::value),
+typename internal::enable_if<!(symbolic::is_symbolic<FirstType>::value || symbolic::is_symbolic<LastType>::value),
     ArithmeticSequence<typename internal::cleanup_index_type<FirstType>::type,Index,typename internal::cleanup_seq_incr<IncrType>::type> >::type
 seq(FirstType f, LastType l, IncrType incr)
 {
@@ -275,27 +276,27 @@ seq(FirstType f, LastType l, IncrType incr)
 }
 
 template<typename FirstTypeDerived,typename LastType, typename IncrType>
-typename internal::enable_if<!Symbolic::is_symbolic<LastType>::value,
+typename internal::enable_if<!symbolic::is_symbolic<LastType>::value,
     ArithmeticSequence<FirstTypeDerived,
-                        Symbolic::QuotientExpr<Symbolic::AddExpr<Symbolic::AddExpr<Symbolic::NegateExpr<FirstTypeDerived>,
-                                                                                   Symbolic::ValueExpr<> >,
-                                                                 Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
-                                              Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                        symbolic::QuotientExpr<symbolic::AddExpr<symbolic::AddExpr<symbolic::NegateExpr<FirstTypeDerived>,
+                                                                                   symbolic::ValueExpr<> >,
+                                                                 symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                                              symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
                         typename internal::cleanup_seq_incr<IncrType>::type> >::type
-seq(const Symbolic::BaseExpr<FirstTypeDerived> &f, LastType l, IncrType incr)
+seq(const symbolic::BaseExpr<FirstTypeDerived> &f, LastType l, IncrType incr)
 {
   typedef typename internal::cleanup_seq_incr<IncrType>::type CleanedIncrType;
   return seqN(f.derived(),(typename internal::cleanup_index_type<LastType>::type(l)-f.derived()+CleanedIncrType(incr))/CleanedIncrType(incr), incr);
 }
 
 template<typename FirstType,typename LastTypeDerived, typename IncrType>
-typename internal::enable_if<!Symbolic::is_symbolic<FirstType>::value,
+typename internal::enable_if<!symbolic::is_symbolic<FirstType>::value,
     ArithmeticSequence<typename internal::cleanup_index_type<FirstType>::type,
-                        Symbolic::QuotientExpr<Symbolic::AddExpr<Symbolic::AddExpr<LastTypeDerived,Symbolic::ValueExpr<> >,
-                                                                 Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
-                                               Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                        symbolic::QuotientExpr<symbolic::AddExpr<symbolic::AddExpr<LastTypeDerived,symbolic::ValueExpr<> >,
+                                                                 symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                                               symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
                         typename internal::cleanup_seq_incr<IncrType>::type> >::type
-seq(FirstType f, const Symbolic::BaseExpr<LastTypeDerived> &l, IncrType incr)
+seq(FirstType f, const symbolic::BaseExpr<LastTypeDerived> &l, IncrType incr)
 {
   typedef typename internal::cleanup_seq_incr<IncrType>::type CleanedIncrType;
   return seqN(typename internal::cleanup_index_type<FirstType>::type(f),
@@ -304,26 +305,55 @@ seq(FirstType f, const Symbolic::BaseExpr<LastTypeDerived> &l, IncrType incr)
 
 template<typename FirstTypeDerived,typename LastTypeDerived, typename IncrType>
 ArithmeticSequence<FirstTypeDerived,
-                    Symbolic::QuotientExpr<Symbolic::AddExpr<Symbolic::AddExpr<LastTypeDerived,
-                                                                               Symbolic::NegateExpr<FirstTypeDerived> >,
-                                                             Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
-                                          Symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                    symbolic::QuotientExpr<symbolic::AddExpr<symbolic::AddExpr<LastTypeDerived,
+                                                                               symbolic::NegateExpr<FirstTypeDerived> >,
+                                                             symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
+                                          symbolic::ValueExpr<typename internal::cleanup_seq_incr<IncrType>::type> >,
                     typename internal::cleanup_seq_incr<IncrType>::type>
-seq(const Symbolic::BaseExpr<FirstTypeDerived> &f, const Symbolic::BaseExpr<LastTypeDerived> &l, IncrType incr)
+seq(const symbolic::BaseExpr<FirstTypeDerived> &f, const symbolic::BaseExpr<LastTypeDerived> &l, IncrType incr)
 {
   typedef typename internal::cleanup_seq_incr<IncrType>::type CleanedIncrType;
   return seqN(f.derived(),(l.derived()-f.derived()+CleanedIncrType(incr))/CleanedIncrType(incr), incr);
 }
-#endif
+#endif // EIGEN_HAS_CXX11
 
 #endif // EIGEN_PARSED_BY_DOXYGEN
 
+
+#if EIGEN_HAS_CXX11 || defined(EIGEN_PARSED_BY_DOXYGEN)
+/** \cpp11
+  * \returns a symbolic ArithmeticSequence representing the last \a size elements with increment \a incr.
+  *
+  * It is a shortcut for: \code seqN(last-(size-fix<1>)*incr, size, incr) \endcode
+  * 
+  * \sa lastN(SizeType), seqN(FirstType,SizeType), seq(FirstType,LastType,IncrType) */
+template<typename SizeType,typename IncrType>
+auto lastN(SizeType size, IncrType incr)
+-> decltype(seqN(Eigen::last-(size-fix<1>())*incr, size, incr))
+{
+  return seqN(Eigen::last-(size-fix<1>())*incr, size, incr);
+}
+
+/** \cpp11
+  * \returns a symbolic ArithmeticSequence representing the last \a size elements with a unit increment.
+  *
+  *  It is a shortcut for: \code seq(last+fix<1>-size, last) \endcode
+  * 
+  * \sa lastN(SizeType,IncrType, seqN(FirstType,SizeType), seq(FirstType,LastType) */
+template<typename SizeType>
+auto lastN(SizeType size)
+-> decltype(seqN(Eigen::last+fix<1>()-size, size))
+{
+  return seqN(Eigen::last+fix<1>()-size, size);
+}
+#endif
+
 namespace internal {
 
 // Convert a symbolic span into a usable one (i.e., remove last/end "keywords")
 template<typename T>
 struct make_size_type {
-  typedef typename internal::conditional<Symbolic::is_symbolic<T>::value, Index, T>::type type;
+  typedef typename internal::conditional<symbolic::is_symbolic<T>::value, Index, T>::type type;
 };
 
 template<typename FirstType,typename SizeType,typename IncrType,int XprSize>
@@ -345,6 +375,39 @@ struct get_compile_time_incr<ArithmeticSequence<FirstType,SizeType,IncrType> > {
 
 } // end namespace internal
 
+/** \namespace Eigen::indexing
+  * \ingroup Core_Module
+  * 
+  * The sole purpose of this namespace is to be able to import all functions
+  * and symbols that are expected to be used within operator() for indexing
+  * and slicing. If you already imported the whole Eigen namespace:
+  * \code using namespace Eigen; \endcode
+  * then you are already all set. Otherwise, if you don't want/cannot import
+  * the whole Eigen namespace, the following line:
+  * \code using namespace Eigen::indexing; \endcode
+  * is equivalent to:
+  * \code
+  using Eigen::all;
+  using Eigen::seq;
+  using Eigen::seqN;
+  using Eigen::lastN; // c++11 only
+  using Eigen::last;
+  using Eigen::lastp1;
+  using Eigen::fix;
+  \endcode
+  */
+namespace indexing {
+  using Eigen::all;
+  using Eigen::seq;
+  using Eigen::seqN;
+  #if EIGEN_HAS_CXX11
+  using Eigen::lastN;
+  #endif
+  using Eigen::last;
+  using Eigen::lastp1;
+  using Eigen::fix;
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_ARITHMETIC_SEQUENCE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Array.h b/examples/ThirdPartyLibs/Eigen/src/Core/Array.h
index e10020d4fd..20c789b10c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Array.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Array.h
@@ -117,7 +117,7 @@ class Array
     {
       return Base::_set(other);
     }
-    
+
     /** Default constructor.
       *
       * For fixed-size matrices, does nothing.
@@ -153,17 +153,54 @@ class Array
       : Base(std::move(other))
     {
       Base::_check_template_params();
-      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
-        Base::_set_noalias(other);
     }
     EIGEN_DEVICE_FUNC
     Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
     {
-      other.swap(*this);
+      Base::operator=(std::move(other));
       return *this;
     }
 #endif
 
+    #if EIGEN_HAS_CXX11
+    /** \copydoc PlainObjectBase(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args)
+     *
+     * Example: \include Array_variadic_ctor_cxx11.cpp
+     * Output: \verbinclude Array_variadic_ctor_cxx11.out
+     *
+     * \sa Array(const std::initializer_list<std::initializer_list<Scalar>>&)
+     * \sa Array(const Scalar&), Array(const Scalar&,const Scalar&)
+     */
+    template <typename... ArgTypes>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Array(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args)
+      : Base(a0, a1, a2, a3, args...) {}
+
+    /** \brief Constructs an array and initializes it from the coefficients given as initializer-lists grouped by row. \cpp11
+      *
+      * In the general case, the constructor takes a list of rows, each row being represented as a list of coefficients:
+      *
+      * Example: \include Array_initializer_list_23_cxx11.cpp
+      * Output: \verbinclude Array_initializer_list_23_cxx11.out
+      *
+      * Each of the inner initializer lists must contain the exact same number of elements, otherwise an assertion is triggered.
+      *
+      * In the case of a compile-time column 1D array, implicit transposition from a single row is allowed.
+      * Therefore <code> Array<int,Dynamic,1>{{1,2,3,4,5}}</code> is legal and the more verbose syntax
+      * <code>Array<int,Dynamic,1>{{1},{2},{3},{4},{5}}</code> can be avoided:
+      *
+      * Example: \include Array_initializer_list_vector_cxx11.cpp
+      * Output: \verbinclude Array_initializer_list_vector_cxx11.out
+      *
+      * In the case of fixed-sized arrays, the initializer list sizes must exactly match the array sizes,
+      * and implicit transposition is allowed for compile-time 1D arrays only.
+      *
+      * \sa  Array(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args)
+      */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array(const std::initializer_list<std::initializer_list<Scalar>>& list) : Base(list) {}
+    #endif // end EIGEN_HAS_CXX11
+
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename T>
     EIGEN_DEVICE_FUNC
@@ -180,6 +217,7 @@ class Array
       Base::_check_template_params();
       this->template _init2<T0,T1>(val0, val1);
     }
+
     #else
     /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */
     EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
@@ -191,7 +229,8 @@ class Array
       */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE explicit Array(Index dim);
-    /** constructs an initialized 1x1 Array with the given coefficient */
+    /** constructs an initialized 1x1 Array with the given coefficient
+      * \sa const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args */
     Array(const Scalar& value);
     /** constructs an uninitialized array with \a rows rows and \a cols columns.
       *
@@ -199,11 +238,14 @@ class Array
       * it is redundant to pass these parameters, so one should use the default constructor
       * Array() instead. */
     Array(Index rows, Index cols);
-    /** constructs an initialized 2D vector with given coefficients */
+    /** constructs an initialized 2D vector with given coefficients
+      * \sa Array(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args) */
     Array(const Scalar& val0, const Scalar& val1);
-    #endif
+    #endif  // end EIGEN_PARSED_BY_DOXYGEN
 
-    /** constructs an initialized 3D vector with given coefficients */
+    /** constructs an initialized 3D vector with given coefficients
+      * \sa Array(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args)
+      */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2)
     {
@@ -213,7 +255,9 @@ class Array
       m_storage.data()[1] = val1;
       m_storage.data()[2] = val2;
     }
-    /** constructs an initialized 4D vector with given coefficients */
+    /** constructs an initialized 4D vector with given coefficients
+      * \sa Array(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const ArgTypes&... args)
+      */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3)
     {
@@ -244,8 +288,10 @@ class Array
       : Base(other.derived())
     { }
 
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT{ return 1; }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return this->innerSize(); }
 
     #ifdef EIGEN_ARRAY_PLUGIN
     #include EIGEN_ARRAY_PLUGIN
@@ -260,7 +306,7 @@ class Array
 /** \defgroup arraytypedefs Global array typedefs
   * \ingroup Core_Module
   *
-  * Eigen defines several typedef shortcuts for most common 1D and 2D array types.
+  * %Eigen defines several typedef shortcuts for most common 1D and 2D array types.
   *
   * The general patterns are the following:
   *
@@ -273,6 +319,12 @@ class Array
   * There are also \c ArraySizeType which are self-explanatory. For example, \c Array4cf is
   * a fixed-size 1D array of 4 complex floats.
   *
+  * With \cpp11, template alias are also defined for common sizes.
+  * They follow the same pattern as above except that the scalar type suffix is replaced by a
+  * template parameter, i.e.:
+  *   - `ArrayRowsCols<Type>` where `Rows` and `Cols` can be \c 2,\c 3,\c 4, or \c X for fixed or dynamic size.
+  *   - `ArraySize<Type>` where `Size` can be \c 2,\c 3,\c 4 or \c X for fixed or dynamic size 1D arrays.
+  *
   * \sa class Array
   */
 
@@ -305,8 +357,42 @@ 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_FIXED_TYPEDEFS
+
+#if EIGEN_HAS_CXX11
+
+#define EIGEN_MAKE_ARRAY_TYPEDEFS(Size, SizeSuffix)               \
+/** \ingroup arraytypedefs */                                     \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Array##SizeSuffix##SizeSuffix = Array<Type, Size, Size>;    \
+/** \ingroup arraytypedefs */                                     \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Array##SizeSuffix = Array<Type, Size, 1>;
+
+#define EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(Size)                     \
+/** \ingroup arraytypedefs */                                     \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Array##Size##X = Array<Type, Size, Dynamic>;                \
+/** \ingroup arraytypedefs */                                     \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Array##X##Size = Array<Type, Dynamic, Size>;
+
+EIGEN_MAKE_ARRAY_TYPEDEFS(2, 2)
+EIGEN_MAKE_ARRAY_TYPEDEFS(3, 3)
+EIGEN_MAKE_ARRAY_TYPEDEFS(4, 4)
+EIGEN_MAKE_ARRAY_TYPEDEFS(Dynamic, X)
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(2)
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(3)
+EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS(4)
+
+#undef EIGEN_MAKE_ARRAY_TYPEDEFS
+#undef EIGEN_MAKE_ARRAY_FIXED_TYPEDEFS
 
-#undef EIGEN_MAKE_ARRAY_TYPEDEFS_LARGE
+#endif // EIGEN_HAS_CXX11
 
 #define EIGEN_USING_ARRAY_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
 using Eigen::Matrix##SizeSuffix##TypeSuffix; \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ArrayBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/ArrayBase.h
index 9da960f080..ea3dd1c3b3 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ArrayBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ArrayBase.h
@@ -153,8 +153,8 @@ template<typename Derived> class ArrayBase
 //     inline void evalTo(Dest& dst) const { dst = matrix(); }
 
   protected:
-    EIGEN_DEVICE_FUNC
-    ArrayBase() : Base() {}
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(ArrayBase)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(ArrayBase)
 
   private:
     explicit ArrayBase(Index);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ArrayWrapper.h b/examples/ThirdPartyLibs/Eigen/src/Core/ArrayWrapper.h
index 688aadd626..2e9555b537 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ArrayWrapper.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ArrayWrapper.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_ARRAYWRAPPER_H
 #define EIGEN_ARRAYWRAPPER_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class ArrayWrapper
   * \ingroup Core_Module
@@ -60,14 +60,14 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
     EIGEN_DEVICE_FUNC
     explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
 
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return m_expression.innerStride(); }
 
     EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
@@ -90,9 +90,9 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
     EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const { dst = m_expression; }
 
-    const typename internal::remove_all<NestedExpressionType>::type& 
     EIGEN_DEVICE_FUNC
-    nestedExpression() const 
+    const typename internal::remove_all<NestedExpressionType>::type&
+    nestedExpression() const
     {
       return m_expression;
     }
@@ -158,14 +158,14 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
     EIGEN_DEVICE_FUNC
     explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {}
 
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return m_expression.innerStride(); }
 
     EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
@@ -185,8 +185,8 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
     }
 
     EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<NestedExpressionType>::type& 
-    nestedExpression() const 
+    const typename internal::remove_all<NestedExpressionType>::type&
+    nestedExpression() const
     {
       return m_expression;
     }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/AssignEvaluator.h b/examples/ThirdPartyLibs/Eigen/src/Core/AssignEvaluator.h
index dbe435d86b..7d76f0c256 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/AssignEvaluator.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/AssignEvaluator.h
@@ -17,24 +17,24 @@ namespace Eigen {
 // This implementation is based on Assign.h
 
 namespace internal {
-  
+
 /***************************************************************************
 * Part 1 : the logic deciding a strategy for traversal and unrolling       *
 ***************************************************************************/
 
 // copy_using_evaluator_traits is based on assign_traits
 
-template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc>
+template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc, int MaxPacketSize = -1>
 struct copy_using_evaluator_traits
 {
   typedef typename DstEvaluator::XprType Dst;
   typedef typename Dst::Scalar DstScalar;
-  
+
   enum {
     DstFlags = DstEvaluator::Flags,
     SrcFlags = SrcEvaluator::Flags
   };
-  
+
 public:
   enum {
     DstAlignment = DstEvaluator::Alignment,
@@ -51,13 +51,15 @@ struct copy_using_evaluator_traits
     InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
               : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
               : int(Dst::MaxRowsAtCompileTime),
+    RestrictedInnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(InnerSize,MaxPacketSize),
+    RestrictedLinearSize = EIGEN_SIZE_MIN_PREFER_FIXED(Dst::SizeAtCompileTime,MaxPacketSize),
     OuterStride = int(outer_stride_at_compile_time<Dst>::ret),
     MaxSizeAtCompileTime = Dst::SizeAtCompileTime
   };
 
   // TODO distinguish between linear traversal and inner-traversals
-  typedef typename find_best_packet<DstScalar,Dst::SizeAtCompileTime>::type LinearPacketType;
-  typedef typename find_best_packet<DstScalar,InnerSize>::type InnerPacketType;
+  typedef typename find_best_packet<DstScalar,RestrictedLinearSize>::type LinearPacketType;
+  typedef typename find_best_packet<DstScalar,RestrictedInnerSize>::type InnerPacketType;
 
   enum {
     LinearPacketSize = unpacket_traits<LinearPacketType>::size,
@@ -97,7 +99,8 @@ struct copy_using_evaluator_traits
 
 public:
   enum {
-    Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal)
+    Traversal =  int(Dst::SizeAtCompileTime) == 0 ? int(AllAtOnceTraversal) // If compile-size is zero, traversing will fail at compile-time.
+              : (int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize)) ? int(LinearVectorizedTraversal)
               : int(MayInnerVectorize)   ? int(InnerVectorizedTraversal)
               : int(MayLinearVectorize)  ? int(LinearVectorizedTraversal)
               : int(MaySliceVectorize)   ? int(SliceVectorizedTraversal)
@@ -135,7 +138,7 @@ struct copy_using_evaluator_traits
                           ? int(CompleteUnrolling)
                           : int(NoUnrolling) )
               : int(Traversal) == int(LinearTraversal)
-                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) 
+                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling)
                                               : int(NoUnrolling) )
 #if EIGEN_UNALIGNED_VECTORIZE
               : int(Traversal) == int(SliceVectorizedTraversal)
@@ -172,6 +175,8 @@ struct copy_using_evaluator_traits
     EIGEN_DEBUG_VAR(MaySliceVectorize)
     std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
     EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost)
+    EIGEN_DEBUG_VAR(DstEvaluator::CoeffReadCost)
+    EIGEN_DEBUG_VAR(Dst::SizeAtCompileTime)
     EIGEN_DEBUG_VAR(UnrollingLimit)
     EIGEN_DEBUG_VAR(MayUnrollCompletely)
     EIGEN_DEBUG_VAR(MayUnrollInner)
@@ -195,7 +200,7 @@ struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling
   // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
   typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
   typedef typename DstEvaluatorType::XprType DstXprType;
-  
+
   enum {
     outer = Index / DstXprType::InnerSizeAtCompileTime,
     inner = Index % DstXprType::InnerSizeAtCompileTime
@@ -261,7 +266,7 @@ struct copy_using_evaluator_innervec_CompleteUnrolling
   typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
   typedef typename DstEvaluatorType::XprType DstXprType;
   typedef typename Kernel::PacketType PacketType;
-  
+
   enum {
     outer = Index / DstXprType::InnerSizeAtCompileTime,
     inner = Index % DstXprType::InnerSizeAtCompileTime,
@@ -312,6 +317,22 @@ template<typename Kernel,
          int Unrolling = Kernel::AssignmentTraits::Unrolling>
 struct dense_assignment_loop;
 
+/************************
+***** Special Cases *****
+************************/
+
+// Zero-sized assignment is a no-op.
+template<typename Kernel, int Unrolling>
+struct dense_assignment_loop<Kernel, AllAtOnceTraversal, Unrolling>
+{
+  EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel& /*kernel*/)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    EIGEN_STATIC_ASSERT(int(DstXprType::SizeAtCompileTime) == 0,
+      EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT)
+  }
+};
+
 /************************
 *** Default traversal ***
 ************************/
@@ -426,10 +447,10 @@ struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrollin
   {
     typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
     typedef typename Kernel::PacketType PacketType;
-    
+
     enum { size = DstXprType::SizeAtCompileTime,
            packetSize =unpacket_traits<PacketType>::size,
-           alignedSize = (size/packetSize)*packetSize };
+           alignedSize = (int(size)/packetSize)*packetSize };
 
     copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
     copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
@@ -530,7 +551,7 @@ struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling>
     const Scalar *dst_ptr = kernel.dstDataPtr();
     if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0)
     {
-      // the pointer is not aligend-on scalar, so alignment is not possible
+      // the pointer is not aligned-on scalar, so alignment is not possible
       return dense_assignment_loop<Kernel,DefaultTraversal,NoUnrolling>::run(kernel);
     }
     const Index packetAlignedMask = packetSize - 1;
@@ -568,14 +589,15 @@ struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, InnerUnrolling>
     typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
     typedef typename Kernel::PacketType PacketType;
 
-    enum { size = DstXprType::InnerSizeAtCompileTime,
+    enum { innerSize = DstXprType::InnerSizeAtCompileTime,
            packetSize =unpacket_traits<PacketType>::size,
-           vectorizableSize = (size/packetSize)*packetSize };
+           vectorizableSize = (int(innerSize) / int(packetSize)) * int(packetSize),
+           size = DstXprType::SizeAtCompileTime };
 
     for(Index outer = 0; outer < kernel.outerSize(); ++outer)
     {
       copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, vectorizableSize, 0, 0>::run(kernel, outer);
-      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, size>::run(kernel, outer);
+      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, innerSize>::run(kernel, outer);
     }
   }
 };
@@ -599,73 +621,74 @@ class generic_dense_assignment_kernel
   typedef typename DstEvaluatorTypeT::XprType DstXprType;
   typedef typename SrcEvaluatorTypeT::XprType SrcXprType;
 public:
-  
+
   typedef DstEvaluatorTypeT DstEvaluatorType;
   typedef SrcEvaluatorTypeT SrcEvaluatorType;
   typedef typename DstEvaluatorType::Scalar Scalar;
   typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
   typedef typename AssignmentTraits::PacketType PacketType;
-  
-  
-  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
     : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr)
   {
     #ifdef EIGEN_DEBUG_ASSIGN
     AssignmentTraits::debug();
     #endif
   }
-  
-  EIGEN_DEVICE_FUNC Index size() const        { return m_dstExpr.size(); }
-  EIGEN_DEVICE_FUNC Index innerSize() const   { return m_dstExpr.innerSize(); }
-  EIGEN_DEVICE_FUNC Index outerSize() const   { return m_dstExpr.outerSize(); }
-  EIGEN_DEVICE_FUNC Index rows() const        { return m_dstExpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const        { return m_dstExpr.cols(); }
-  EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); }
-  
-  EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; }
-  EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; }
-  
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index size() const EIGEN_NOEXCEPT { return m_dstExpr.size(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index innerSize() const EIGEN_NOEXCEPT { return m_dstExpr.innerSize(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index outerSize() const EIGEN_NOEXCEPT { return m_dstExpr.outerSize(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_dstExpr.rows(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_dstExpr.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index outerStride() const EIGEN_NOEXCEPT { return m_dstExpr.outerStride(); }
+
+  EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() EIGEN_NOEXCEPT { return m_dst; }
+  EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const EIGEN_NOEXCEPT { return m_src; }
+
   /// Assign src(row,col) to dst(row,col) through the assignment functor.
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col)
   {
     m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col));
   }
-  
+
   /// \sa assignCoeff(Index,Index)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index)
   {
     m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
   }
-  
+
   /// \sa assignCoeff(Index,Index)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner)
   {
-    Index row = rowIndexByOuterInner(outer, inner); 
-    Index col = colIndexByOuterInner(outer, inner); 
+    Index row = rowIndexByOuterInner(outer, inner);
+    Index col = colIndexByOuterInner(outer, inner);
     assignCoeff(row, col);
   }
-  
-  
+
+
   template<int StoreMode, int LoadMode, typename PacketType>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
   {
     m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(row,col), m_src.template packet<LoadMode,PacketType>(row,col));
   }
-  
+
   template<int StoreMode, int LoadMode, typename PacketType>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index)
   {
     m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(index), m_src.template packet<LoadMode,PacketType>(index));
   }
-  
+
   template<int StoreMode, int LoadMode, typename PacketType>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
   {
-    Index row = rowIndexByOuterInner(outer, inner); 
+    Index row = rowIndexByOuterInner(outer, inner);
     Index col = colIndexByOuterInner(outer, inner);
     assignPacket<StoreMode,LoadMode,PacketType>(row, col);
   }
-  
+
   EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner)
   {
     typedef typename DstEvaluatorType::ExpressionTraits Traits;
@@ -688,7 +711,7 @@ class generic_dense_assignment_kernel
   {
     return m_dstExpr.data();
   }
-  
+
 protected:
   DstEvaluatorType& m_dst;
   const SrcEvaluatorType& m_src;
@@ -697,6 +720,27 @@ class generic_dense_assignment_kernel
   DstXprType& m_dstExpr;
 };
 
+// Special kernel used when computing small products whose operands have dynamic dimensions.  It ensures that the
+// PacketSize used is no larger than 4, thereby increasing the chance that vectorized instructions will be used
+// when computing the product.
+
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor>
+class restricted_packet_dense_assignment_kernel : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, BuiltIn>
+{
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, BuiltIn> Base;
+ public:
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::DstXprType DstXprType;
+    typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, 4> AssignmentTraits;
+    typedef typename AssignmentTraits::PacketType PacketType;
+
+    EIGEN_DEVICE_FUNC restricted_packet_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {
+  }
+ };
+
 /***************************************************************************
 * Part 5 : Entry point for dense rectangular assignment
 ***************************************************************************/
@@ -734,13 +778,23 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType
   resize_if_allowed(dst, src, func);
 
   DstEvaluatorType dstEvaluator(dst);
-    
+
   typedef generic_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
   Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
 
   dense_assignment_loop<Kernel>::run(kernel);
 }
 
+// Specialization for filling the destination with a constant value.
+#ifndef EIGEN_GPU_COMPILE_PHASE
+template<typename DstXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<typename DstXprType::Scalar>, DstXprType>& src, const internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>& func)
+{
+  resize_if_allowed(dst, src, func);
+  std::fill_n(dst.data(), dst.size(), src.functor()());
+}
+#endif
+
 template<typename DstXprType, typename SrcXprType>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src)
 {
@@ -756,13 +810,13 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType
 // AssignmentKind must define a Kind typedef.
 template<typename DstShape, typename SrcShape> struct AssignmentKind;
 
-// Assignement kind defined in this file:
+// Assignment kind defined in this file:
 struct Dense2Dense {};
 struct EigenBase2EigenBase {};
 
 template<typename,typename> struct AssignmentKind { typedef EigenBase2EigenBase Kind; };
 template<> struct AssignmentKind<DenseShape,DenseShape> { typedef Dense2Dense Kind; };
-    
+
 // This is the main assignment class
 template< typename DstXprType, typename SrcXprType, typename Functor,
           typename Kind = typename AssignmentKind< typename evaluator_traits<DstXprType>::Shape , typename evaluator_traits<SrcXprType>::Shape >::Kind,
@@ -787,7 +841,7 @@ void call_assignment(const Dst& dst, const Src& src)
 {
   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
 }
-                     
+
 // Deal with "assume-aliasing"
 template<typename Dst, typename Src, typename Func>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
@@ -827,14 +881,35 @@ void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
   typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst>::type ActualDstTypeCleaned;
   typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst&>::type ActualDstType;
   ActualDstType actualDst(dst);
-  
+
   // TODO check whether this is the right place to perform these checks:
   EIGEN_STATIC_ASSERT_LVALUE(Dst)
   EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
   EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
-  
+
   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
 }
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_restricted_packet_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
+{
+    typedef evaluator<Dst> DstEvaluatorType;
+    typedef evaluator<Src> SrcEvaluatorType;
+    typedef restricted_packet_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Func> Kernel;
+
+    EIGEN_STATIC_ASSERT_LVALUE(Dst)
+    EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar);
+
+    SrcEvaluatorType srcEvaluator(src);
+    resize_if_allowed(dst, src, func);
+
+    DstEvaluatorType dstEvaluator(dst);
+    Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+
+    dense_assignment_loop<Kernel>::run(kernel);
+}
+
 template<typename Dst, typename Src>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 void call_assignment_no_alias(Dst& dst, const Src& src)
@@ -875,7 +950,7 @@ struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak>
 #ifndef EIGEN_NO_DEBUG
     internal::check_for_aliasing(dst, src);
 #endif
-    
+
     call_dense_assignment_loop(dst, src, func);
   }
 };
@@ -899,7 +974,7 @@ struct Assignment<DstXprType, SrcXprType, Functor, EigenBase2EigenBase, Weak>
     src.evalTo(dst);
   }
 
-  // NOTE The following two functions are templated to avoid their instanciation if not needed
+  // NOTE The following two functions are templated to avoid their instantiation if not needed
   //      This is needed because some expressions supports evalTo only and/or have 'void' as scalar type.
   template<typename SrcScalarType>
   EIGEN_DEVICE_FUNC
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Assign_MKL.h b/examples/ThirdPartyLibs/Eigen/src/Core/Assign_MKL.h
old mode 100644
new mode 100755
index 6c2ab92648..c6140d185b
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Assign_MKL.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Assign_MKL.h
@@ -68,27 +68,28 @@ class vml_assign_traits
 
 #define EIGEN_PP_EXPAND(ARG) ARG
 #if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
-#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
+#define EIGEN_VMLMODE_EXPAND_xLA , VML_HA
 #else
-#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
+#define EIGEN_VMLMODE_EXPAND_xLA , VML_LA
 #endif
 
-#define EIGEN_VMLMODE_EXPAND__ 
+#define EIGEN_VMLMODE_EXPAND_x_
 
-#define EIGEN_VMLMODE_PREFIX_LA vm
-#define EIGEN_VMLMODE_PREFIX__  v
-#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
+#define EIGEN_VMLMODE_PREFIX_xLA vm
+#define EIGEN_VMLMODE_PREFIX_x_  v
+#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_x,VMLMODE)
 
 #define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
   template< typename DstXprType, typename SrcXprNested>                                                                         \
   struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>,   \
                    Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {              \
     typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType;                                            \
-    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                   \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) {                       \
+      resize_if_allowed(dst, src, func);                                                                                        \
       eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                       \
       if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) {                                              \
         VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(),                                                        \
-              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                           \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_x##VMLMODE) );                                           \
       } else {                                                                                                                  \
         const Index outerSize = dst.outerSize();                                                                                \
         for(Index outer = 0; outer < outerSize; ++outer) {                                                                      \
@@ -96,7 +97,7 @@ class vml_assign_traits
                                                       &(src.nestedExpression().coeffRef(0, outer));                             \
           EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                           \
           VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr,                                                                      \
-                (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                             \
+                (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_x##VMLMODE));                                             \
         }                                                                                                                       \
       }                                                                                                                         \
     }                                                                                                                           \
@@ -144,13 +145,14 @@ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil,  Ceil,   _)
                    Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {            \
     typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                                           \
                     const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType;                         \
-    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                 \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &func) {                     \
+      resize_if_allowed(dst, src, func);                                                                                      \
       eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                     \
       VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other);                                       \
       if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal)                                              \
       {                                                                                                                       \
         VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent,                                                        \
-              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                         \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_x##VMLMODE) );                                         \
       } else {                                                                                                                \
         const Index outerSize = dst.outerSize();                                                                              \
         for(Index outer = 0; outer < outerSize; ++outer) {                                                                    \
@@ -158,7 +160,7 @@ EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil,  Ceil,   _)
                                                       &(src.lhs().coeffRef(0, outer));                                        \
           EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                         \
           VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent,                                                          \
-                 (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                          \
+                 (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_x##VMLMODE));                                          \
         }                                                                                                                     \
       }                                                                                                                       \
     }                                                                                                                         \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/BandMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/BandMatrix.h
index 4978c91405..878c0240ac 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/BandMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/BandMatrix.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_BANDMATRIX_H
 #define EIGEN_BANDMATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -45,7 +45,7 @@ class BandMatrixBase : public EigenBase<Derived>
     };
 
   public:
-    
+
     using Base::derived;
     using Base::rows;
     using Base::cols;
@@ -55,10 +55,10 @@ class BandMatrixBase : public EigenBase<Derived>
 
     /** \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(); }
 
@@ -67,7 +67,7 @@ class BandMatrixBase : public EigenBase<Derived>
       * \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);
+      EIGEN_STATIC_ASSERT((int(Options) & int(RowMajor)) == 0, THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
       Index start = 0;
       Index len = coeffs().rows();
       if (i<=supers())
@@ -90,7 +90,7 @@ class BandMatrixBase : public EigenBase<Derived>
 
     template<int Index> struct DiagonalIntReturnType {
       enum {
-        ReturnOpposite = (Options&SelfAdjoint) && (((Index)>0 && Supers==0) || ((Index)<0 && Subs==0)),
+        ReturnOpposite = (int(Options) & int(SelfAdjoint)) && (((Index) > 0 && Supers == 0) || ((Index) < 0 && Subs == 0)),
         Conjugate = ReturnOpposite && NumTraits<Scalar>::IsComplex,
         ActualIndex = ReturnOpposite ? -Index : Index,
         DiagonalSize = (RowsAtCompileTime==Dynamic || ColsAtCompileTime==Dynamic)
@@ -130,7 +130,7 @@ class BandMatrixBase : public EigenBase<Derived>
       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());
@@ -192,7 +192,7 @@ struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
     Options = _Options,
     DataRowsAtCompileTime = ((Supers!=Dynamic) && (Subs!=Dynamic)) ? 1 + Supers + Subs : Dynamic
   };
-  typedef Matrix<Scalar,DataRowsAtCompileTime,ColsAtCompileTime,Options&RowMajor?RowMajor:ColMajor> CoefficientsType;
+  typedef Matrix<Scalar, DataRowsAtCompileTime, ColsAtCompileTime, int(Options) & int(RowMajor) ? RowMajor : ColMajor> CoefficientsType;
 };
 
 template<typename _Scalar, int Rows, int Cols, int Supers, int Subs, int Options>
@@ -211,16 +211,16 @@ class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Sub
     }
 
     /** \returns the number of columns */
-    inline Index rows() const { return m_rows.value(); }
+    inline EIGEN_CONSTEXPR Index rows() const { return m_rows.value(); }
 
     /** \returns the number of rows */
-    inline Index cols() const { return m_coeffs.cols(); }
+    inline EIGEN_CONSTEXPR Index cols() const { return m_coeffs.cols(); }
 
     /** \returns the number of super diagonals */
-    inline Index supers() const { return m_supers.value(); }
+    inline EIGEN_CONSTEXPR Index supers() const { return m_supers.value(); }
 
     /** \returns the number of sub diagonals */
-    inline Index subs() const { return m_subs.value(); }
+    inline EIGEN_CONSTEXPR Index subs() const { return m_subs.value(); }
 
     inline const CoefficientsType& coeffs() const { return m_coeffs; }
     inline CoefficientsType& coeffs() { return m_coeffs; }
@@ -275,16 +275,16 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
     }
 
     /** \returns the number of columns */
-    inline Index rows() const { return m_rows.value(); }
+    inline EIGEN_CONSTEXPR Index rows() const { return m_rows.value(); }
 
     /** \returns the number of rows */
-    inline Index cols() const { return m_coeffs.cols(); }
+    inline EIGEN_CONSTEXPR Index cols() const { return m_coeffs.cols(); }
 
     /** \returns the number of super diagonals */
-    inline Index supers() const { return m_supers.value(); }
+    inline EIGEN_CONSTEXPR Index supers() const { return m_supers.value(); }
 
     /** \returns the number of sub diagonals */
-    inline Index subs() const { return m_subs.value(); }
+    inline EIGEN_CONSTEXPR Index subs() const { return m_subs.value(); }
 
     inline const CoefficientsType& coeffs() const { return m_coeffs; }
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Block.h b/examples/ThirdPartyLibs/Eigen/src/Core/Block.h
index 11de45c2ec..d0b95d50b4 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Block.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Block.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_BLOCK_H
 #define EIGEN_BLOCK_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
@@ -52,7 +52,7 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
     FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
     Flags = (traits<XprType>::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit,
     // FIXME DirectAccessBit should not be handled by expressions
-    // 
+    //
     // Alignment is needed by MapBase's assertions
     // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator
     Alignment = 0
@@ -61,7 +61,7 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprTyp
 
 template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
          bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class BlockImpl_dense;
-         
+
 } // end namespace internal
 
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
@@ -109,13 +109,13 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
     typedef Impl Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
-    
+
     typedef typename internal::remove_all<XprType>::type NestedExpression;
-  
+
     /** Column or Row constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr, Index i) : Impl(xpr,i)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Block(XprType& xpr, Index i) : Impl(xpr,i)
     {
       eigen_assert( (i>=0) && (
           ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
@@ -124,8 +124,8 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
 
     /** Fixed-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr, Index startRow, Index startCol)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Block(XprType& xpr, Index startRow, Index startCol)
       : Impl(xpr, startRow, startCol)
     {
       EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
@@ -135,8 +135,8 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
 
     /** Dynamic-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline Block(XprType& xpr,
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Block(XprType& xpr,
           Index startRow, Index startCol,
           Index blockRows, Index blockCols)
       : Impl(xpr, startRow, startCol, blockRows, blockCols)
@@ -147,7 +147,7 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
           && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols);
     }
 };
-         
+
 // The generic default implementation for dense block simplu forward to the internal::BlockImpl_dense
 // that must be specialized for direct and non-direct access...
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
@@ -159,10 +159,10 @@ class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
   public:
     typedef Impl Base;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
-    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
     EIGEN_DEVICE_FUNC
-    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+    EIGEN_STRONG_INLINE BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
       : Impl(xpr, startRow, startCol, blockRows, blockCols) {}
 };
 
@@ -260,19 +260,19 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
     }
 
     template<int LoadMode>
-    inline PacketScalar packet(Index rowId, Index colId) const
+    EIGEN_DEVICE_FUNC inline PacketScalar packet(Index rowId, Index colId) const
     {
       return m_xpr.template packet<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
     template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
+    EIGEN_DEVICE_FUNC inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
     {
       m_xpr.template writePacket<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value(), val);
     }
 
     template<int LoadMode>
-    inline PacketScalar packet(Index index) const
+    EIGEN_DEVICE_FUNC inline PacketScalar packet(Index index) const
     {
       return m_xpr.template packet<Unaligned>
               (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
@@ -280,7 +280,7 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
     }
 
     template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
+    EIGEN_DEVICE_FUNC inline void writePacket(Index index, const PacketScalar& val)
     {
       m_xpr.template writePacket<Unaligned>
          (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
@@ -294,25 +294,25 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
     EIGEN_DEVICE_FUNC inline Index outerStride() const;
     #endif
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
-    { 
-      return m_xpr; 
+    {
+      return m_xpr;
     }
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     XprType& nestedExpression() { return m_xpr; }
-      
-    EIGEN_DEVICE_FUNC
-    StorageIndex startRow() const
-    { 
-      return m_startRow.value(); 
+
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    StorageIndex startRow() const EIGEN_NOEXCEPT
+    {
+      return m_startRow.value();
     }
-      
-    EIGEN_DEVICE_FUNC
-    StorageIndex startCol() const
-    { 
-      return m_startCol.value(); 
+
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    StorageIndex startCol() const EIGEN_NOEXCEPT
+    {
+      return m_startCol.value();
     }
 
   protected:
@@ -342,9 +342,9 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     /** Column or Row constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index i)
-      : Base(xpr.data() + i * (    ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) 
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    BlockImpl_dense(XprType& xpr, Index i)
+      : Base(xpr.data() + i * (    ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor))
                                 || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()),
              BlockRows==1 ? 1 : xpr.rows(),
              BlockCols==1 ? 1 : xpr.cols()),
@@ -357,8 +357,8 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     /** Fixed-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
       : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)),
         m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
     {
@@ -367,8 +367,8 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     /** Dynamic-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr,
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    BlockImpl_dense(XprType& xpr,
           Index startRow, Index startCol,
           Index blockRows, Index blockCols)
       : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols),
@@ -377,18 +377,18 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
       init();
     }
 
-    EIGEN_DEVICE_FUNC
-    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
-    { 
-      return m_xpr; 
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const EIGEN_NOEXCEPT
+    {
+      return m_xpr;
     }
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     XprType& nestedExpression() { return m_xpr; }
-      
+
     /** \sa MapBase::innerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index innerStride() const EIGEN_NOEXCEPT
     {
       return internal::traits<BlockType>::HasSameStorageOrderAsXprType
              ? m_xpr.innerStride()
@@ -396,23 +396,19 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     }
 
     /** \sa MapBase::outerStride() */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index outerStride() const EIGEN_NOEXCEPT
     {
-      return m_outerStride;
+      return internal::traits<BlockType>::HasSameStorageOrderAsXprType
+                    ? m_xpr.outerStride()
+                    : m_xpr.innerStride();
     }
 
-    EIGEN_DEVICE_FUNC
-    StorageIndex startRow() const
-    {
-      return m_startRow.value();
-    }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    StorageIndex startRow() const EIGEN_NOEXCEPT { return m_startRow.value(); }
 
-    EIGEN_DEVICE_FUNC
-    StorageIndex startCol() const
-    {
-      return m_startCol.value();
-    }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    StorageIndex startCol() const EIGEN_NOEXCEPT { return m_startCol.value(); }
 
   #ifndef __SUNPRO_CC
   // FIXME sunstudio is not friendly with the above friend...
@@ -422,8 +418,8 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal used by allowAligned() */
-    EIGEN_DEVICE_FUNC
-    inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
       : Base(data, blockRows, blockCols), m_xpr(xpr)
     {
       init();
@@ -431,7 +427,7 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     #endif
 
   protected:
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void init()
     {
       m_outerStride = internal::traits<BlockType>::HasSameStorageOrderAsXprType
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/BooleanRedux.h b/examples/ThirdPartyLibs/Eigen/src/Core/BooleanRedux.h
index ccf519067c..852de8b90a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/BooleanRedux.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/BooleanRedux.h
@@ -22,7 +22,7 @@ struct all_unroller
     row = (UnrollCount-1) % Rows
   };
 
-  static inline bool run(const Derived &mat)
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived &mat)
   {
     return all_unroller<Derived, UnrollCount-1, Rows>::run(mat) && mat.coeff(row, col);
   }
@@ -31,13 +31,13 @@ struct all_unroller
 template<typename Derived, int Rows>
 struct all_unroller<Derived, 0, Rows>
 {
-  static inline bool run(const Derived &/*mat*/) { return true; }
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived &/*mat*/) { return true; }
 };
 
 template<typename Derived, int Rows>
 struct all_unroller<Derived, Dynamic, Rows>
 {
-  static inline bool run(const Derived &) { return false; }
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived &) { return false; }
 };
 
 template<typename Derived, int UnrollCount, int Rows>
@@ -48,7 +48,7 @@ struct any_unroller
     row = (UnrollCount-1) % Rows
   };
   
-  static inline bool run(const Derived &mat)
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived &mat)
   {
     return any_unroller<Derived, UnrollCount-1, Rows>::run(mat) || mat.coeff(row, col);
   }
@@ -57,13 +57,13 @@ struct any_unroller
 template<typename Derived, int Rows>
 struct any_unroller<Derived, 0, Rows>
 {
-  static inline bool run(const Derived & /*mat*/) { return false; }
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived & /*mat*/) { return false; }
 };
 
 template<typename Derived, int Rows>
 struct any_unroller<Derived, Dynamic, Rows>
 {
-  static inline bool run(const Derived &) { return false; }
+  EIGEN_DEVICE_FUNC static inline bool run(const Derived &) { return false; }
 };
 
 } // end namespace internal
@@ -81,7 +81,7 @@ EIGEN_DEVICE_FUNC inline bool DenseBase<Derived>::all() const
   typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (int(Evaluator::CoeffReadCost) + int(NumTraits<Scalar>::AddCost)) <= EIGEN_UNROLLING_LIMIT
   };
   Evaluator evaluator(derived());
   if(unroll)
@@ -105,7 +105,7 @@ EIGEN_DEVICE_FUNC inline bool DenseBase<Derived>::any() const
   typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (int(Evaluator::CoeffReadCost) + int(NumTraits<Scalar>::AddCost)) <= EIGEN_UNROLLING_LIMIT
   };
   Evaluator evaluator(derived());
   if(unroll)
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CommaInitializer.h b/examples/ThirdPartyLibs/Eigen/src/Core/CommaInitializer.h
index 35fdbb819f..c0e29c75c2 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CommaInitializer.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CommaInitializer.h
@@ -33,6 +33,8 @@ struct CommaInitializer
   inline CommaInitializer(XprType& xpr, const Scalar& s)
     : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
   {
+    eigen_assert(m_xpr.rows() > 0 && m_xpr.cols() > 0
+      && "Cannot comma-initialize a 0x0 matrix (operator<<)");
     m_xpr.coeffRef(0,0) = s;
   }
 
@@ -41,6 +43,8 @@ struct CommaInitializer
   inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
     : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
   {
+    eigen_assert(m_xpr.rows() >= other.rows() && m_xpr.cols() >= other.cols()
+      && "Cannot comma-initialize a 0x0 matrix (operator<<)");
     m_xpr.block(0, 0, other.rows(), other.cols()) = other;
   }
 
@@ -103,7 +107,7 @@ struct CommaInitializer
   EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception)
 #endif
   {
-      finished();
+    finished();
   }
 
   /** \returns the built matrix once all its coefficients have been set.
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ConditionEstimator.h b/examples/ThirdPartyLibs/Eigen/src/Core/ConditionEstimator.h
index aa7efdc765..51a2e5f1b6 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ConditionEstimator.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ConditionEstimator.h
@@ -160,7 +160,7 @@ rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Deco
 {
   typedef typename Decomposition::RealScalar RealScalar;
   eigen_assert(dec.rows() == dec.cols());
-  if (dec.rows() == 0)              return RealScalar(1);
+  if (dec.rows() == 0)              return NumTraits<RealScalar>::infinity();
   if (matrix_norm == RealScalar(0)) return RealScalar(0);
   if (dec.rows() == 1)              return RealScalar(1);
   const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CoreEvaluators.h b/examples/ThirdPartyLibs/Eigen/src/Core/CoreEvaluators.h
index 15b361b38b..0ff8c8deb8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CoreEvaluators.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CoreEvaluators.h
@@ -14,7 +14,7 @@
 #define EIGEN_COREEVALUATORS_H
 
 namespace Eigen {
-  
+
 namespace internal {
 
 // This class returns the evaluator kind from the expression storage kind.
@@ -63,8 +63,8 @@ template< typename T,
 template< typename T,
           typename Kind   = typename evaluator_traits<typename T::NestedExpression>::Kind,
           typename Scalar = typename T::Scalar> struct unary_evaluator;
-          
-// evaluator_traits<T> contains traits for evaluator<T> 
+
+// evaluator_traits<T> contains traits for evaluator<T>
 
 template<typename T>
 struct evaluator_traits_base
@@ -90,7 +90,8 @@ template<typename T>
 struct evaluator : public unary_evaluator<T>
 {
   typedef unary_evaluator<T> Base;
-  EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const T& xpr) : Base(xpr) {}
 };
 
 
@@ -99,7 +100,7 @@ template<typename T>
 struct evaluator<const T>
   : evaluator<T>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   explicit evaluator(const T& xpr) : evaluator<T>(xpr) {}
 };
 
@@ -110,7 +111,7 @@ struct evaluator_base
 {
   // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices.
   typedef traits<ExpressionType> ExpressionTraits;
-  
+
   enum {
     Alignment = 0
   };
@@ -134,19 +135,25 @@ struct evaluator_base
 // this helper permits to completely eliminate m_outerStride if it is known at compiletime.
 template<typename Scalar,int OuterStride> class plainobjectbase_evaluator_data {
 public:
-  EIGEN_DEVICE_FUNC plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr)
   {
-    EIGEN_ONLY_USED_FOR_DEBUG(outerStride);
+#ifndef EIGEN_INTERNAL_DEBUGGING
+    EIGEN_UNUSED_VARIABLE(outerStride);
+#endif
     eigen_internal_assert(outerStride==OuterStride);
   }
-  EIGEN_DEVICE_FUNC Index outerStride() const { return OuterStride; }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+  Index outerStride() const EIGEN_NOEXCEPT { return OuterStride; }
   const Scalar *data;
 };
 
 template<typename Scalar> class plainobjectbase_evaluator_data<Scalar,Dynamic> {
 public:
-  EIGEN_DEVICE_FUNC plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr), m_outerStride(outerStride) {}
-  EIGEN_DEVICE_FUNC Index outerStride() const { return m_outerStride; }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  plainobjectbase_evaluator_data(const Scalar* ptr, Index outerStride) : data(ptr), m_outerStride(outerStride) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Index outerStride() const { return m_outerStride; }
   const Scalar *data;
 protected:
   Index m_outerStride;
@@ -165,7 +172,7 @@ struct evaluator<PlainObjectBase<Derived> >
     IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime,
     RowsAtCompileTime = PlainObjectType::RowsAtCompileTime,
     ColsAtCompileTime = PlainObjectType::ColsAtCompileTime,
-    
+
     CoeffReadCost = NumTraits<Scalar>::ReadCost,
     Flags = traits<Derived>::EvaluatorFlags,
     Alignment = traits<Derived>::Alignment
@@ -177,13 +184,15 @@ struct evaluator<PlainObjectBase<Derived> >
                                                                         : RowsAtCompileTime
   };
 
-  EIGEN_DEVICE_FUNC evaluator()
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  evaluator()
     : m_d(0,OuterStrideAtCompileTime)
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
   }
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const PlainObjectType& m)
     : m_d(m.data(),IsVectorAtCompileTime ? 0 : m.outerStride())
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
@@ -265,11 +274,13 @@ struct evaluator<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
   : evaluator<PlainObjectBase<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
 {
   typedef Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
-  
-  EIGEN_DEVICE_FUNC evaluator() {}
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
-    : evaluator<PlainObjectBase<XprType> >(m) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  evaluator() {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m)
   { }
 };
 
@@ -279,10 +290,12 @@ struct evaluator<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
 {
   typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
 
-  EIGEN_DEVICE_FUNC evaluator() {}
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
-    : evaluator<PlainObjectBase<XprType> >(m) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  evaluator() {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m)
   { }
 };
 
@@ -293,14 +306,15 @@ struct unary_evaluator<Transpose<ArgType>, IndexBased>
   : evaluator_base<Transpose<ArgType> >
 {
   typedef Transpose<ArgType> XprType;
-  
+
   enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,    
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
     Flags = evaluator<ArgType>::Flags ^ RowMajorBit,
     Alignment = evaluator<ArgType>::Alignment
   };
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
 
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
@@ -485,10 +499,10 @@ struct evaluator<CwiseNullaryOp<NullaryOp,PlainObjectType> >
 {
   typedef CwiseNullaryOp<NullaryOp,PlainObjectType> XprType;
   typedef typename internal::remove_all<PlainObjectType>::type PlainObjectTypeCleaned;
-  
+
   enum {
     CoeffReadCost = internal::functor_traits<NullaryOp>::Cost,
-    
+
     Flags = (evaluator<PlainObjectTypeCleaned>::Flags
           &  (  HereditaryBits
               | (functor_has_linear_access<NullaryOp>::ret  ? LinearAccessBit : 0)
@@ -545,10 +559,10 @@ struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
   : evaluator_base<CwiseUnaryOp<UnaryOp, ArgType> >
 {
   typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
-  
+
   enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
-    
+    CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<UnaryOp>::Cost),
+
     Flags = evaluator<ArgType>::Flags
           & (HereditaryBits | LinearAccessBit | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
     Alignment = evaluator<ArgType>::Alignment
@@ -592,13 +606,13 @@ struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
 protected:
 
   // this helper permits to completely eliminate the functor if it is empty
-  class Data : private UnaryOp
+  struct Data
   {
-  public:
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Data(const XprType& xpr) : UnaryOp(xpr.functor()), argImpl(xpr.nestedExpression()) {}
+    Data(const XprType& xpr) : op(xpr.functor()), argImpl(xpr.nestedExpression()) {}
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const UnaryOp& func() const { return static_cast<const UnaryOp&>(*this); }
+    const UnaryOp& func() const { return op; }
+    UnaryOp op;
     evaluator<ArgType> argImpl;
   };
 
@@ -614,7 +628,7 @@ struct evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
 {
   typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
   typedef ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > Base;
-  
+
   EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
 };
 
@@ -623,10 +637,10 @@ struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased
   : evaluator_base<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
 {
   typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
-  
+
   enum {
-    CoeffReadCost = evaluator<Arg1>::CoeffReadCost + evaluator<Arg2>::CoeffReadCost + evaluator<Arg3>::CoeffReadCost + functor_traits<TernaryOp>::Cost,
-    
+    CoeffReadCost = int(evaluator<Arg1>::CoeffReadCost) + int(evaluator<Arg2>::CoeffReadCost) + int(evaluator<Arg3>::CoeffReadCost) + int(functor_traits<TernaryOp>::Cost),
+
     Arg1Flags = evaluator<Arg1>::Flags,
     Arg2Flags = evaluator<Arg2>::Flags,
     Arg3Flags = evaluator<Arg3>::Flags,
@@ -686,12 +700,13 @@ struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased
 
 protected:
   // this helper permits to completely eliminate the functor if it is empty
-  struct Data : private TernaryOp
+  struct Data
   {
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Data(const XprType& xpr) : TernaryOp(xpr.functor()), arg1Impl(xpr.arg1()), arg2Impl(xpr.arg2()), arg3Impl(xpr.arg3()) {}
+    Data(const XprType& xpr) : op(xpr.functor()), arg1Impl(xpr.arg1()), arg2Impl(xpr.arg2()), arg3Impl(xpr.arg3()) {}
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const TernaryOp& func() const { return static_cast<const TernaryOp&>(*this); }
+    const TernaryOp& func() const { return op; }
+    TernaryOp op;
     evaluator<Arg1> arg1Impl;
     evaluator<Arg2> arg2Impl;
     evaluator<Arg3> arg3Impl;
@@ -709,8 +724,9 @@ struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
   typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
   typedef binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> > Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& xpr) : Base(xpr) {}
 };
 
 template<typename BinaryOp, typename Lhs, typename Rhs>
@@ -718,10 +734,10 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBase
   : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
   typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
-  
+
   enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
-    
+    CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
+
     LhsFlags = evaluator<Lhs>::Flags,
     RhsFlags = evaluator<Rhs>::Flags,
     SameType = is_same<typename Lhs::Scalar,typename Rhs::Scalar>::value,
@@ -738,7 +754,8 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBase
     Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<Lhs>::Alignment,evaluator<Rhs>::Alignment)
   };
 
-  EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr) : m_d(xpr)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit binary_evaluator(const XprType& xpr) : m_d(xpr)
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
@@ -777,12 +794,13 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBase
 protected:
 
   // this helper permits to completely eliminate the functor if it is empty
-  struct Data : private BinaryOp
+  struct Data
   {
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Data(const XprType& xpr) : BinaryOp(xpr.functor()), lhsImpl(xpr.lhs()), rhsImpl(xpr.rhs()) {}
+    Data(const XprType& xpr) : op(xpr.functor()), lhsImpl(xpr.lhs()), rhsImpl(xpr.rhs()) {}
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const BinaryOp& func() const { return static_cast<const BinaryOp&>(*this); }
+    const BinaryOp& func() const { return op; }
+    BinaryOp op;
     evaluator<Lhs> lhsImpl;
     evaluator<Rhs> rhsImpl;
   };
@@ -797,12 +815,12 @@ struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
   : evaluator_base<CwiseUnaryView<UnaryOp, ArgType> >
 {
   typedef CwiseUnaryView<UnaryOp, ArgType> XprType;
-  
+
   enum {
-    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
-    
+    CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<UnaryOp>::Cost),
+
     Flags = (evaluator<ArgType>::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)),
-    
+
     Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost...
   };
 
@@ -842,12 +860,13 @@ struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
 protected:
 
   // this helper permits to completely eliminate the functor if it is empty
-  struct Data : private UnaryOp
+  struct Data
   {
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Data(const XprType& xpr) : UnaryOp(xpr.functor()), argImpl(xpr.nestedExpression()) {}
+    Data(const XprType& xpr) : op(xpr.functor()), argImpl(xpr.nestedExpression()) {}
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    const UnaryOp& func() const { return static_cast<const UnaryOp&>(*this); }
+    const UnaryOp& func() const { return op; }
+    UnaryOp op;
     evaluator<ArgType> argImpl;
   };
 
@@ -868,14 +887,15 @@ struct mapbase_evaluator : evaluator_base<Derived>
   typedef typename XprType::PointerType PointerType;
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
-  
+
   enum {
     IsRowMajor = XprType::RowsAtCompileTime,
     ColsAtCompileTime = XprType::ColsAtCompileTime,
     CoeffReadCost = NumTraits<Scalar>::ReadCost
   };
 
-  EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit mapbase_evaluator(const XprType& map)
     : m_data(const_cast<PointerType>(map.data())),
       m_innerStride(map.innerStride()),
       m_outerStride(map.outerStride())
@@ -939,17 +959,21 @@ struct mapbase_evaluator : evaluator_base<Derived>
     internal::pstoret<Scalar, PacketType, StoreMode>(m_data + index * m_innerStride.value(), x);
   }
 protected:
-  EIGEN_DEVICE_FUNC
-  inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); }
-  EIGEN_DEVICE_FUNC
-  inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+  Index rowStride() const EIGEN_NOEXCEPT {
+    return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value();
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+  Index colStride() const EIGEN_NOEXCEPT {
+     return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value();
+  }
 
   PointerType m_data;
   const internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_innerStride;
   const internal::variable_if_dynamic<Index, XprType::OuterStrideAtCompileTime> m_outerStride;
 };
 
-template<typename PlainObjectType, int MapOptions, typename StrideType> 
+template<typename PlainObjectType, int MapOptions, typename StrideType>
 struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
   : public mapbase_evaluator<Map<PlainObjectType, MapOptions, StrideType>, PlainObjectType>
 {
@@ -957,7 +981,7 @@ struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
   typedef typename XprType::Scalar Scalar;
   // TODO: should check for smaller packet types once we can handle multi-sized packet types
   typedef typename packet_traits<Scalar>::type PacketScalar;
-  
+
   enum {
     InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
                              ? int(PlainObjectType::InnerStrideAtCompileTime)
@@ -969,34 +993,35 @@ struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
     HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
     HasNoStride = HasNoInnerStride && HasNoOuterStride,
     IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
-    
+
     PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit),
     LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit),
     Flags = int( evaluator<PlainObjectType>::Flags) & (LinearAccessMask&PacketAccessMask),
-    
+
     Alignment = int(MapOptions)&int(AlignedMask)
   };
 
   EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map)
-    : mapbase_evaluator<XprType, PlainObjectType>(map) 
+    : mapbase_evaluator<XprType, PlainObjectType>(map)
   { }
 };
 
 // -------------------- Ref --------------------
 
-template<typename PlainObjectType, int RefOptions, typename StrideType> 
+template<typename PlainObjectType, int RefOptions, typename StrideType>
 struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
   : public mapbase_evaluator<Ref<PlainObjectType, RefOptions, StrideType>, PlainObjectType>
 {
   typedef Ref<PlainObjectType, RefOptions, StrideType> XprType;
-  
+
   enum {
     Flags = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Flags,
     Alignment = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Alignment
   };
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref)
-    : mapbase_evaluator<XprType, PlainObjectType>(ref) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& ref)
+    : mapbase_evaluator<XprType, PlainObjectType>(ref)
   { }
 };
 
@@ -1004,8 +1029,8 @@ struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
 
 template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel,
          bool HasDirectAccess = internal::has_direct_access<ArgType>::ret> struct block_evaluator;
-         
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
 struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
   : block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel>
 {
@@ -1013,15 +1038,15 @@ struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
   typedef typename XprType::Scalar Scalar;
   // TODO: should check for smaller packet types once we can handle multi-sized packet types
   typedef typename packet_traits<Scalar>::type PacketScalar;
-  
+
   enum {
     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
+
     RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
     ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
     MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
-    
+
     ArgTypeIsRowMajor = (int(evaluator<ArgType>::Flags)&RowMajorBit) != 0,
     IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1
                : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
@@ -1034,21 +1059,24 @@ struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
     OuterStrideAtCompileTime = HasSameStorageOrderAsArgType
                              ? int(outer_stride_at_compile_time<ArgType>::ret)
                              : int(inner_stride_at_compile_time<ArgType>::ret),
-    MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0,
-    
-    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,    
+    MaskPacketAccessBit = (InnerStrideAtCompileTime == 1 || HasSameStorageOrderAsArgType) ? PacketAccessBit : 0,
+
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,
     FlagsRowMajorBit = XprType::Flags&RowMajorBit,
     Flags0 = evaluator<ArgType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
                                            DirectAccessBit |
                                            MaskPacketAccessBit),
     Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit,
-    
+
     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
-    Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
+    Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic)
+                             && (OuterStrideAtCompileTime!=0)
+                             && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
     Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ArgType>::Alignment, Alignment0)
   };
   typedef block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel> block_evaluator_type;
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& block) : block_evaluator_type(block)
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
   }
@@ -1061,8 +1089,9 @@ struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /*HasDirectAcc
 {
   typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
 
-  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
-    : unary_evaluator<XprType>(block) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit block_evaluator(const XprType& block)
+    : unary_evaluator<XprType>(block)
   {}
 };
 
@@ -1072,84 +1101,116 @@ struct unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>, IndexBa
 {
   typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block)
-    : m_argImpl(block.nestedExpression()), 
-      m_startRow(block.startRow()), 
-      m_startCol(block.startCol()) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& block)
+    : m_argImpl(block.nestedExpression()),
+      m_startRow(block.startRow()),
+      m_startCol(block.startCol()),
+      m_linear_offset(ForwardLinearAccess?(ArgType::IsRowMajor ? block.startRow()*block.nestedExpression().cols() + block.startCol() : block.startCol()*block.nestedExpression().rows() + block.startRow()):0)
   { }
- 
+
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
 
   enum {
-    RowsAtCompileTime = XprType::RowsAtCompileTime
+    RowsAtCompileTime = XprType::RowsAtCompileTime,
+    ForwardLinearAccess = (InnerPanel || int(XprType::IsRowMajor)==int(ArgType::IsRowMajor)) && bool(evaluator<ArgType>::Flags&LinearAccessBit)
   };
- 
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeff(Index row, Index col) const
-  { 
-    return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); 
+  {
+    return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col);
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeff(Index index) const
-  { 
-    return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  {
+    return linear_coeff_impl(index, bool_constant<ForwardLinearAccess>());
   }
 
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   Scalar& coeffRef(Index row, Index col)
-  { 
-    return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); 
+  {
+    return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col);
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   Scalar& coeffRef(Index index)
-  { 
-    return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  {
+    return linear_coeffRef_impl(index, bool_constant<ForwardLinearAccess>());
   }
- 
+
   template<int LoadMode, typename PacketType>
   EIGEN_STRONG_INLINE
-  PacketType packet(Index row, Index col) const 
-  { 
-    return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col); 
+  PacketType packet(Index row, Index col) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col);
   }
 
   template<int LoadMode, typename PacketType>
   EIGEN_STRONG_INLINE
-  PacketType packet(Index index) const 
-  { 
-    return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
-                                       RowsAtCompileTime == 1 ? index : 0);
+  PacketType packet(Index index) const
+  {
+    if (ForwardLinearAccess)
+      return m_argImpl.template packet<LoadMode,PacketType>(m_linear_offset.value() + index);
+    else
+      return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                         RowsAtCompileTime == 1 ? index : 0);
   }
-  
+
   template<int StoreMode, typename PacketType>
   EIGEN_STRONG_INLINE
-  void writePacket(Index row, Index col, const PacketType& x) 
+  void writePacket(Index row, Index col, const PacketType& x)
   {
-    return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x); 
+    return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x);
   }
-  
+
   template<int StoreMode, typename PacketType>
   EIGEN_STRONG_INLINE
-  void writePacket(Index index, const PacketType& x) 
+  void writePacket(Index index, const PacketType& x)
   {
-    return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
-                                             RowsAtCompileTime == 1 ? index : 0,
-                                             x);
+    if (ForwardLinearAccess)
+      return m_argImpl.template writePacket<StoreMode,PacketType>(m_linear_offset.value() + index, x);
+    else
+      return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                              RowsAtCompileTime == 1 ? index : 0,
+                                              x);
   }
- 
+
 protected:
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType linear_coeff_impl(Index index, internal::true_type /* ForwardLinearAccess */) const
+  {
+    return m_argImpl.coeff(m_linear_offset.value() + index);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType linear_coeff_impl(Index index, internal::false_type /* not ForwardLinearAccess */) const
+  {
+    return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& linear_coeffRef_impl(Index index, internal::true_type /* ForwardLinearAccess */)
+  {
+    return m_argImpl.coeffRef(m_linear_offset.value() + index);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& linear_coeffRef_impl(Index index, internal::false_type /* not ForwardLinearAccess */)
+  {
+    return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+
   evaluator<ArgType> m_argImpl;
   const variable_if_dynamic<Index, (ArgType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
   const variable_if_dynamic<Index, (ArgType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+  const variable_if_dynamic<Index, ForwardLinearAccess ? Dynamic : 0> m_linear_offset;
 };
 
-// TODO: This evaluator does not actually use the child evaluator; 
+// TODO: This evaluator does not actually use the child evaluator;
 // all action is via the data() as returned by the Block expression.
 
-template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
 struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAccess */ true>
   : mapbase_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>,
                       typename Block<ArgType, BlockRows, BlockCols, InnerPanel>::PlainObject>
@@ -1157,8 +1218,9 @@ struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAc
   typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
   typedef typename XprType::Scalar Scalar;
 
-  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
-    : mapbase_evaluator<XprType, typename XprType::PlainObject>(block) 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit block_evaluator(const XprType& block)
+    : mapbase_evaluator<XprType, typename XprType::PlainObject>(block)
   {
     // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
     eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
@@ -1181,18 +1243,19 @@ struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
                                          evaluator<ElseMatrixType>::CoeffReadCost),
 
     Flags = (unsigned int)evaluator<ThenMatrixType>::Flags & evaluator<ElseMatrixType>::Flags & HereditaryBits,
-    
+
     Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ThenMatrixType>::Alignment, evaluator<ElseMatrixType>::Alignment)
   };
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& select)
     : m_conditionImpl(select.conditionMatrix()),
       m_thenImpl(select.thenMatrix()),
       m_elseImpl(select.elseMatrix())
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
   }
- 
+
   typedef typename XprType::CoeffReturnType CoeffReturnType;
 
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
@@ -1212,7 +1275,7 @@ struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
     else
       return m_elseImpl.coeff(index);
   }
- 
+
 protected:
   evaluator<ConditionMatrixType> m_conditionImpl;
   evaluator<ThenMatrixType> m_thenImpl;
@@ -1222,7 +1285,7 @@ struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
 
 // -------------------- Replicate --------------------
 
-template<typename ArgType, int RowFactor, int ColFactor> 
+template<typename ArgType, int RowFactor, int ColFactor>
 struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
   : evaluator_base<Replicate<ArgType, RowFactor, ColFactor> >
 {
@@ -1233,22 +1296,23 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
   };
   typedef typename internal::nested_eval<ArgType,Factor>::type ArgTypeNested;
   typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
-  
+
   enum {
     CoeffReadCost = evaluator<ArgTypeNestedCleaned>::CoeffReadCost,
     LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0,
     Flags = (evaluator<ArgTypeNestedCleaned>::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits<XprType>::Flags & RowMajorBit),
-    
+
     Alignment = evaluator<ArgTypeNestedCleaned>::Alignment
   };
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& replicate)
     : m_arg(replicate.nestedExpression()),
       m_argImpl(m_arg),
       m_rows(replicate.nestedExpression().rows()),
       m_cols(replicate.nestedExpression().cols())
   {}
- 
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeff(Index row, Index col) const
   {
@@ -1259,10 +1323,10 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
     const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
                            : ColFactor==1 ? col
                            : col % m_cols.value();
-    
+
     return m_argImpl.coeff(actual_row, actual_col);
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeff(Index index) const
   {
@@ -1270,7 +1334,7 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
     const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
                                   ? (ColFactor==1 ?  index : index%m_cols.value())
                                   : (RowFactor==1 ?  index : index%m_rows.value());
-    
+
     return m_argImpl.coeff(actual_index);
   }
 
@@ -1287,7 +1351,7 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
 
     return m_argImpl.template packet<LoadMode,PacketType>(actual_row, actual_col);
   }
-  
+
   template<int LoadMode, typename PacketType>
   EIGEN_STRONG_INLINE
   PacketType packet(Index index) const
@@ -1298,7 +1362,7 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
 
     return m_argImpl.template packet<LoadMode,PacketType>(actual_index);
   }
- 
+
 protected:
   const ArgTypeNested m_arg;
   evaluator<ArgTypeNestedCleaned> m_argImpl;
@@ -1306,64 +1370,6 @@ struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
   const variable_if_dynamic<Index, ArgType::ColsAtCompileTime> m_cols;
 };
 
-
-// -------------------- PartialReduxExpr --------------------
-
-template< typename ArgType, typename MemberOp, int Direction>
-struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
-  : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
-{
-  typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
-  typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
-  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
-  typedef typename ArgType::Scalar InputScalar;
-  typedef typename XprType::Scalar Scalar;
-  enum {
-    TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) :  int(ArgType::ColsAtCompileTime)
-  };
-  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
-  enum {
-    CoeffReadCost = TraversalSize==Dynamic ? HugeCost
-                  : TraversalSize * evaluator<ArgType>::CoeffReadCost + int(CostOpType::value),
-    
-    Flags = (traits<XprType>::Flags&RowMajorBit) | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit,
-    
-    Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
-  };
-
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
-    : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
-  {
-    EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value));
-    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
-  }
-
-  typedef typename XprType::CoeffReturnType CoeffReturnType;
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Scalar coeff(Index i, Index j) const
-  {
-    if (Direction==Vertical)
-      return m_functor(m_arg.col(j));
-    else
-      return m_functor(m_arg.row(i));
-  }
-
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-  const Scalar coeff(Index index) const
-  {
-    if (Direction==Vertical)
-      return m_functor(m_arg.col(index));
-    else
-      return m_functor(m_arg.row(index));
-  }
-
-protected:
-  typename internal::add_const_on_value_type<ArgTypeNested>::type m_arg;
-  const MemberOp m_functor;
-};
-
-
 // -------------------- MatrixWrapper and ArrayWrapper --------------------
 //
 // evaluator_wrapper_base<T> is a common base class for the
@@ -1380,7 +1386,8 @@ struct evaluator_wrapper_base
     Alignment = evaluator<ArgType>::Alignment
   };
 
-  EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
 
   typedef typename ArgType::Scalar Scalar;
   typedef typename ArgType::CoeffReturnType CoeffReturnType;
@@ -1447,7 +1454,8 @@ struct unary_evaluator<MatrixWrapper<TArgType> >
 {
   typedef MatrixWrapper<TArgType> XprType;
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& wrapper)
     : evaluator_wrapper_base<MatrixWrapper<TArgType> >(wrapper.nestedExpression())
   { }
 };
@@ -1458,7 +1466,8 @@ struct unary_evaluator<ArrayWrapper<TArgType> >
 {
   typedef ArrayWrapper<TArgType> XprType;
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& wrapper)
     : evaluator_wrapper_base<ArrayWrapper<TArgType> >(wrapper.nestedExpression())
   { }
 };
@@ -1485,9 +1494,9 @@ struct unary_evaluator<Reverse<ArgType, Direction> >
     ReversePacket = (Direction == BothDirections)
                     || ((Direction == Vertical)   && IsColMajor)
                     || ((Direction == Horizontal) && IsRowMajor),
-                    
+
     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
+
     // let's enable LinearAccess only with vectorization because of the product overhead
     // FIXME enable DirectAccess with negative strides?
     Flags0 = evaluator<ArgType>::Flags,
@@ -1496,16 +1505,17 @@ struct unary_evaluator<Reverse<ArgType, Direction> >
                  ? LinearAccessBit : 0,
 
     Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess),
-    
+
     Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f.
   };
 
-  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& reverse)
     : m_argImpl(reverse.nestedExpression()),
       m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1),
       m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1)
   { }
- 
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeff(Index row, Index col) const
   {
@@ -1580,7 +1590,7 @@ struct unary_evaluator<Reverse<ArgType, Direction> >
     m_argImpl.template writePacket<LoadMode>
       (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x));
   }
- 
+
 protected:
   evaluator<ArgType> m_argImpl;
 
@@ -1598,20 +1608,21 @@ struct evaluator<Diagonal<ArgType, DiagIndex> >
   : evaluator_base<Diagonal<ArgType, DiagIndex> >
 {
   typedef Diagonal<ArgType, DiagIndex> XprType;
-  
+
   enum {
     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
-    
+
     Flags = (unsigned int)(evaluator<ArgType>::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit,
-    
+
     Alignment = 0
   };
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit evaluator(const XprType& diagonal)
     : m_argImpl(diagonal.nestedExpression()),
       m_index(diagonal.index())
   { }
- 
+
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
 
@@ -1644,8 +1655,10 @@ struct evaluator<Diagonal<ArgType, DiagIndex> >
   const internal::variable_if_dynamicindex<Index, XprType::DiagIndex> m_index;
 
 private:
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+  Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+  Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
 };
 
 
@@ -1669,25 +1682,25 @@ class EvalToTemp
   : public dense_xpr_base<EvalToTemp<ArgType> >::type
 {
  public:
- 
+
   typedef typename dense_xpr_base<EvalToTemp>::type Base;
   EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp)
- 
+
   explicit EvalToTemp(const ArgType& arg)
     : m_arg(arg)
   { }
- 
+
   const ArgType& arg() const
   {
     return m_arg;
   }
 
-  Index rows() const 
+  EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT
   {
     return m_arg.rows();
   }
 
-  Index cols() const 
+  EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT
   {
     return m_arg.cols();
   }
@@ -1695,7 +1708,7 @@ class EvalToTemp
  private:
   const ArgType& m_arg;
 };
- 
+
 template<typename ArgType>
 struct evaluator<EvalToTemp<ArgType> >
   : public evaluator<typename ArgType::PlainObject>
@@ -1703,7 +1716,7 @@ struct evaluator<EvalToTemp<ArgType> >
   typedef EvalToTemp<ArgType>                   XprType;
   typedef typename ArgType::PlainObject         PlainObject;
   typedef evaluator<PlainObject> Base;
-  
+
   EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
     : m_result(xpr.arg())
   {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseBinaryOp.h b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseBinaryOp.h
index bf2632d9ed..2202b1cc6b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseBinaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseBinaryOp.h
@@ -74,7 +74,7 @@ class CwiseBinaryOpImpl;
   * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
   */
 template<typename BinaryOp, typename LhsType, typename RhsType>
-class CwiseBinaryOp : 
+class CwiseBinaryOp :
   public CwiseBinaryOpImpl<
           BinaryOp, LhsType, RhsType,
           typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
@@ -83,7 +83,7 @@ class CwiseBinaryOp :
   internal::no_assignment_operator
 {
   public:
-    
+
     typedef typename internal::remove_all<BinaryOp>::type Functor;
     typedef typename internal::remove_all<LhsType>::type Lhs;
     typedef typename internal::remove_all<RhsType>::type Rhs;
@@ -100,8 +100,14 @@ class CwiseBinaryOp :
     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
     typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
 
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
+#if EIGEN_COMP_MSVC && EIGEN_HAS_CXX11
+    //Required for Visual Studio or the Copy constructor will probably not get inlined!
+    EIGEN_STRONG_INLINE
+    CwiseBinaryOp(const CwiseBinaryOp<BinaryOp,LhsType,RhsType>&) = default;
+#endif
+
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
       : m_lhs(aLhs), m_rhs(aRhs), m_functor(func)
     {
       EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
@@ -110,31 +116,25 @@ class CwiseBinaryOp :
       eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
     }
 
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const {
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT {
       // 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();
+      return internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic ? m_rhs.rows() : m_lhs.rows();
     }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const {
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT {
       // 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();
+      return internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic ? m_rhs.cols() : m_lhs.cols();
     }
 
     /** \returns the left hand side nested expression */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const _LhsNested& lhs() const { return m_lhs; }
     /** \returns the right hand side nested expression */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const _RhsNested& rhs() const { return m_rhs; }
     /** \returns the functor representing the binary operation */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const BinaryOp& functor() const { return m_functor; }
 
   protected:
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseNullaryOp.h b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseNullaryOp.h
index b1923da0f2..289ec510a8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseNullaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseNullaryOp.h
@@ -74,10 +74,10 @@ class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp
             && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
     }
 
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const { return m_rows.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const { return m_cols.value(); }
 
     /** \returns the functor representing the nullary operation */
     EIGEN_DEVICE_FUNC
@@ -105,7 +105,12 @@ class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+const CwiseNullaryOp<CustomNullaryOp,typename DenseBase<Derived>::PlainObject>
+#else
+const CwiseNullaryOp<CustomNullaryOp,PlainObject>
+#endif
 DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
 {
   return CwiseNullaryOp<CustomNullaryOp, PlainObject>(rows, cols, func);
@@ -126,12 +131,17 @@ DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& f
   *
   * Here is an example with C++11 random generators: \include random_cpp11.cpp
   * Output: \verbinclude random_cpp11.out
-  * 
+  *
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+#else
+const CwiseNullaryOp<CustomNullaryOp, PlainObject>
+#endif
 DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
@@ -150,7 +160,12 @@ DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
+#else
+const CwiseNullaryOp<CustomNullaryOp, PlainObject>
+#endif
 DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
 {
   return CwiseNullaryOp<CustomNullaryOp, PlainObject>(RowsAtCompileTime, ColsAtCompileTime, func);
@@ -217,27 +232,32 @@ DenseBase<Derived>::Constant(const Scalar& value)
 
 /** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
   *
-  * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
+  * \only_for_vectors
+  *
+  * Example: \include DenseBase_LinSpaced_seq_deprecated.cpp
+  * Output: \verbinclude DenseBase_LinSpaced_seq_deprecated.out
+  *
+  * \sa LinSpaced(Index,const Scalar&, const Scalar&), setLinSpaced(Index,const Scalar&,const Scalar&)
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEPRECATED EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 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,PacketScalar>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar>(low,high,size));
 }
 
 /** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
   *
-  * \sa LinSpaced(Scalar,Scalar)
+  * \sa LinSpaced(const Scalar&, const Scalar&)
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
+EIGEN_DEPRECATED EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 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,PacketScalar>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /**
@@ -268,7 +288,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomA
 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,PacketScalar>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar>(low,high,size));
 }
 
 /**
@@ -281,7 +301,7 @@ DenseBase<Derived>::LinSpaced(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,PacketScalar>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */
@@ -363,6 +383,33 @@ PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& val)
   return setConstant(val);
 }
 
+/** Resizes to the given size, changing only the number of columns, and sets all
+  * coefficients in this expression to the given value \a val. For the parameter
+  * of type NoChange_t, just pass the special value \c NoChange.
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(NoChange_t, Index cols, const Scalar& val)
+{
+  return setConstant(rows(), cols, val);
+}
+
+/** Resizes to the given size, changing only the number of rows, and sets all
+  * coefficients in this expression to the given value \a val. For the parameter
+  * of type NoChange_t, just pass the special value \c NoChange.
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(Index,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setConstant(Index rows, NoChange_t, const Scalar& val)
+{
+  return setConstant(rows, cols(), val);
+}
+
+
 /**
   * \brief Sets a linearly spaced vector.
   *
@@ -383,7 +430,7 @@ template<typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,PacketScalar>(low,high,newSize));
+  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar>(low,high,newSize));
 }
 
 /**
@@ -536,6 +583,32 @@ PlainObjectBase<Derived>::setZero(Index rows, Index cols)
   return setConstant(Scalar(0));
 }
 
+/** Resizes to the given size, changing only the number of columns, and sets all
+  * coefficients in this expression to zero. For the parameter of type NoChange_t,
+  * just pass the special value \c NoChange.
+  *
+  * \sa DenseBase::setZero(), setZero(Index), setZero(Index, Index), setZero(Index, NoChange_t), class CwiseNullaryOp, DenseBase::Zero()
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(NoChange_t, Index cols)
+{
+  return setZero(rows(), cols);
+}
+
+/** Resizes to the given size, changing only the number of rows, and sets all
+  * coefficients in this expression to zero. For the parameter of type NoChange_t,
+  * just pass the special value \c NoChange.
+  *
+  * \sa DenseBase::setZero(), setZero(Index), setZero(Index, Index), setZero(NoChange_t, Index), class CwiseNullaryOp, DenseBase::Zero()
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setZero(Index rows, NoChange_t)
+{
+  return setZero(rows, cols());
+}
+
 // ones:
 
 /** \returns an expression of a matrix where all coefficients equal one.
@@ -662,6 +735,32 @@ PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
   return setConstant(Scalar(1));
 }
 
+/** Resizes to the given size, changing only the number of rows, and sets all
+  * coefficients in this expression to one. For the parameter of type NoChange_t,
+  * just pass the special value \c NoChange.
+  *
+ * \sa MatrixBase::setOnes(), setOnes(Index), setOnes(Index, Index), setOnes(NoChange_t, Index), class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(Index rows, NoChange_t)
+{
+  return setOnes(rows, cols());
+}
+
+/** Resizes to the given size, changing only the number of columns, and sets all
+  * coefficients in this expression to one. For the parameter of type NoChange_t,
+  * just pass the special value \c NoChange.
+  *
+ * \sa MatrixBase::setOnes(), setOnes(Index), setOnes(Index, Index), setOnes(Index, NoChange_t) class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setOnes(NoChange_t, Index cols)
+{
+  return setOnes(rows(), cols);
+}
+
 // Identity:
 
 /** \returns an expression of the identity matrix (not necessarily square).
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryOp.h b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryOp.h
index 1d2dd19f2b..e68c4f7480 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryOp.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_CWISE_UNARY_OP_H
 #define EIGEN_CWISE_UNARY_OP_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 template<typename UnaryOp, typename XprType>
@@ -24,7 +24,7 @@ struct traits<CwiseUnaryOp<UnaryOp, XprType> >
   typedef typename XprType::Nested XprTypeNested;
   typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
   enum {
-    Flags = _XprTypeNested::Flags & RowMajorBit 
+    Flags = _XprTypeNested::Flags & RowMajorBit
   };
 };
 }
@@ -65,10 +65,10 @@ class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal
     explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
       : m_xpr(xpr), m_functor(func) {}
 
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Index rows() const { return m_xpr.rows(); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-    Index cols() const { return m_xpr.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_xpr.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_xpr.cols(); }
 
     /** \returns the functor representing the unary operation */
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryView.h b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryView.h
index 2710330562..a06d7621ec 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryView.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/CwiseUnaryView.h
@@ -64,24 +64,26 @@ class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename in
     typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
     typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-    explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp())
+    explicit EIGEN_DEVICE_FUNC inline CwiseUnaryView(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(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
     /** \returns the functor representing unary operation */
-    const ViewOp& functor() const { return m_functor; }
+    EIGEN_DEVICE_FUNC const ViewOp& functor() const { return m_functor; }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<MatrixTypeNested>::type&
+    EIGEN_DEVICE_FUNC const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    typename internal::remove_reference<MatrixTypeNested>::type&
-    nestedExpression() { return m_matrix.const_cast_derived(); }
+    EIGEN_DEVICE_FUNC typename internal::remove_reference<MatrixTypeNested>::type&
+    nestedExpression() { return m_matrix; }
 
   protected:
     MatrixTypeNested m_matrix;
@@ -108,19 +110,21 @@ class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
 
     EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl)
-    
+
     EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); }
     EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); }
 
-    EIGEN_DEVICE_FUNC inline Index innerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index innerStride() const
     {
       return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
 
-    EIGEN_DEVICE_FUNC inline Index outerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index outerStride() const
     {
       return derived().nestedExpression().outerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
+  protected:
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(CwiseUnaryViewImpl)
 };
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/DenseBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/DenseBase.h
index fd933eed45..9b16db68d4 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/DenseBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/DenseBase.h
@@ -14,15 +14,15 @@
 namespace Eigen {
 
 namespace internal {
-  
+
 // The index type defined by EIGEN_DEFAULT_DENSE_INDEX_TYPE must be a signed type.
 // This dummy function simply aims at checking that at compile time.
 static inline void check_DenseIndex_is_signed() {
-  EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE); 
+  EIGEN_STATIC_ASSERT(NumTraits<DenseIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE)
 }
 
 } // end namespace internal
-  
+
 /** \class DenseBase
   * \ingroup Core_Module
   *
@@ -40,7 +40,7 @@ static inline void check_DenseIndex_is_signed() {
   */
 template<typename Derived> class DenseBase
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-  : public DenseCoeffsBase<Derived>
+  : public DenseCoeffsBase<Derived, internal::accessors_level<Derived>::value>
 #else
   : public DenseCoeffsBase<Derived,DirectWriteAccessors>
 #endif // not EIGEN_PARSED_BY_DOXYGEN
@@ -64,14 +64,14 @@ template<typename Derived> class DenseBase
 
     /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc. */
     typedef typename internal::traits<Derived>::Scalar Scalar;
-    
+
     /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
       *
       * It is an alias for the Scalar type */
     typedef Scalar value_type;
-    
+
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef DenseCoeffsBase<Derived> Base;
+    typedef DenseCoeffsBase<Derived, internal::accessors_level<Derived>::value> Base;
 
     using Base::derived;
     using Base::const_cast_derived;
@@ -150,13 +150,18 @@ template<typename Derived> class DenseBase
           * \sa SizeAtCompileTime, MaxRowsAtCompileTime, MaxColsAtCompileTime
           */
 
-      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
-                           || internal::traits<Derived>::MaxColsAtCompileTime == 1,
+      IsVectorAtCompileTime = internal::traits<Derived>::RowsAtCompileTime == 1
+                           || internal::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). */
 
+      NumDimensions = int(MaxSizeAtCompileTime) == 1 ? 0 : bool(IsVectorAtCompileTime) ? 1 : 2,
+        /**< This value is equal to Tensor::NumDimensions, i.e. 0 for scalars, 1 for vectors,
+         * and 2 for matrices.
+         */
+
       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".
@@ -170,11 +175,11 @@ template<typename Derived> class DenseBase
       InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
       OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
     };
-    
+
     typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
 
     enum { IsPlainObjectBase = 0 };
-    
+
     /** The plain matrix type corresponding to this expression.
       * \sa PlainObject */
     typedef Matrix<typename internal::traits<Derived>::Scalar,
@@ -184,7 +189,7 @@ template<typename Derived> class DenseBase
                 internal::traits<Derived>::MaxRowsAtCompileTime,
                 internal::traits<Derived>::MaxColsAtCompileTime
           > PlainMatrix;
-    
+
     /** The plain array type corresponding to this expression.
       * \sa PlainObject */
     typedef Array<typename internal::traits<Derived>::Scalar,
@@ -206,7 +211,7 @@ template<typename Derived> class DenseBase
 
     /** \returns the number of nonzero coefficients which is in practice the number
       * of stored coefficients. */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index nonZeros() const { return size(); }
 
     /** \returns the outer size.
@@ -214,7 +219,7 @@ template<typename Derived> class DenseBase
       * \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. */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     Index outerSize() const
     {
       return IsVectorAtCompileTime ? 1
@@ -224,9 +229,9 @@ template<typename Derived> class DenseBase
     /** \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 
+      * 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. */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     Index innerSize() const
     {
       return IsVectorAtCompileTime ? this->size()
@@ -261,9 +266,9 @@ template<typename Derived> class DenseBase
     /** \internal Represents a matrix with all coefficients equal to one another*/
     typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
     /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> SequentialLinSpacedReturnType;
+    EIGEN_DEPRECATED typedef CwiseNullaryOp<internal::linspaced_op<Scalar>,PlainObject> SequentialLinSpacedReturnType;
     /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> RandomAccessLinSpacedReturnType;
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar>,PlainObject> RandomAccessLinSpacedReturnType;
     /** \internal the return type of MatrixBase::eigenvalues() */
     typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
 
@@ -297,17 +302,17 @@ template<typename Derived> class DenseBase
     Derived& operator=(const ReturnByValue<OtherDerived>& func);
 
     /** \internal
-      * Copies \a other into *this without evaluating other. \returns a reference to *this.
-      * \deprecated */
+      * Copies \a other into *this without evaluating other. \returns a reference to *this. */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    /** \deprecated */
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC
     Derived& lazyAssign(const DenseBase<OtherDerived>& other);
 
     EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const Scalar& s);
 
-    /** \deprecated it now returns \c *this */
     template<unsigned int Added,unsigned int Removed>
+    /** \deprecated it now returns \c *this */
     EIGEN_DEPRECATED
     const Derived& flagged() const
     { return derived(); }
@@ -332,12 +337,13 @@ template<typename Derived> class DenseBase
     EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(const Scalar& value);
 
-    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
+    LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
+
     EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(Index size, const Scalar& low, const Scalar& high);
-    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
-    LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
     EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(const Scalar& low, const Scalar& high);
 
@@ -369,7 +375,7 @@ template<typename Derived> class DenseBase
     template<typename OtherDerived> EIGEN_DEVICE_FUNC
     bool isApprox(const DenseBase<OtherDerived>& other,
                   const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     bool isMuchSmallerThan(const RealScalar& other,
                            const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
     template<typename OtherDerived> EIGEN_DEVICE_FUNC
@@ -380,7 +386,7 @@ template<typename Derived> class DenseBase
     EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
     EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
     EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    
+
     inline bool hasNaN() const;
     inline bool allFinite() const;
 
@@ -394,8 +400,8 @@ template<typename Derived> class DenseBase
       *
       * 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.
-      * 
-      * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
+      *
+      * \warning Be careful with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
       */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE EvalReturnType eval() const
@@ -405,12 +411,12 @@ template<typename Derived> class DenseBase
       // size types on MSVC.
       return typename internal::eval<Derived>::type(derived());
     }
-    
+
     /** swaps *this with the expression \a other.
       *
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void swap(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
@@ -422,7 +428,7 @@ template<typename Derived> class DenseBase
       *
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void swap(PlainObjectBase<OtherDerived>& other)
     {
       eigen_assert(rows()==other.rows() && cols()==other.cols());
@@ -443,18 +449,58 @@ template<typename Derived> class DenseBase
 
     EIGEN_DEVICE_FUNC Scalar prod() const;
 
+    template<int NaNPropagation>
     EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar minCoeff() const;
+    template<int NaNPropagation>
     EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar maxCoeff() const;
 
-    template<typename IndexType> EIGEN_DEVICE_FUNC
+
+    // By default, the fastest version with undefined NaN propagation semantics is
+    // used.
+    // TODO(rmlarsen): Replace with default template argument when we move to
+    // c++11 or beyond.
+    EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar minCoeff() const {
+      return minCoeff<PropagateFast>();
+    }
+    EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar maxCoeff() const {
+      return maxCoeff<PropagateFast>();
+    }
+
+    template<int NaNPropagation, typename IndexType>
+    EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
+    template<int NaNPropagation, typename IndexType>
+    EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
+    template<int NaNPropagation, typename IndexType>
+    EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
-    template<typename IndexType> EIGEN_DEVICE_FUNC
+    template<int NaNPropagation, typename IndexType>
+    EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
 
+    // TODO(rmlarsen): Replace these methods with a default template argument.
+    template<typename IndexType>
+    EIGEN_DEVICE_FUNC inline
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const {
+      return minCoeff<PropagateFast>(row, col);
+    }
+    template<typename IndexType>
+    EIGEN_DEVICE_FUNC inline
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const {
+      return maxCoeff<PropagateFast>(row, col);
+    }
+    template<typename IndexType>
+     EIGEN_DEVICE_FUNC inline
+    typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const {
+      return minCoeff<PropagateFast>(index);
+    }
+    template<typename IndexType>
+    EIGEN_DEVICE_FUNC inline
+    typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const {
+      return maxCoeff<PropagateFast>(index);
+    }
+  
     template<typename BinaryOp>
     EIGEN_DEVICE_FUNC
     Scalar redux(const BinaryOp& func) const;
@@ -493,7 +539,7 @@ template<typename Derived> class DenseBase
     typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
     typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
 
-    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    /** \returns a VectorwiseOp wrapper of *this for broadcasting and partial reductions
     *
     * Example: \include MatrixBase_rowwise.cpp
     * Output: \verbinclude MatrixBase_rowwise.out
@@ -506,7 +552,7 @@ template<typename Derived> class DenseBase
     }
     EIGEN_DEVICE_FUNC RowwiseReturnType rowwise();
 
-    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    /** \returns a VectorwiseOp wrapper of *this broadcasting and partial reductions
     *
     * Example: \include MatrixBase_colwise.cpp
     * Output: \verbinclude MatrixBase_colwise.out
@@ -524,16 +570,16 @@ template<typename Derived> class DenseBase
     static const RandomReturnType Random();
 
     template<typename ThenDerived,typename ElseDerived>
-    const Select<Derived,ThenDerived,ElseDerived>
+    inline EIGEN_DEVICE_FUNC 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>
+    inline EIGEN_DEVICE_FUNC const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
     select(const DenseBase<ThenDerived>& thenMatrix, const typename ThenDerived::Scalar& elseScalar) const;
 
     template<typename ElseDerived>
-    inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+    inline EIGEN_DEVICE_FUNC const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
     select(const typename ElseDerived::Scalar& thenScalar, const DenseBase<ElseDerived>& elseMatrix) const;
 
     template<int p> RealScalar lpNorm() const;
@@ -567,6 +613,44 @@ template<typename Derived> class DenseBase
     }
     EIGEN_DEVICE_FUNC void reverseInPlace();
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    /** STL-like <a href="https://en.cppreference.com/w/cpp/named_req/RandomAccessIterator">RandomAccessIterator</a>
+      * iterator type as returned by the begin() and end() methods.
+      */
+    typedef random_access_iterator_type iterator;
+    /** This is the const version of iterator (aka read-only) */
+    typedef random_access_iterator_type const_iterator;
+    #else
+    typedef typename internal::conditional< (Flags&DirectAccessBit)==DirectAccessBit,
+                                            internal::pointer_based_stl_iterator<Derived>,
+                                            internal::generic_randaccess_stl_iterator<Derived>
+                                          >::type iterator_type;
+
+    typedef typename internal::conditional< (Flags&DirectAccessBit)==DirectAccessBit,
+                                            internal::pointer_based_stl_iterator<const Derived>,
+                                            internal::generic_randaccess_stl_iterator<const Derived>
+                                          >::type const_iterator_type;
+
+    // Stl-style iterators are supported only for vectors.
+
+    typedef typename internal::conditional< IsVectorAtCompileTime,
+                                            iterator_type,
+                                            void
+                                          >::type iterator;
+
+    typedef typename internal::conditional< IsVectorAtCompileTime,
+                                            const_iterator_type,
+                                            void
+                                          >::type const_iterator;
+    #endif
+
+    inline iterator begin();
+    inline const_iterator begin() const;
+    inline const_iterator cbegin() const;
+    inline iterator end();
+    inline const_iterator end() const;
+    inline const_iterator cend() const;
+
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
 #define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 #define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
@@ -574,6 +658,7 @@ template<typename Derived> class DenseBase
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/BlockMethods.h"
 #   include "../plugins/IndexedViewMethods.h"
+#   include "../plugins/ReshapedMethods.h"
 #   ifdef EIGEN_DENSEBASE_PLUGIN
 #     include EIGEN_DENSEBASE_PLUGIN
 #   endif
@@ -591,11 +676,12 @@ template<typename Derived> class DenseBase
     }
 
   protected:
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(DenseBase)
     /** Default constructor. Do nothing. */
     EIGEN_DEVICE_FUNC 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
+       * Only do it when debugging Eigen, as this borders on paranoia and could slow compilation down
        */
 #ifdef EIGEN_INTERNAL_DEBUGGING
       EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, int(IsRowMajor))
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/DenseCoeffsBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/DenseCoeffsBase.h
index c4af48ab69..37fcdb5911 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/DenseCoeffsBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/DenseCoeffsBase.h
@@ -22,11 +22,12 @@ template<typename T> struct add_const_on_value_type_if_arithmetic
 /** \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
+  *
+  * \note #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
   */
@@ -288,12 +289,13 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
 /** \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
+  *
+  * \note #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>
@@ -466,7 +468,8 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
 /** \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
+  *
+  * \note #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
@@ -492,7 +495,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa outerStride(), rowStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index innerStride() const
     {
       return derived().innerStride();
@@ -503,14 +506,14 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), rowStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index outerStride() const
     {
       return derived().outerStride();
     }
 
     // FIXME shall we remove it ?
-    inline Index stride() const
+    EIGEN_CONSTEXPR inline Index stride() const
     {
       return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
     }
@@ -519,7 +522,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index rowStride() const
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
@@ -529,7 +532,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index colStride() const
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
@@ -539,7 +542,8 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
 /** \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
+  *
+  * \note #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
@@ -566,8 +570,8 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa outerStride(), rowStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT
     {
       return derived().innerStride();
     }
@@ -577,14 +581,14 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), rowStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT
     {
       return derived().outerStride();
     }
 
     // FIXME shall we remove it ?
-    inline Index stride() const
+    EIGEN_CONSTEXPR inline Index stride() const EIGEN_NOEXCEPT
     {
       return Derived::IsVectorAtCompileTime ? innerStride() : outerStride();
     }
@@ -593,8 +597,8 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), colStride()
       */
-    EIGEN_DEVICE_FUNC
-    inline Index rowStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rowStride() const EIGEN_NOEXCEPT
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
     }
@@ -603,8 +607,8 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
-    EIGEN_DEVICE_FUNC
-    inline Index colStride() const
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index colStride() const EIGEN_NOEXCEPT
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
     }
@@ -615,7 +619,7 @@ namespace internal {
 template<int Alignment, typename Derived, bool JustReturnZero>
 struct first_aligned_impl
 {
-  static inline Index run(const Derived&)
+  static EIGEN_CONSTEXPR inline Index run(const Derived&) EIGEN_NOEXCEPT
   { return 0; }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/DenseStorage.h b/examples/ThirdPartyLibs/Eigen/src/Core/DenseStorage.h
index 7958feeb9c..08ef6c5306 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/DenseStorage.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/DenseStorage.h
@@ -47,21 +47,21 @@ struct plain_array
 
   EIGEN_DEVICE_FUNC
   plain_array()
-  { 
+  {
     check_static_allocation_size<T,Size>();
   }
 
   EIGEN_DEVICE_FUNC
   plain_array(constructor_without_unaligned_array_assert)
-  { 
+  {
     check_static_allocation_size<T,Size>();
   }
 };
 
 #if defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
   #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask)
-#elif EIGEN_GNUC_AT_LEAST(4,7) 
-  // GCC 4.7 is too aggressive in its optimizations and remove the alignement test based on the fact the array is declared to be aligned.
+#elif EIGEN_GNUC_AT_LEAST(4,7)
+  // GCC 4.7 is too aggressive in its optimizations and remove the alignment test based on the fact the array is declared to be aligned.
   // See this bug report: http://gcc.gnu.org/bugzilla/show_bug.cgi?id=53900
   // Hiding the origin of the array pointer behind a function argument seems to do the trick even if the function is inlined:
   template<typename PtrType>
@@ -85,15 +85,15 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 8>
   EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size];
 
   EIGEN_DEVICE_FUNC
-  plain_array() 
+  plain_array()
   {
     EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7);
     check_static_allocation_size<T,Size>();
   }
 
   EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
+  plain_array(constructor_without_unaligned_array_assert)
+  {
     check_static_allocation_size<T,Size>();
   }
 };
@@ -104,15 +104,15 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 16>
   EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size];
 
   EIGEN_DEVICE_FUNC
-  plain_array() 
-  { 
+  plain_array()
+  {
     EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15);
     check_static_allocation_size<T,Size>();
   }
 
   EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
+  plain_array(constructor_without_unaligned_array_assert)
+  {
     check_static_allocation_size<T,Size>();
   }
 };
@@ -123,15 +123,15 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 32>
   EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size];
 
   EIGEN_DEVICE_FUNC
-  plain_array() 
+  plain_array()
   {
     EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31);
     check_static_allocation_size<T,Size>();
   }
 
   EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
+  plain_array(constructor_without_unaligned_array_assert)
+  {
     check_static_allocation_size<T,Size>();
   }
 };
@@ -142,15 +142,15 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 64>
   EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size];
 
   EIGEN_DEVICE_FUNC
-  plain_array() 
-  { 
+  plain_array()
+  {
     EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63);
     check_static_allocation_size<T,Size>();
   }
 
   EIGEN_DEVICE_FUNC
-  plain_array(constructor_without_unaligned_array_assert) 
-  { 
+  plain_array(constructor_without_unaligned_array_assert)
+  {
     check_static_allocation_size<T,Size>();
   }
 };
@@ -163,6 +163,30 @@ struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
   EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {}
 };
 
+struct plain_array_helper {
+  template<typename T, int Size, int MatrixOrArrayOptions, int Alignment>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  static void copy(const plain_array<T, Size, MatrixOrArrayOptions, Alignment>& src, const Eigen::Index size,
+                         plain_array<T, Size, MatrixOrArrayOptions, Alignment>& dst) {
+    smart_copy(src.array, src.array + size, dst.array);
+  }
+  
+  template<typename T, int Size, int MatrixOrArrayOptions, int Alignment>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  static void swap(plain_array<T, Size, MatrixOrArrayOptions, Alignment>& a, const Eigen::Index a_size,
+                   plain_array<T, Size, MatrixOrArrayOptions, Alignment>& b, const Eigen::Index b_size) {
+    if (a_size < b_size) {
+      std::swap_ranges(b.array, b.array + a_size, a.array);
+      smart_move(b.array + a_size, b.array + b_size, a.array + a_size);
+    } else if (a_size > b_size) {
+      std::swap_ranges(a.array, a.array + b_size, b.array);
+      smart_move(a.array + b_size, a.array + a_size, b.array + b_size);
+    } else {
+      std::swap_ranges(a.array, a.array + a_size, b.array);
+    }
+  }
+};
+
 } // end namespace internal
 
 /** \internal
@@ -190,16 +214,41 @@ template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseSt
     EIGEN_DEVICE_FUNC
     explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()) {}
-    EIGEN_DEVICE_FUNC 
+#if !EIGEN_HAS_CXX11 || defined(EIGEN_DENSE_STORAGE_CTOR_PLUGIN)
+    EIGEN_DEVICE_FUNC
     DenseStorage(const DenseStorage& other) : m_data(other.m_data) {
       EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN(Index size = Size)
     }
-    EIGEN_DEVICE_FUNC 
+#else
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) = default;
+#endif
+#if !EIGEN_HAS_CXX11
+    EIGEN_DEVICE_FUNC
     DenseStorage& operator=(const DenseStorage& other)
-    { 
+    {
       if (this != &other) m_data = other.m_data;
-      return *this; 
+      return *this;
+    }
+#else
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) = default;
+#endif
+#if EIGEN_HAS_RVALUE_REFERENCES
+#if !EIGEN_HAS_CXX11
+    EIGEN_DEVICE_FUNC DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+      : m_data(std::move(other.m_data))
+    {
     }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+    {
+      if (this != &other)
+        m_data = std::move(other.m_data);
+      return *this;
+    }
+#else
+    EIGEN_DEVICE_FUNC DenseStorage(DenseStorage&&) = default;
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(DenseStorage&&) = default;
+#endif
+#endif
     EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) {
       EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN({})
       eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols);
@@ -207,9 +256,11 @@ template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseSt
       EIGEN_UNUSED_VARIABLE(rows);
       EIGEN_UNUSED_VARIABLE(cols);
     }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) {
+      numext::swap(m_data, other.m_data);
+    }
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index rows(void) EIGEN_NOEXCEPT {return _Rows;}
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index cols(void) EIGEN_NOEXCEPT {return _Cols;}
     EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
     EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
     EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
@@ -226,8 +277,8 @@ template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0
     EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; }
     EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {}
     EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {}
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index rows(void) EIGEN_NOEXCEPT {return _Rows;}
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index cols(void) EIGEN_NOEXCEPT {return _Cols;}
     EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
     EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
     EIGEN_DEVICE_FUNC const T *data() const { return 0; }
@@ -254,20 +305,28 @@ template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic
     EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {}
     EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
-    { 
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(other.m_rows), m_cols(other.m_cols)
+    {
+      internal::plain_array_helper::copy(other.m_data, m_rows * m_cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
       if (this != &other)
       {
-        m_data = other.m_data;
         m_rows = other.m_rows;
         m_cols = other.m_cols;
+        internal::plain_array_helper::copy(other.m_data, m_rows * m_cols, m_data);
       }
-      return *this; 
+      return *this;
     }
     EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {}
     EIGEN_DEVICE_FUNC 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); }
+    {
+      internal::plain_array_helper::swap(m_data, m_rows * m_cols, other.m_data, other.m_rows * other.m_cols);
+      numext::swap(m_rows,other.m_rows);
+      numext::swap(m_cols,other.m_cols);
+    }
     EIGEN_DEVICE_FUNC Index rows() const {return m_rows;}
     EIGEN_DEVICE_FUNC Index cols() const {return m_cols;}
     EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
@@ -285,20 +344,29 @@ template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Si
     EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {}
     EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
-    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(other.m_rows)
+    {
+      internal::plain_array_helper::copy(other.m_data, m_rows * _Cols, m_data);
+    }
+    
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
     {
       if (this != &other)
       {
-        m_data = other.m_data;
         m_rows = other.m_rows;
+        internal::plain_array_helper::copy(other.m_data, m_rows * _Cols, m_data);
       }
-      return *this; 
+      return *this;
     }
     EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
+    { 
+      internal::plain_array_helper::swap(m_data, m_rows * _Cols, other.m_data, other.m_rows * _Cols);
+      numext::swap(m_rows, other.m_rows);
+    }
+    EIGEN_DEVICE_FUNC Index rows(void) const EIGEN_NOEXCEPT {return m_rows;}
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index cols(void) const EIGEN_NOEXCEPT {return _Cols;}
     EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; }
     EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; }
     EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
@@ -314,22 +382,29 @@ template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Si
     EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {}
     EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
-    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) 
+      : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(other.m_cols)
+    {
+      internal::plain_array_helper::copy(other.m_data, _Rows * m_cols, m_data);
+    }
     EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
     {
       if (this != &other)
       {
-        m_data = other.m_data;
         m_cols = other.m_cols;
+        internal::plain_array_helper::copy(other.m_data, _Rows * m_cols, m_data);
       }
       return *this;
     }
     EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {}
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
-    void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
-    void resize(Index, Index, Index cols) { m_cols = cols; }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) {
+      internal::plain_array_helper::swap(m_data, _Rows * m_cols, other.m_data, _Rows * other.m_cols);
+      numext::swap(m_cols, other.m_cols);
+    }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index rows(void) const EIGEN_NOEXCEPT {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const EIGEN_NOEXCEPT {return m_cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
+    EIGEN_DEVICE_FUNC void resize(Index, Index, Index cols) { m_cols = cols; }
     EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
     EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
@@ -381,18 +456,21 @@ template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynam
     EIGEN_DEVICE_FUNC
     DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_rows, other.m_rows);
-      swap(m_cols, other.m_cols);
+      numext::swap(m_data, other.m_data);
+      numext::swap(m_rows, other.m_rows);
+      numext::swap(m_cols, other.m_cols);
       return *this;
     }
 #endif
     EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
     EIGEN_DEVICE_FUNC 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); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    {
+      numext::swap(m_data,other.m_data);
+      numext::swap(m_rows,other.m_rows);
+      numext::swap(m_cols,other.m_cols);
+    }
+    EIGEN_DEVICE_FUNC Index rows(void) const EIGEN_NOEXCEPT {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const EIGEN_NOEXCEPT {return m_cols;}
     void conservativeResize(Index size, Index rows, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
@@ -404,7 +482,7 @@ template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynam
       if(size != m_rows*m_cols)
       {
         internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols);
-        if (size)
+        if (size>0) // >0 and not simply !=0 to let the compiler knows that size cannot be negative
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
@@ -446,7 +524,7 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
         this->swap(tmp);
       }
       return *this;
-    }    
+    }
 #if EIGEN_HAS_RVALUE_REFERENCES
     EIGEN_DEVICE_FUNC
     DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
@@ -459,16 +537,18 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
     EIGEN_DEVICE_FUNC
     DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_cols, other.m_cols);
+      numext::swap(m_data, other.m_data);
+      numext::swap(m_cols, other.m_cols);
       return *this;
     }
 #endif
     EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
-    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) {
+      numext::swap(m_data,other.m_data);
+      numext::swap(m_cols,other.m_cols);
+    }
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index rows(void) EIGEN_NOEXCEPT {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const EIGEN_NOEXCEPT {return m_cols;}
     EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
@@ -479,7 +559,7 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
       if(size != _Rows*m_cols)
       {
         internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols);
-        if (size)
+        if (size>0) // >0 and not simply !=0 to let the compiler knows that size cannot be negative
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
@@ -520,7 +600,7 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
         this->swap(tmp);
       }
       return *this;
-    }    
+    }
 #if EIGEN_HAS_RVALUE_REFERENCES
     EIGEN_DEVICE_FUNC
     DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
@@ -533,16 +613,18 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
     EIGEN_DEVICE_FUNC
     DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
     {
-      using std::swap;
-      swap(m_data, other.m_data);
-      swap(m_rows, other.m_rows);
+      numext::swap(m_data, other.m_data);
+      numext::swap(m_rows, other.m_rows);
       return *this;
     }
 #endif
     EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
-    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
-    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) {
+      numext::swap(m_data,other.m_data);
+      numext::swap(m_rows,other.m_rows);
+    }
+    EIGEN_DEVICE_FUNC Index rows(void) const EIGEN_NOEXCEPT {return m_rows;}
+    EIGEN_DEVICE_FUNC static EIGEN_CONSTEXPR Index cols(void) {return _Cols;}
     void conservativeResize(Index size, Index rows, Index)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
@@ -553,7 +635,7 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
       if(size != m_rows*_Cols)
       {
         internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows);
-        if (size)
+        if (size>0) // >0 and not simply !=0 to let the compiler knows that size cannot be negative
           m_data = internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size);
         else
           m_data = 0;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Diagonal.h b/examples/ThirdPartyLibs/Eigen/src/Core/Diagonal.h
index c62f5ff213..3112d2c16a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Diagonal.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Diagonal.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_DIAGONAL_H
 #define EIGEN_DIAGONAL_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class Diagonal
   * \ingroup Core_Module
@@ -70,7 +70,10 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
     EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
 
     EIGEN_DEVICE_FUNC
-    explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
+    explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index)
+    {
+      eigen_assert( a_index <= m_matrix.cols() && -a_index <= m_matrix.rows() );
+    }
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
 
@@ -81,20 +84,16 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
                                : numext::mini<Index>(m_matrix.rows(),m_matrix.cols()-m_index.value());
     }
 
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return 1; }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return 1; }
 
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const
-    {
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT {
       return m_matrix.outerStride() + 1;
     }
 
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const
-    {
-      return 0;
-    }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return 0; }
 
     typedef typename internal::conditional<
                        internal::is_lvalue<MatrixType>::value,
@@ -146,8 +145,8 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
     }
 
     EIGEN_DEVICE_FUNC
-    inline const typename internal::remove_all<typename MatrixType::Nested>::type& 
-    nestedExpression() const 
+    inline const typename internal::remove_all<typename MatrixType::Nested>::type&
+    nestedExpression() const
     {
       return m_matrix;
     }
@@ -164,12 +163,12 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
 
   private:
     // some compilers may fail to optimize std::max etc in case of compile-time constants...
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index absDiagIndex() const EIGEN_NOEXCEPT { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rowOffset() const EIGEN_NOEXCEPT { return m_index.value()>0 ? 0 : -m_index.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index colOffset() const EIGEN_NOEXCEPT { return m_index.value()>0 ? m_index.value() : 0; }
     // trigger a compile-time error if someone try to call packet
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/DiagonalMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/DiagonalMatrix.h
index 4e8297ee68..542685c659 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/DiagonalMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/DiagonalMatrix.h
@@ -83,6 +83,30 @@ class DiagonalBase : public EigenBase<Derived>
     {
       return DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >(scalar * other.diagonal());
     }
+
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    inline unspecified_expression_type
+    #else
+    inline const DiagonalWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(DiagonalVectorType,typename OtherDerived::DiagonalVectorType,sum) >
+    #endif
+    operator+(const DiagonalBase<OtherDerived>& other) const
+    {
+      return (diagonal() + other.diagonal()).asDiagonal();
+    }
+
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    inline unspecified_expression_type
+    #else
+    inline const DiagonalWrapper<const EIGEN_CWISE_BINARY_RETURN_TYPE(DiagonalVectorType,typename OtherDerived::DiagonalVectorType,difference) >
+    #endif
+    operator-(const DiagonalBase<OtherDerived>& other) const
+    {
+      return (diagonal() - other.diagonal()).asDiagonal();
+    }
 };
 
 #endif
@@ -154,6 +178,30 @@ class DiagonalMatrix
     EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
 
+    #if EIGEN_HAS_CXX11
+    /** \brief Construct a diagonal matrix with fixed size from an arbitrary number of coefficients. \cpp11
+      * 
+      * There exists C++98 anologue constructors for fixed-size diagonal matrices having 2 or 3 coefficients.
+      * 
+      * \warning To construct a diagonal matrix of fixed size, the number of values passed to this 
+      * constructor must match the fixed dimension of \c *this.
+      * 
+      * \sa DiagonalMatrix(const Scalar&, const Scalar&)
+      * \sa DiagonalMatrix(const Scalar&, const Scalar&, const Scalar&)
+      */
+    template <typename... ArgTypes>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    DiagonalMatrix(const Scalar& a0, const Scalar& a1, const Scalar& a2, const ArgTypes&... args)
+      : m_diagonal(a0, a1, a2, args...) {}
+
+    /** \brief Constructs a DiagonalMatrix and initializes it by elements given by an initializer list of initializer
+      * lists \cpp11
+      */
+    EIGEN_DEVICE_FUNC
+    explicit EIGEN_STRONG_INLINE DiagonalMatrix(const std::initializer_list<std::initializer_list<Scalar>>& list)
+      : m_diagonal(list) {}
+    #endif  // EIGEN_HAS_CXX11
+
     /** Copy constructor. */
     template<typename OtherDerived>
     EIGEN_DEVICE_FUNC
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Dot.h b/examples/ThirdPartyLibs/Eigen/src/Core/Dot.h
index bb8e3fecca..5c3441b926 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Dot.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Dot.h
@@ -31,7 +31,8 @@ struct dot_nocheck
   typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
   typedef typename conj_prod::result_type ResScalar;
   EIGEN_DEVICE_FUNC
-  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  EIGEN_STRONG_INLINE
+  static ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
     return a.template binaryExpr<conj_prod>(b).sum();
   }
@@ -43,7 +44,8 @@ struct dot_nocheck<T, U, true>
   typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
   typedef typename conj_prod::result_type ResScalar;
   EIGEN_DEVICE_FUNC
-  static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
+  EIGEN_STRONG_INLINE
+  static ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
     return a.transpose().template binaryExpr<conj_prod>(b).sum();
   }
@@ -65,6 +67,7 @@ struct dot_nocheck<T, U, true>
 template<typename Derived>
 template<typename OtherDerived>
 EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE
 typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
 MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
 {
@@ -83,7 +86,7 @@ MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
 
 //---------- implementation of L2 norm and related functions ----------
 
-/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
+/** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the squared 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.
   *
@@ -102,7 +105,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename NumTraits<typename internal::trai
   * \sa lpNorm(), dot(), squaredNorm()
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
 {
   return numext::sqrt(squaredNorm());
 }
@@ -117,7 +120,7 @@ EIGEN_DEVICE_FUNC inline typename NumTraits<typename internal::traits<Derived>::
   * \sa norm(), normalize()
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::normalized() const
 {
   typedef typename internal::nested_eval<Derived,2>::type _Nested;
@@ -139,7 +142,7 @@ MatrixBase<Derived>::normalized() const
   * \sa norm(), normalized()
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline void MatrixBase<Derived>::normalize()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void MatrixBase<Derived>::normalize()
 {
   RealScalar z = squaredNorm();
   // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
@@ -160,7 +163,7 @@ EIGEN_DEVICE_FUNC inline void MatrixBase<Derived>::normalize()
   * \sa stableNorm(), stableNormalize(), normalized()
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::stableNormalized() const
 {
   typedef typename internal::nested_eval<Derived,3>::type _Nested;
@@ -185,7 +188,7 @@ MatrixBase<Derived>::stableNormalized() const
   * \sa stableNorm(), stableNormalized(), normalize()
   */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline void MatrixBase<Derived>::stableNormalize()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void MatrixBase<Derived>::stableNormalize()
 {
   RealScalar w = cwiseAbs().maxCoeff();
   RealScalar z = (derived()/w).squaredNorm();
@@ -204,7 +207,7 @@ struct lpNorm_selector
   EIGEN_DEVICE_FUNC
   static inline RealScalar run(const MatrixBase<Derived>& m)
   {
-    EIGEN_USING_STD_MATH(pow)
+    EIGEN_USING_STD(pow)
     return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
   }
 };
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/EigenBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/EigenBase.h
index b195506a91..6b3c7d3745 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/EigenBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/EigenBase.h
@@ -15,7 +15,7 @@ namespace Eigen {
 
 /** \class EigenBase
   * \ingroup Core_Module
-  * 
+  *
   * 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.
@@ -29,11 +29,12 @@ namespace Eigen {
 template<typename Derived> struct EigenBase
 {
 //   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
-  
+
   /** \brief The interface type of indices
     * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
-    * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
     * \sa StorageIndex, \ref TopicPreprocessorDirectives.
+    * DEPRECATED: Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
+    * Deprecation is not marked with a doxygen comment because there are too many existing usages to add the deprecation attribute.
     */
   typedef Eigen::Index Index;
 
@@ -55,15 +56,15 @@ template<typename Derived> struct EigenBase
   { return *static_cast<const Derived*>(this); }
 
   /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-  EIGEN_DEVICE_FUNC
-  inline Index rows() const { return derived().rows(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  inline Index rows() const EIGEN_NOEXCEPT { return derived().rows(); }
   /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-  EIGEN_DEVICE_FUNC
-  inline Index cols() const { return derived().cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  inline Index cols() const EIGEN_NOEXCEPT { return derived().cols(); }
   /** \returns the number of coefficients, which is rows()*cols().
     * \sa rows(), cols(), SizeAtCompileTime. */
-  EIGEN_DEVICE_FUNC
-  inline Index size() const { return rows() * cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  inline Index size() const EIGEN_NOEXCEPT { return rows() * cols(); }
 
   /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
   template<typename Dest>
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ForceAlignedAccess.h b/examples/ThirdPartyLibs/Eigen/src/Core/ForceAlignedAccess.h
index 7b08b45e67..817a43afce 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ForceAlignedAccess.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ForceAlignedAccess.h
@@ -41,10 +41,14 @@ template<typename ExpressionType> class ForceAlignedAccess
 
     EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return m_expression.innerStride(); }
 
     EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
     {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/GeneralProduct.h b/examples/ThirdPartyLibs/Eigen/src/Core/GeneralProduct.h
index 694f7cbde4..6906aa75d1 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/GeneralProduct.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/GeneralProduct.h
@@ -35,7 +35,7 @@ template<int Rows, int Cols, int Depth> struct product_type_selector;
 template<int Size, int MaxSize> struct product_size_category
 {
   enum {
-    #ifndef EIGEN_CUDA_ARCH
+    #ifndef EIGEN_GPU_COMPILE_PHASE
     is_large = MaxSize == Dynamic ||
                Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD ||
                (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD),
@@ -163,13 +163,13 @@ template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vect
 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; }
+  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC 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; }
+  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Scalar* data() { return 0; }
 };
 
 template<typename Scalar,int Size,int MaxSize>
@@ -228,8 +228,7 @@ template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
     ActualLhsType actualLhs = LhsBlasTraits::extract(lhs);
     ActualRhsType actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
+    ResScalar actualAlpha = combine_scalar_factors(alpha, lhs, rhs);
 
     // make sure Dest is a compile-time vector type (bug 1166)
     typedef typename conditional<Dest::IsVectorAtCompileTime, Dest, typename Dest::ColXpr>::type ActualDest;
@@ -239,7 +238,7 @@ template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
       // on, the other hand it is good for the cache to pack the vector anyways...
       EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1),
       ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
-      MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal
+      MightCannotUseDest = ((!EvalToDestAtCompileTime) || ComplexByReal) && (ActualDest::MaxSizeAtCompileTime!=0)
     };
 
     typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
@@ -320,13 +319,12 @@ template<> struct gemv_dense_selector<OnTheRight,RowMajor,true>
     typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
     typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
+    ResScalar actualAlpha = combine_scalar_factors(alpha, lhs, 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 = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
+      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1 || ActualRhsTypeCleaned::MaxSizeAtCompileTime==0
     };
 
     gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
@@ -396,8 +394,8 @@ template<> struct gemv_dense_selector<OnTheRight,RowMajor,false>
   */
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_DEVICE_FUNC
-inline const Product<Derived, OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const Product<Derived, OtherDerived>
 MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
 {
   // A note regarding the function declaration: In MSVC, this function will sometimes
@@ -439,8 +437,9 @@ MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
   */
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 const Product<Derived,OtherDerived,LazyProduct>
-EIGEN_DEVICE_FUNC MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
+MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
 {
   enum {
     ProductIsValid =  Derived::ColsAtCompileTime==Dynamic
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/GenericPacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/GenericPacketMath.h
index 30878eda62..cf677a1905 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/GenericPacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/GenericPacketMath.h
@@ -44,18 +44,23 @@ struct default_packet_traits
   enum {
     HasHalfPacket = 0,
 
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasNegate = 1,
-    HasAbs    = 1,
-    HasArg    = 0,
-    HasAbs2   = 1,
-    HasMin    = 1,
-    HasMax    = 1,
-    HasConj   = 1,
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 0,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
     HasSetLinear = 1,
-    HasBlend  = 0,
+    HasBlend     = 0,
+    // This flag is used to indicate whether packet comparison is supported.
+    // pcmp_eq, pcmp_lt and pcmp_le should be defined for it to be true.
+    HasCmp       = 0,
 
     HasDiv    = 0,
     HasSqrt   = 0,
@@ -82,14 +87,18 @@ struct default_packet_traits
     HasPolygamma = 0,
     HasErf = 0,
     HasErfc = 0,
+    HasNdtri = 0,
+    HasBessel = 0,
     HasIGamma = 0,
+    HasIGammaDerA = 0,
+    HasGammaSampleDerAlpha = 0,
     HasIGammac = 0,
     HasBetaInc = 0,
 
     HasRound  = 0,
+    HasRint   = 0,
     HasFloor  = 0,
     HasCeil   = 0,
-
     HasSign   = 0
   };
 };
@@ -120,6 +129,22 @@ template<typename T> struct packet_traits : default_packet_traits
 
 template<typename T> struct packet_traits<const T> : packet_traits<T> { };
 
+template<typename T> struct unpacket_traits
+{
+  typedef T type;
+  typedef T half;
+  enum
+  {
+    size = 1,
+    alignment = 1,
+    vectorizable = false,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
+
+template<typename T> struct unpacket_traits<const T> : unpacket_traits<T> { };
+
 template <typename Src, typename Tgt> struct type_casting_traits {
   enum {
     VectorizedCast = 0,
@@ -128,6 +153,34 @@ template <typename Src, typename Tgt> struct type_casting_traits {
   };
 };
 
+/** \internal Wrapper to ensure that multiple packet types can map to the same
+    same underlying vector type. */
+template<typename T, int unique_id = 0>
+struct eigen_packet_wrapper
+{
+  EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
+  EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
+    m_val = v;
+    return *this;
+  }
+
+  T m_val;
+};
+
+
+/** \internal A convenience utility for determining if the type is a scalar.
+ * This is used to enable some generic packet implementations.
+ */
+template<typename Packet>
+struct is_scalar {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  enum {
+    value = internal::is_same<Packet, Scalar>::value
+  };
+};
 
 /** \internal \returns static_cast<TgtType>(a) (coeff-wise) */
 template <typename SrcPacket, typename TgtPacket>
@@ -140,75 +193,406 @@ EIGEN_DEVICE_FUNC inline TgtPacket
 pcast(const SrcPacket& a, const SrcPacket& /*b*/) {
   return static_cast<TgtPacket>(a);
 }
-
 template <typename SrcPacket, typename TgtPacket>
 EIGEN_DEVICE_FUNC inline TgtPacket
 pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) {
   return static_cast<TgtPacket>(a);
 }
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/,
+      const SrcPacket& /*e*/, const SrcPacket& /*f*/, const SrcPacket& /*g*/, const SrcPacket& /*h*/) {
+  return static_cast<TgtPacket>(a);
+}
+
+/** \internal \returns reinterpret_cast<Target>(a) */
+template <typename Target, typename Packet>
+EIGEN_DEVICE_FUNC inline Target
+preinterpret(const Packet& a); /* { return reinterpret_cast<const Target&>(a); } */
 
 /** \internal \returns a + b (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-padd(const Packet& a,
-        const Packet& b) { return a+b; }
+padd(const Packet& a, const Packet& b) { return a+b; }
+// Avoid compiler warning for boolean algebra.
+template<> EIGEN_DEVICE_FUNC inline bool
+padd(const bool& a, const bool& b) { return a || b; }
 
 /** \internal \returns a - b (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-psub(const Packet& a,
-        const Packet& b) { return a-b; }
+psub(const Packet& a, const Packet& b) { return a-b; }
 
 /** \internal \returns -a (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pnegate(const Packet& a) { return -a; }
 
-/** \internal \returns conj(a) (coeff-wise) */
+template<> EIGEN_DEVICE_FUNC inline bool
+pnegate(const bool& a) { return !a; }
 
+/** \internal \returns conj(a) (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pconj(const Packet& a) { return numext::conj(a); }
 
 /** \internal \returns a * b (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmul(const Packet& a,
-        const Packet& b) { return a*b; }
+pmul(const Packet& a, const Packet& b) { return a*b; }
+// Avoid compiler warning for boolean algebra.
+template<> EIGEN_DEVICE_FUNC inline bool
+pmul(const bool& a, const bool& b) { return a && b; }
 
 /** \internal \returns a / b (coeff-wise) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pdiv(const Packet& a,
-        const Packet& b) { return a/b; }
+pdiv(const Packet& a, const Packet& b) { return a/b; }
+
+// In the generic case, memset to all one bits.
+template<typename Packet, typename EnableIf = void>
+struct ptrue_impl {
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& /*a*/){
+    Packet b;
+    memset(static_cast<void*>(&b), 0xff, sizeof(Packet));
+    return b;
+  }
+};
 
-/** \internal \returns the min of \a a and \a b  (coeff-wise) */
+// For non-trivial scalars, set to Scalar(1) (i.e. a non-zero value).
+// Although this is technically not a valid bitmask, the scalar path for pselect
+// uses a comparison to zero, so this should still work in most cases. We don't
+// have another option, since the scalar type requires initialization.
+template<typename T>
+struct ptrue_impl<T, 
+    typename internal::enable_if<is_scalar<T>::value && NumTraits<T>::RequireInitialization>::type > {
+  static EIGEN_DEVICE_FUNC inline T run(const T& /*a*/){
+    return T(1);
+  }
+};
+
+/** \internal \returns one bits. */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmin(const Packet& a,
-        const Packet& b) { return numext::mini(a, b); }
+ptrue(const Packet& a) {
+  return ptrue_impl<Packet>::run(a);
+}
+
+// In the general case, memset to zero.
+template<typename Packet, typename EnableIf = void>
+struct pzero_impl {
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& /*a*/) {
+    Packet b;
+    memset(static_cast<void*>(&b), 0x00, sizeof(Packet));
+    return b;
+  }
+};
+
+// For scalars, explicitly set to Scalar(0), since the underlying representation
+// for zero may not consist of all-zero bits.
+template<typename T>
+struct pzero_impl<T,
+    typename internal::enable_if<is_scalar<T>::value>::type> {
+  static EIGEN_DEVICE_FUNC inline T run(const T& /*a*/) {
+    return T(0);
+  }
+};
 
-/** \internal \returns the max of \a a and \a b  (coeff-wise) */
+/** \internal \returns packet of zeros */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pmax(const Packet& a,
-        const Packet& b) { return numext::maxi(a, b); }
+pzero(const Packet& a) {
+  return pzero_impl<Packet>::run(a);
+}
 
-/** \internal \returns the absolute value of \a a */
+/** \internal \returns a <= b as a bit mask */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pabs(const Packet& a) { using std::abs; return abs(a); }
+pcmp_le(const Packet& a, const Packet& b)  { return a<=b ? ptrue(a) : pzero(a); }
 
-/** \internal \returns the phase angle of \a a */
+/** \internal \returns a < b as a bit mask */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-parg(const Packet& a) { using numext::arg; return arg(a); }
+pcmp_lt(const Packet& a, const Packet& b)  { return a<b ? ptrue(a) : pzero(a); }
+
+/** \internal \returns a == b as a bit mask */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pcmp_eq(const Packet& a, const Packet& b) { return a==b ? ptrue(a) : pzero(a); }
+
+/** \internal \returns a < b or a==NaN or b==NaN as a bit mask */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pcmp_lt_or_nan(const Packet& a, const Packet& b) { return a>=b ? pzero(a) : ptrue(a); }
+
+template<typename T>
+struct bit_and {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR EIGEN_ALWAYS_INLINE T operator()(const T& a, const T& b) const {
+    return a & b;
+  }
+};
+
+template<typename T>
+struct bit_or {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR EIGEN_ALWAYS_INLINE T operator()(const T& a, const T& b) const {
+    return a | b;
+  }
+};
+
+template<typename T>
+struct bit_xor {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR EIGEN_ALWAYS_INLINE T operator()(const T& a, const T& b) const {
+    return a ^ b;
+  }
+};
+
+template<typename T>
+struct bit_not {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR EIGEN_ALWAYS_INLINE T operator()(const T& a) const {
+    return ~a;
+  }
+};
+
+// Use operators &, |, ^, ~.
+template<typename T>
+struct operator_bitwise_helper {
+  EIGEN_DEVICE_FUNC static inline T bitwise_and(const T& a, const T& b) { return bit_and<T>()(a, b); }
+  EIGEN_DEVICE_FUNC static inline T bitwise_or(const T& a, const T& b) { return bit_or<T>()(a, b); }
+  EIGEN_DEVICE_FUNC static inline T bitwise_xor(const T& a, const T& b) { return bit_xor<T>()(a, b); }
+  EIGEN_DEVICE_FUNC static inline T bitwise_not(const T& a) { return bit_not<T>()(a); }
+};
+
+// Apply binary operations byte-by-byte
+template<typename T>
+struct bytewise_bitwise_helper {
+  EIGEN_DEVICE_FUNC static inline T bitwise_and(const T& a, const T& b) {
+    return binary(a, b, bit_and<unsigned char>());
+  }
+  EIGEN_DEVICE_FUNC static inline T bitwise_or(const T& a, const T& b) { 
+    return binary(a, b, bit_or<unsigned char>());
+   }
+  EIGEN_DEVICE_FUNC static inline T bitwise_xor(const T& a, const T& b) {
+    return binary(a, b, bit_xor<unsigned char>());
+  }
+  EIGEN_DEVICE_FUNC static inline T bitwise_not(const T& a) { 
+    return unary(a,bit_not<unsigned char>());
+   }
+  
+ private:
+  template<typename Op>
+  EIGEN_DEVICE_FUNC static inline T unary(const T& a, Op op) {
+    const unsigned char* a_ptr = reinterpret_cast<const unsigned char*>(&a);
+    T c;
+    unsigned char* c_ptr = reinterpret_cast<unsigned char*>(&c);
+    for (size_t i = 0; i < sizeof(T); ++i) {
+      *c_ptr++ = op(*a_ptr++);
+    }
+    return c;
+  }
+
+  template<typename Op>
+  EIGEN_DEVICE_FUNC static inline T binary(const T& a, const T& b, Op op) {
+    const unsigned char* a_ptr = reinterpret_cast<const unsigned char*>(&a);
+    const unsigned char* b_ptr = reinterpret_cast<const unsigned char*>(&b);
+    T c;
+    unsigned char* c_ptr = reinterpret_cast<unsigned char*>(&c);
+    for (size_t i = 0; i < sizeof(T); ++i) {
+      *c_ptr++ = op(*a_ptr++, *b_ptr++);
+    }
+    return c;
+  }
+};
+
+// In the general case, use byte-by-byte manipulation.
+template<typename T, typename EnableIf = void>
+struct bitwise_helper : public bytewise_bitwise_helper<T> {};
+
+// For integers or non-trivial scalars, use binary operators.
+template<typename T>
+struct bitwise_helper<T,
+  typename internal::enable_if<
+    is_scalar<T>::value && (NumTraits<T>::IsInteger || NumTraits<T>::RequireInitialization)>::type
+  > : public operator_bitwise_helper<T> {};
 
 /** \internal \returns the bitwise and of \a a and \a b */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pand(const Packet& a, const Packet& b) { return a & b; }
+pand(const Packet& a, const Packet& b) {
+  return bitwise_helper<Packet>::bitwise_and(a, b);
+}
 
 /** \internal \returns the bitwise or of \a a and \a b */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-por(const Packet& a, const Packet& b) { return a | b; }
+por(const Packet& a, const Packet& b) {
+  return bitwise_helper<Packet>::bitwise_or(a, b);
+}
 
 /** \internal \returns the bitwise xor of \a a and \a b */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pxor(const Packet& a, const Packet& b) { return a ^ b; }
+pxor(const Packet& a, const Packet& b) {
+  return bitwise_helper<Packet>::bitwise_xor(a, b);
+}
+
+/** \internal \returns the bitwise not of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pnot(const Packet& a) {
+  return bitwise_helper<Packet>::bitwise_not(a);
+}
+
+/** \internal \returns the bitwise and of \a a and not \a b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pandnot(const Packet& a, const Packet& b) { return pand(a, pnot(b)); }
+
+// In the general case, use bitwise select.
+template<typename Packet, typename EnableIf = void>
+struct pselect_impl {
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& mask, const Packet& a, const Packet& b) {
+    return por(pand(a,mask),pandnot(b,mask));
+  }
+};
+
+// For scalars, use ternary select.
+template<typename Packet>
+struct pselect_impl<Packet, 
+    typename internal::enable_if<is_scalar<Packet>::value>::type > {
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& mask, const Packet& a, const Packet& b) {
+    return numext::equal_strict(mask, Packet(0)) ? b : a;
+  }
+};
+
+/** \internal \returns \a or \b for each field in packet according to \mask */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pselect(const Packet& mask, const Packet& a, const Packet& b) {
+  return pselect_impl<Packet>::run(mask, a, b);
+}
+
+template<> EIGEN_DEVICE_FUNC inline bool pselect<bool>(
+    const bool& cond, const bool& a, const bool& b) {
+  return cond ? a : b;
+}
+
+/** \internal \returns the min or of \a a and \a b (coeff-wise)
+    If either \a a or \a b are NaN, the result is implementation defined. */
+template<int NaNPropagation>
+struct pminmax_impl {
+  template <typename Packet, typename Op>
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& a, const Packet& b, Op op) {
+    return op(a,b);
+  }
+};
+
+/** \internal \returns the min or max of \a a and \a b (coeff-wise)
+    If either \a a or \a b are NaN, NaN is returned. */
+template<>
+struct pminmax_impl<PropagateNaN> {
+  template <typename Packet, typename Op>
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& a, const Packet& b, Op op) {
+  Packet not_nan_mask_a = pcmp_eq(a, a);
+  Packet not_nan_mask_b = pcmp_eq(b, b);
+  return pselect(not_nan_mask_a,
+                 pselect(not_nan_mask_b, op(a, b), b),
+                 a);
+  }
+};
+
+/** \internal \returns the min or max of \a a and \a b (coeff-wise)
+    If both \a a and \a b are NaN, NaN is returned.
+    Equivalent to std::fmin(a, b).  */
+template<>
+struct pminmax_impl<PropagateNumbers> {
+  template <typename Packet, typename Op>
+  static EIGEN_DEVICE_FUNC inline Packet run(const Packet& a, const Packet& b, Op op) {
+  Packet not_nan_mask_a = pcmp_eq(a, a);
+  Packet not_nan_mask_b = pcmp_eq(b, b);
+  return pselect(not_nan_mask_a,
+                 pselect(not_nan_mask_b, op(a, b), a),
+                 b);
+  }
+};
+
+
+#ifndef SYCL_DEVICE_ONLY
+#define EIGEN_BINARY_OP_NAN_PROPAGATION(Type, Func) Func
+#else
+#define EIGEN_BINARY_OP_NAN_PROPAGATION(Type, Func) \
+[](const Type& a, const Type& b) { \
+        return Func(a, b);}
+#endif
+
+/** \internal \returns the min of \a a and \a b  (coeff-wise).
+    If \a a or \b b is NaN, the return value is implementation defined. */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmin(const Packet& a, const Packet& b) { return numext::mini(a,b); }
+
+/** \internal \returns the min of \a a and \a b  (coeff-wise).
+    NaNPropagation determines the NaN propagation semantics. */
+template <int NaNPropagation, typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pmin(const Packet& a, const Packet& b) {
+  return pminmax_impl<NaNPropagation>::run(a, b, EIGEN_BINARY_OP_NAN_PROPAGATION(Packet, (pmin<Packet>)));
+}
+
+/** \internal \returns the max of \a a and \a b  (coeff-wise)
+    If \a a or \b b is NaN, the return value is implementation defined. */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pmax(const Packet& a, const Packet& b) { return numext::maxi(a, b); }
+
+/** \internal \returns the max of \a a and \a b  (coeff-wise).
+    NaNPropagation determines the NaN propagation semantics. */
+template <int NaNPropagation, typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pmax(const Packet& a, const Packet& b) {
+  return pminmax_impl<NaNPropagation>::run(a, b, EIGEN_BINARY_OP_NAN_PROPAGATION(Packet,(pmax<Packet>)));
+}
+
+/** \internal \returns the absolute value of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pabs(const Packet& a) { return numext::abs(a); }
+template<> EIGEN_DEVICE_FUNC inline unsigned int
+pabs(const unsigned int& a) { return a; }
+template<> EIGEN_DEVICE_FUNC inline unsigned long
+pabs(const unsigned long& a) { return a; }
+template<> EIGEN_DEVICE_FUNC inline unsigned long long
+pabs(const unsigned long long& a) { return a; }
+
+/** \internal \returns the addsub value of \a a,b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+paddsub(const Packet& a, const Packet& b) {
+  return pselect(peven_mask(a), padd(a, b), psub(a, b));
+ }
+
+/** \internal \returns the phase angle of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+parg(const Packet& a) { using numext::arg; return arg(a); }
+
+
+/** \internal \returns \a a logically shifted by N bits to the right */
+template<int N> EIGEN_DEVICE_FUNC inline int
+parithmetic_shift_right(const int& a) { return a >> N; }
+template<int N> EIGEN_DEVICE_FUNC inline long int
+parithmetic_shift_right(const long int& a) { return a >> N; }
 
-/** \internal \returns the bitwise andnot of \a a and \a b */
+/** \internal \returns \a a arithmetically shifted by N bits to the right */
+template<int N> EIGEN_DEVICE_FUNC inline int
+plogical_shift_right(const int& a) { return static_cast<int>(static_cast<unsigned int>(a) >> N); }
+template<int N> EIGEN_DEVICE_FUNC inline long int
+plogical_shift_right(const long int& a) { return static_cast<long>(static_cast<unsigned long>(a) >> N); }
+
+/** \internal \returns \a a shifted by N bits to the left */
+template<int N> EIGEN_DEVICE_FUNC inline int
+plogical_shift_left(const int& a) { return a << N; }
+template<int N> EIGEN_DEVICE_FUNC inline long int
+plogical_shift_left(const long int& a) { return a << N; }
+
+/** \internal \returns the significant and exponent of the underlying floating point numbers
+  * See https://en.cppreference.com/w/cpp/numeric/math/frexp
+  */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline Packet pfrexp(const Packet& a, Packet& exponent) {
+  int exp;
+  EIGEN_USING_STD(frexp);
+  Packet result = static_cast<Packet>(frexp(a, &exp));
+  exponent = static_cast<Packet>(exp);
+  return result;
+}
+
+/** \internal \returns a * 2^((int)exponent)
+  * See https://en.cppreference.com/w/cpp/numeric/math/ldexp
+  */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pandnot(const Packet& a, const Packet& b) { return a & (!b); }
+pldexp(const Packet &a, const Packet &exponent) {
+  EIGEN_USING_STD(ldexp)
+  return static_cast<Packet>(ldexp(a, static_cast<int>(exponent)));
+}
+
+/** \internal \returns the min of \a a and \a b  (coeff-wise) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pabsdiff(const Packet& a, const Packet& b) { return pselect(pcmp_lt(a, b), psub(b, a), psub(a, b)); }
 
 /** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
@@ -218,10 +602,22 @@ pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
+/** \internal \returns a packet version of \a *from, (un-aligned masked load)
+ * There is no generic implementation. We only have implementations for specialized
+ * cases. Generic case should not be called.
+ */
+template<typename Packet> EIGEN_DEVICE_FUNC inline
+typename enable_if<unpacket_traits<Packet>::masked_load_available, Packet>::type
+ploadu(const typename unpacket_traits<Packet>::type* from, typename unpacket_traits<Packet>::mask_t umask);
+
 /** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
 
+/** \internal \returns a packet with constant coefficients set from bits */
+template<typename Packet,typename BitsType> EIGEN_DEVICE_FUNC inline Packet
+pset1frombits(BitsType a);
+
 /** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pload1(const typename unpacket_traits<Packet>::type  *a) { return pset1<Packet>(*a); }
@@ -238,7 +634,7 @@ ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
   * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and
   * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]}
   * Currently, this function is only used in matrix products.
-  * For packet-size smaller or equal to 4, this function is equivalent to pload1 
+  * For packet-size smaller or equal to 4, this function is equivalent to pload1
   */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 ploadquad(const typename unpacket_traits<Packet>::type* from)
@@ -282,6 +678,20 @@ inline void pbroadcast2(const typename unpacket_traits<Packet>::type *a,
 template<typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet
 plset(const typename unpacket_traits<Packet>::type& a) { return a; }
 
+/** \internal \returns a packet with constant coefficients \a a, e.g.: (x, 0, x, 0),
+     where x is the value of all 1-bits. */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+peven_mask(const Packet& /*a*/) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  const size_t n = unpacket_traits<Packet>::size;
+  EIGEN_ALIGN_TO_BOUNDARY(sizeof(Packet)) Scalar elements[n];
+  for(size_t i = 0; i < n; ++i) {
+    memset(elements+i, ((i & 1) == 0 ? 0xff : 0), sizeof(Scalar));
+  }
+  return ploadu<Packet>(elements);
+}
+
+
 /** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
 template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from)
 { (*to) = from; }
@@ -290,6 +700,15 @@ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(
 template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from)
 {  (*to) = from; }
 
+/** \internal copy the packet \a from to \a *to, (un-aligned store with a mask)
+ * There is no generic implementation. We only have implementations for specialized
+ * cases. Generic case should not be called.
+ */
+template<typename Scalar, typename Packet>
+EIGEN_DEVICE_FUNC inline
+typename enable_if<unpacket_traits<Packet>::masked_store_available, void>::type
+pstoreu(Scalar* to, const Packet& from, typename unpacket_traits<Packet>::mask_t umask);
+
  template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/)
  { return ploadu<Packet>(from); }
 
@@ -299,8 +718,10 @@ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu
 /** \internal tries to do cache prefetching of \a addr */
 template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr)
 {
-#ifdef EIGEN_CUDA_ARCH
-#if defined(__LP64__)
+#if defined(EIGEN_HIP_DEVICE_COMPILE)
+  // do nothing
+#elif defined(EIGEN_CUDA_ARCH)
+#if defined(__LP64__) || EIGEN_OS_WIN64
   // 64-bit pointer operand constraint for inlined asm
   asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr));
 #else
@@ -312,39 +733,6 @@ template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* a
 #endif
 }
 
-/** \internal \returns the first element of a packet */
-template<typename Packet> EIGEN_DEVICE_FUNC 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> EIGEN_DEVICE_FUNC inline Packet
-preduxp(const Packet* vecs) { return vecs[0]; }
-
-/** \internal \returns the sum of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux(const Packet& a)
-{ return a; }
-
-/** \internal \returns the sum of the elements of \a a by block of 4 elements.
-  * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
-  * For packet-size smaller or equal to 4, this boils down to a noop.
-  */
-template<typename Packet> EIGEN_DEVICE_FUNC inline
-typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
-predux_downto4(const Packet& a)
-{ return a; }
-
-/** \internal \returns the product of the elements of \a a*/
-template<typename Packet> EIGEN_DEVICE_FUNC 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> EIGEN_DEVICE_FUNC 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> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
-{ return a; }
-
 /** \internal \returns the reversed elements of \a a*/
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a)
 { return a; }
@@ -352,10 +740,7 @@ template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet&
 /** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
 template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a)
 {
-  // FIXME: uncomment the following in case we drop the internal imag and real functions.
-//   using std::imag;
-//   using std::real;
-  return Packet(imag(a),real(a));
+  return Packet(numext::imag(a),numext::real(a));
 }
 
 /**************************
@@ -364,43 +749,43 @@ template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet
 
 /** \internal \returns the sine of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet psin(const Packet& a) { using std::sin; return sin(a); }
+Packet psin(const Packet& a) { EIGEN_USING_STD(sin); 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) { using std::cos; return cos(a); }
+Packet pcos(const Packet& a) { EIGEN_USING_STD(cos); 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) { using std::tan; return tan(a); }
+Packet ptan(const Packet& a) { EIGEN_USING_STD(tan); 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) { using std::asin; return asin(a); }
+Packet pasin(const Packet& a) { EIGEN_USING_STD(asin); 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) { using std::acos; return acos(a); }
+Packet pacos(const Packet& a) { EIGEN_USING_STD(acos); return acos(a); }
 
 /** \internal \returns the arc tangent of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet patan(const Packet& a) { using std::atan; return atan(a); }
+Packet patan(const Packet& a) { EIGEN_USING_STD(atan); return atan(a); }
 
 /** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet psinh(const Packet& a) { using std::sinh; return sinh(a); }
+Packet psinh(const Packet& a) { EIGEN_USING_STD(sinh); return sinh(a); }
 
 /** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); }
+Packet pcosh(const Packet& a) { EIGEN_USING_STD(cosh); return cosh(a); }
 
 /** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); }
+Packet ptanh(const Packet& a) { EIGEN_USING_STD(tanh); return tanh(a); }
 
 /** \internal \returns the exp of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet pexp(const Packet& a) { using std::exp; return exp(a); }
+Packet pexp(const Packet& a) { EIGEN_USING_STD(exp); return exp(a); }
 
 /** \internal \returns the expm1 of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
@@ -408,7 +793,7 @@ Packet pexpm1(const Packet& a) { return numext::expm1(a); }
 
 /** \internal \returns the log of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plog(const Packet& a) { using std::log; return log(a); }
+Packet plog(const Packet& a) { EIGEN_USING_STD(log); return log(a); }
 
 /** \internal \returns the log1p of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
@@ -416,16 +801,24 @@ Packet plog1p(const Packet& a) { return numext::log1p(a); }
 
 /** \internal \returns the log10 of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
-Packet plog10(const Packet& a) { using std::log10; return log10(a); }
+Packet plog10(const Packet& a) { EIGEN_USING_STD(log10); return log10(a); }
+
+/** \internal \returns the log10 of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog2(const Packet& a) {
+  typedef typename internal::unpacket_traits<Packet>::type Scalar;
+  return pmul(pset1<Packet>(Scalar(EIGEN_LOG2E)), plog(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) { using std::sqrt; return sqrt(a); }
+Packet psqrt(const Packet& a) { return numext::sqrt(a); }
 
 /** \internal \returns the reciprocal square-root of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet prsqrt(const Packet& a) {
-  return pdiv(pset1<Packet>(1), psqrt(a));
+  typedef typename internal::unpacket_traits<Packet>::type Scalar;
+  return pdiv(pset1<Packet>(Scalar(1)), psqrt(a));
 }
 
 /** \internal \returns the rounded value of \a a (coeff-wise) */
@@ -436,15 +829,121 @@ Packet pround(const Packet& a) { using numext::round; return round(a); }
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pfloor(const Packet& a) { using numext::floor; return floor(a); }
 
+/** \internal \returns the rounded value of \a a (coeff-wise) with current
+ * rounding mode */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet print(const Packet& a) { using numext::rint; return rint(a); }
+
 /** \internal \returns the ceil of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); }
 
+/** \internal \returns the first element of a packet */
+template<typename Packet>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type
+pfirst(const Packet& a)
+{ return a; }
+
+/** \internal \returns the sum of the elements of upper and lower half of \a a if \a a is larger than 4.
+  * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
+  * For packet-size smaller or equal to 4, this boils down to a noop.
+  */
+template<typename Packet>
+EIGEN_DEVICE_FUNC inline typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
+predux_half_dowto4(const Packet& a)
+{ return a; }
+
+// Slow generic implementation of Packet reduction.
+template <typename Packet, typename Op>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type
+predux_helper(const Packet& a, Op op) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  const size_t n = unpacket_traits<Packet>::size;
+  EIGEN_ALIGN_TO_BOUNDARY(sizeof(Packet)) Scalar elements[n];
+  pstoreu<Scalar>(elements, a);
+  for(size_t k = n / 2; k > 0; k /= 2)  {
+    for(size_t i = 0; i < k; ++i) {
+      elements[i] = op(elements[i], elements[i + k]);
+    }
+  }
+  return elements[0];
+}
+
+/** \internal \returns the sum of the elements of \a a*/
+template<typename Packet>
+EIGEN_DEVICE_FUNC 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>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_mul(
+    const Packet& a) {
+  typedef typename unpacket_traits<Packet>::type Scalar; 
+  return predux_helper(a, EIGEN_BINARY_OP_NAN_PROPAGATION(Scalar, (pmul<Scalar>)));
+}
+
+/** \internal \returns the min of the elements of \a a */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(
+    const Packet &a) {
+  typedef typename unpacket_traits<Packet>::type Scalar; 
+  return predux_helper(a, EIGEN_BINARY_OP_NAN_PROPAGATION(Scalar, (pmin<PropagateFast, Scalar>)));
+}
+
+template <int NaNPropagation, typename Packet>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(
+    const Packet& a) {
+  typedef typename unpacket_traits<Packet>::type Scalar; 
+  return predux_helper(a, EIGEN_BINARY_OP_NAN_PROPAGATION(Scalar, (pmin<NaNPropagation, Scalar>)));
+}
+
+/** \internal \returns the min of the elements of \a a */
+template <typename Packet>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(
+    const Packet &a) {
+  typedef typename unpacket_traits<Packet>::type Scalar; 
+  return predux_helper(a, EIGEN_BINARY_OP_NAN_PROPAGATION(Scalar, (pmax<PropagateFast, Scalar>)));
+}
+
+template <int NaNPropagation, typename Packet>
+EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(
+    const Packet& a) {
+  typedef typename unpacket_traits<Packet>::type Scalar; 
+  return predux_helper(a, EIGEN_BINARY_OP_NAN_PROPAGATION(Scalar, (pmax<NaNPropagation, Scalar>)));
+}
+
+#undef EIGEN_BINARY_OP_NAN_PROPAGATION
+
+/** \internal \returns true if all coeffs of \a a means "true"
+  * It is supposed to be called on values returned by pcmp_*.
+  */
+// not needed yet
+// template<typename Packet> EIGEN_DEVICE_FUNC inline bool predux_all(const Packet& a)
+// { return bool(a); }
+
+/** \internal \returns true if any coeffs of \a a means "true"
+  * It is supposed to be called on values returned by pcmp_*.
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline bool predux_any(const Packet& a)
+{
+  // Dirty but generic implementation where "true" is assumed to be non 0 and all the sames.
+  // It is expected that "true" is either:
+  //  - Scalar(1)
+  //  - bits full of ones (NaN for floats),
+  //  - or first bit equals to 1 (1 for ints, smallest denormal for floats).
+  // For all these cases, taking the sum is just fine, and this boils down to a no-op for scalars.
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  return numext::not_equal_strict(predux(a), Scalar(0));
+}
+
 /***************************************************************************
 * 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 */
+/** \internal copy a packet with constant coefficient \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)
@@ -492,47 +991,18 @@ EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt_ro(const typename unpacket_t
   return ploadt<Packet, LoadMode>(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 :)
-  static inline void run(PacketType&, const PacketType&) {}
-};
-
-/** \internal update \a first using the concatenation of the packet_size minus \a Offset last elements
-  * of \a first and \a Offset first elements of \a second.
-  * 
-  * This function is currently only used to optimize matrix-vector products on unligned matrices.
-  * It takes 2 packets that represent a contiguous memory array, and returns a packet starting
-  * at the position \a Offset. For instance, for packets of 4 elements, we have:
-  *  Input:
-  *  - first = {f0,f1,f2,f3}
-  *  - second = {s0,s1,s2,s3}
-  * Output: 
-  *   - if Offset==0 then {f0,f1,f2,f3}
-  *   - if Offset==1 then {f1,f2,f3,s0}
-  *   - if Offset==2 then {f2,f3,s0,s1}
-  *   - if Offset==3 then {f3,s0,s1,s3}
-  */
-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)
 ***************************************************************************/
 
 // Eigen+CUDA does not support complexes.
-#ifndef EIGEN_CUDACC
+#if !defined(EIGEN_GPUCC)
 
 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)); }
+{ return std::complex<float>(a.real()*b.real() - a.imag()*b.imag(), a.imag()*b.real() + a.real()*b.imag()); }
 
 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)); }
+{ return std::complex<double>(a.real()*b.real() - a.imag()*b.imag(), a.imag()*b.real() + a.real()*b.imag()); }
 
 #endif
 
@@ -563,34 +1033,6 @@ pblend(const Selector<unpacket_traits<Packet>::size>& ifPacket, const Packet& th
   return ifPacket.select[0] ? thenPacket : elsePacket;
 }
 
-/** \internal \returns \a a with the first coefficient replaced by the scalar b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pinsertfirst(const Packet& a, typename unpacket_traits<Packet>::type b)
-{
-  // Default implementation based on pblend.
-  // It must be specialized for higher performance.
-  Selector<unpacket_traits<Packet>::size> mask;
-  mask.select[0] = true;
-  // This for loop should be optimized away by the compiler.
-  for(Index i=1; i<unpacket_traits<Packet>::size; ++i)
-    mask.select[i] = false;
-  return pblend(mask, pset1<Packet>(b), a);
-}
-
-/** \internal \returns \a a with the last coefficient replaced by the scalar b */
-template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
-pinsertlast(const Packet& a, typename unpacket_traits<Packet>::type b)
-{
-  // Default implementation based on pblend.
-  // It must be specialized for higher performance.
-  Selector<unpacket_traits<Packet>::size> mask;
-  // This for loop should be optimized away by the compiler.
-  for(Index i=0; i<unpacket_traits<Packet>::size-1; ++i)
-    mask.select[i] = false;
-  mask.select[unpacket_traits<Packet>::size-1] = true;
-  return pblend(mask, pset1<Packet>(b), a);
-}
-
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/GlobalFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/GlobalFunctions.h
index 50406400bf..629af94b99 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/GlobalFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/GlobalFunctions.h
@@ -66,22 +66,31 @@ namespace Eigen
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
+#if EIGEN_HAS_CXX11_MATH
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asinh,scalar_asinh_op,inverse hyperbolic sine,\sa ArrayBase::asinh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acosh,scalar_acosh_op,inverse hyperbolic cosine,\sa ArrayBase::acosh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atanh,scalar_atanh_op,inverse hyperbolic tangent,\sa ArrayBase::atanh)
+#endif
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(logistic,scalar_logistic_op,logistic function,\sa ArrayBase::logistic)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ndtri,scalar_ndtri_op,inverse normal distribution function,\sa ArrayBase::ndtri)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(expm1,scalar_expm1_op,exponential of a value minus 1,\sa ArrayBase::expm1)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log10)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log2,scalar_log2_op,base 2 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log2)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg DOXCOMMA MatrixBase::cwiseArg)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rint,scalar_rint_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
@@ -89,7 +98,7 @@ namespace Eigen
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
   EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
-  
+
   /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
     *
     * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
@@ -124,21 +133,21 @@ namespace Eigen
     *
     * Example: \include Cwise_array_power_array.cpp
     * Output: \verbinclude Cwise_array_power_array.out
-    * 
+    *
     * \sa ArrayBase::pow()
     *
     * \relates ArrayBase
     */
   template<typename Derived,typename ExponentDerived>
   inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
-  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents) 
+  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents)
   {
     return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
       x.derived(),
       exponents.derived()
     );
   }
-  
+
   /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
     *
     * This function computes the coefficient-wise power between a scalar and an array of exponents.
@@ -147,7 +156,7 @@ namespace Eigen
     *
     * Example: \include Cwise_scalar_power_array.cpp
     * Output: \verbinclude Cwise_scalar_power_array.out
-    * 
+    *
     * \sa ArrayBase::pow()
     *
     * \relates ArrayBase
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/IO.h b/examples/ThirdPartyLibs/Eigen/src/Core/IO.h
index da7fd6cce2..e81c315216 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/IO.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/IO.h
@@ -41,6 +41,7 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   *  - \b rowSuffix string printed at the end of each row
   *  - \b matPrefix string printed at the beginning of the matrix
   *  - \b matSuffix string printed at the end of the matrix
+  *  - \b fill character printed to fill the empty space in aligned columns
   *
   * Example: \include IOFormat.cpp
   * Output: \verbinclude IOFormat.out
@@ -53,9 +54,9 @@ struct IOFormat
   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="")
+    const std::string& _matPrefix="", const std::string& _matSuffix="", const char _fill=' ')
   : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
-    rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
+    rowSpacer(""), coeffSeparator(_coeffSeparator), fill(_fill), precision(_precision), flags(_flags)
   {
     // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline
     // don't add rowSpacer if columns are not to be aligned
@@ -71,6 +72,7 @@ struct IOFormat
   std::string matPrefix, matSuffix;
   std::string rowPrefix, rowSuffix, rowSeparator, rowSpacer;
   std::string coeffSeparator;
+  char fill;
   int precision;
   int flags;
 };
@@ -128,6 +130,9 @@ struct significant_decimals_impl
 template<typename Derived>
 std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat& fmt)
 {
+  using internal::is_same;
+  using internal::conditional;
+
   if(_m.size() == 0)
   {
     s << fmt.matPrefix << fmt.matSuffix;
@@ -136,6 +141,22 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   
   typename Derived::Nested m = _m;
   typedef typename Derived::Scalar Scalar;
+  typedef typename
+      conditional<
+          is_same<Scalar, char>::value ||
+            is_same<Scalar, unsigned char>::value ||
+            is_same<Scalar, numext::int8_t>::value ||
+            is_same<Scalar, numext::uint8_t>::value,
+          int,
+          typename conditional<
+              is_same<Scalar, std::complex<char> >::value ||
+                is_same<Scalar, std::complex<unsigned char> >::value ||
+                is_same<Scalar, std::complex<numext::int8_t> >::value ||
+                is_same<Scalar, std::complex<numext::uint8_t> >::value,
+              std::complex<int>,
+              const Scalar&
+            >::type
+        >::type PrintType;
 
   Index width = 0;
 
@@ -172,23 +193,31 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
       {
         std::stringstream sstr;
         sstr.copyfmt(s);
-        sstr << m.coeff(i,j);
+        sstr << static_cast<PrintType>(m.coeff(i,j));
         width = std::max<Index>(width, Index(sstr.str().length()));
       }
   }
+  std::streamsize old_width = s.width();
+  char old_fill_character = s.fill();
   s << fmt.matPrefix;
   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);
+    if(width) {
+      s.fill(fmt.fill);
+      s.width(width);
+    }
+    s << static_cast<PrintType>(m.coeff(i, 0));
     for(Index j = 1; j < m.cols(); ++j)
     {
       s << fmt.coeffSeparator;
-      if (width) s.width(width);
-      s << m.coeff(i, j);
+      if(width) {
+        s.fill(fmt.fill);
+        s.width(width);
+      }
+      s << static_cast<PrintType>(m.coeff(i, j));
     }
     s << fmt.rowSuffix;
     if( i < m.rows() - 1)
@@ -196,6 +225,10 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   }
   s << fmt.matSuffix;
   if(explicit_precision) s.precision(old_precision);
+  if(width) {
+    s.fill(old_fill_character);
+    s.width(old_width);
+  }
   return s;
 }
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/IndexedView.h b/examples/ThirdPartyLibs/Eigen/src/Core/IndexedView.h
index 8c57a277c7..08476251d3 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/IndexedView.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/IndexedView.h
@@ -21,8 +21,8 @@ struct traits<IndexedView<XprType, RowIndices, ColIndices> >
   enum {
     RowsAtCompileTime = int(array_size<RowIndices>::value),
     ColsAtCompileTime = int(array_size<ColIndices>::value),
-    MaxRowsAtCompileTime = RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime) : int(traits<XprType>::MaxRowsAtCompileTime),
-    MaxColsAtCompileTime = ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime) : int(traits<XprType>::MaxColsAtCompileTime),
+    MaxRowsAtCompileTime = RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime) : Dynamic,
+    MaxColsAtCompileTime = ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime) : Dynamic,
 
     XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
     IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
@@ -54,7 +54,8 @@ struct traits<IndexedView<XprType, RowIndices, ColIndices> >
     DirectAccessMask = (int(InnerIncr)!=UndefinedIncr && int(OuterIncr)!=UndefinedIncr && InnerIncr>=0 && OuterIncr>=0) ? DirectAccessBit : 0,
     FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
     FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
-    Flags = (traits<XprType>::Flags & (HereditaryBits | DirectAccessMask)) | FlagsLvalueBit | FlagsRowMajorBit
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
+    Flags = (traits<XprType>::Flags & (HereditaryBits | DirectAccessMask )) | FlagsLvalueBit | FlagsRowMajorBit | FlagsLinearAccessBit
   };
 
   typedef Block<XprType,RowsAtCompileTime,ColsAtCompileTime,IsInnerPannel> BlockType;
@@ -132,7 +133,7 @@ class IndexedView : public IndexedViewImpl<XprType, RowIndices, ColIndices, type
 
   /** \returns the nested expression */
   typename internal::remove_reference<XprType>::type&
-  nestedExpression() { return m_xpr.const_cast_derived(); }
+  nestedExpression() { return m_xpr; }
 
   /** \returns a const reference to the object storing/generating the row indices */
   const RowIndices& rowIndices() const { return m_rowIndices; }
@@ -168,7 +169,11 @@ struct unary_evaluator<IndexedView<ArgType, RowIndices, ColIndices>, IndexBased>
   enum {
     CoeffReadCost = evaluator<ArgType>::CoeffReadCost /* TODO + cost of row/col index */,
 
-    Flags = (evaluator<ArgType>::Flags & (HereditaryBits /*| LinearAccessBit | DirectAccessBit*/)),
+    FlagsLinearAccessBit = (traits<XprType>::RowsAtCompileTime == 1 || traits<XprType>::ColsAtCompileTime == 1) ? LinearAccessBit : 0,
+
+    FlagsRowMajorBit = traits<XprType>::FlagsRowMajorBit, 
+
+    Flags = (evaluator<ArgType>::Flags & (HereditaryBits & ~RowMajorBit /*| LinearAccessBit | DirectAccessBit*/)) | FlagsLinearAccessBit | FlagsRowMajorBit,
 
     Alignment = 0
   };
@@ -193,6 +198,31 @@ struct unary_evaluator<IndexedView<ArgType, RowIndices, ColIndices>, IndexBased>
     return m_argImpl.coeffRef(m_xpr.rowIndices()[row], m_xpr.colIndices()[col]);
   }
 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    EIGEN_STATIC_ASSERT_LVALUE(XprType)
+    Index row = XprType::RowsAtCompileTime == 1 ? 0 : index;
+    Index col = XprType::RowsAtCompileTime == 1 ? index : 0;
+    return m_argImpl.coeffRef( m_xpr.rowIndices()[row], m_xpr.colIndices()[col]);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar& coeffRef(Index index) const
+  {
+    Index row = XprType::RowsAtCompileTime == 1 ? 0 : index;
+    Index col = XprType::RowsAtCompileTime == 1 ? index : 0;
+    return m_argImpl.coeffRef( m_xpr.rowIndices()[row], m_xpr.colIndices()[col]);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const CoeffReturnType coeff(Index index) const
+  {
+    Index row = XprType::RowsAtCompileTime == 1 ? 0 : index;
+    Index col = XprType::RowsAtCompileTime == 1 ? index : 0;
+    return m_argImpl.coeff( m_xpr.rowIndices()[row], m_xpr.colIndices()[col]);
+  }
+
 protected:
 
   evaluator<ArgType> m_argImpl;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Inverse.h b/examples/ThirdPartyLibs/Eigen/src/Core/Inverse.h
index b76f0439d8..c514438c45 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Inverse.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Inverse.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2014-2019 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,7 +10,7 @@
 #ifndef EIGEN_INVERSE_H
 #define EIGEN_INVERSE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 template<typename XprType,typename StorageKind> class InverseImpl;
 
@@ -44,19 +44,18 @@ class Inverse : public InverseImpl<XprType,typename internal::traits<XprType>::S
 {
 public:
   typedef typename XprType::StorageIndex StorageIndex;
-  typedef typename XprType::PlainObject                       PlainObject;
   typedef typename XprType::Scalar                            Scalar;
   typedef typename internal::ref_selector<XprType>::type      XprTypeNested;
   typedef typename internal::remove_all<XprTypeNested>::type  XprTypeNestedCleaned;
   typedef typename internal::ref_selector<Inverse>::type Nested;
   typedef typename internal::remove_all<XprType>::type NestedExpression;
-  
+
   explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr)
     : m_xpr(xpr)
   {}
 
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR  Index rows() const EIGEN_NOEXCEPT { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR  Index cols() const EIGEN_NOEXCEPT { return m_xpr.rows(); }
 
   EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; }
 
@@ -82,7 +81,7 @@ namespace internal {
 
 /** \internal
   * \brief Default evaluator for Inverse expression.
-  * 
+  *
   * This default evaluator for Inverse expression simply evaluate the inverse into a temporary
   * by a call to internal::call_assignment_no_alias.
   * Therefore, inverse implementers only have to specialize Assignment<Dst,Inverse<...>, ...> for
@@ -97,7 +96,7 @@ struct unary_evaluator<Inverse<ArgType> >
   typedef Inverse<ArgType> InverseType;
   typedef typename InverseType::PlainObject PlainObject;
   typedef evaluator<PlainObject> Base;
-  
+
   enum { Flags = Base::Flags | EvalBeforeNestingBit };
 
   unary_evaluator(const InverseType& inv_xpr)
@@ -106,11 +105,11 @@ struct unary_evaluator<Inverse<ArgType> >
     ::new (static_cast<Base*>(this)) Base(m_result);
     internal::call_assignment_no_alias(m_result, inv_xpr);
   }
-  
+
 protected:
   PlainObject m_result;
 };
-  
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Map.h b/examples/ThirdPartyLibs/Eigen/src/Core/Map.h
index c437f1a924..218cc157f3 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Map.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Map.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_MAP_H
 #define EIGEN_MAP_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 template<typename PlainObjectType, int MapOptions, typename StrideType>
@@ -47,7 +47,7 @@ struct traits<Map<PlainObjectType, MapOptions, StrideType> >
   * \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 the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
+  * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 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.
@@ -104,13 +104,13 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     EIGEN_DEVICE_FUNC
     inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index innerStride() const
     {
       return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
     }
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index outerStride() const
     {
       return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/MapBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/MapBase.h
index 020f939ad6..d856447f03 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/MapBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/MapBase.h
@@ -15,7 +15,7 @@
       EIGEN_STATIC_ASSERT((int(internal::evaluator<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
                           YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \ingroup Core_Module
   *
@@ -43,6 +43,7 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
     enum {
       RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
       ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      InnerStrideAtCompileTime = internal::traits<Derived>::InnerStrideAtCompileTime,
       SizeAtCompileTime = Base::SizeAtCompileTime
     };
 
@@ -86,9 +87,11 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
     typedef typename Base::CoeffReturnType CoeffReturnType;
 
     /** \copydoc DenseBase::rows() */
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_rows.value(); }
     /** \copydoc DenseBase::cols() */
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_cols.value(); }
 
     /** Returns a pointer to the first coefficient of the matrix or vector.
       *
@@ -181,14 +184,19 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
     #endif
 
   protected:
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(MapBase)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(MapBase)
 
     template<typename T>
     EIGEN_DEVICE_FUNC
     void checkSanity(typename internal::enable_if<(internal::traits<T>::Alignment>0),void*>::type = 0) const
     {
 #if EIGEN_MAX_ALIGN_BYTES>0
+      // innerStride() is not set yet when this function is called, so we optimistically assume the lowest plausible value:
+      const Index minInnerStride = InnerStrideAtCompileTime == Dynamic ? 1 : Index(InnerStrideAtCompileTime);
+      EIGEN_ONLY_USED_FOR_DEBUG(minInnerStride);
       eigen_assert((   ((internal::UIntPtr(m_data) % internal::traits<Derived>::Alignment) == 0)
-                    || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
+                    || (cols() * rows() * minInnerStride * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
 #endif
     }
 
@@ -290,6 +298,9 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
     // In theory we could simply refer to Base:Base::operator=, but MSVC does not like Base::Base,
     // see bugs 821 and 920.
     using ReadOnlyMapBase::Base::operator=;
+  protected:
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(MapBase)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(MapBase)
 };
 
 #undef EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctions.h
index 5ba5293a01..61b78f4f20 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctions.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,9 +11,11 @@
 #ifndef EIGEN_MATHFUNCTIONS_H
 #define EIGEN_MATHFUNCTIONS_H
 
-// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html
 // TODO this should better be moved to NumTraits
-#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L
+// Source: WolframAlpha
+#define EIGEN_PI    3.141592653589793238462643383279502884197169399375105820974944592307816406L
+#define EIGEN_LOG2E 1.442695040888963407359924681001892137426645954152985934135449406931109219L
+#define EIGEN_LN2   0.693147180559945309417232121458176568075500134360255254120680009493393621L
 
 namespace Eigen {
 
@@ -96,7 +99,7 @@ struct real_default_impl<Scalar,true>
 
 template<typename Scalar> struct real_impl : real_default_impl<Scalar> {};
 
-#ifdef EIGEN_CUDA_ARCH
+#if defined(EIGEN_GPU_COMPILE_PHASE)
 template<typename T>
 struct real_impl<std::complex<T> >
 {
@@ -144,7 +147,7 @@ struct imag_default_impl<Scalar,true>
 
 template<typename Scalar> struct imag_impl : imag_default_impl<Scalar> {};
 
-#ifdef EIGEN_CUDA_ARCH
+#if defined(EIGEN_GPU_COMPILE_PHASE)
 template<typename T>
 struct imag_impl<std::complex<T> >
 {
@@ -212,12 +215,12 @@ struct imag_ref_default_impl
 template<typename Scalar>
 struct imag_ref_default_impl<Scalar, false>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline Scalar run(Scalar&)
   {
     return Scalar(0);
   }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline const Scalar run(const Scalar&)
   {
     return Scalar(0);
@@ -238,7 +241,7 @@ struct imag_ref_retval
 ****************************************************************************/
 
 template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-struct conj_impl
+struct conj_default_impl
 {
   EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
@@ -248,7 +251,7 @@ struct conj_impl
 };
 
 template<typename Scalar>
-struct conj_impl<Scalar,true>
+struct conj_default_impl<Scalar,true>
 {
   EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
@@ -258,6 +261,9 @@ struct conj_impl<Scalar,true>
   }
 };
 
+template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+struct conj_impl : conj_default_impl<Scalar, IsComplex> {};
+
 template<typename Scalar>
 struct conj_retval
 {
@@ -286,7 +292,7 @@ struct abs2_impl_default<Scalar, true> // IsComplex
   EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
-    return real(x)*real(x) + imag(x)*imag(x);
+    return x.real()*x.real() + x.imag()*x.imag();
   }
 };
 
@@ -307,19 +313,81 @@ struct abs2_retval
   typedef typename NumTraits<Scalar>::Real type;
 };
 
+/****************************************************************************
+* Implementation of sqrt/rsqrt                                             *
+****************************************************************************/
+
+template<typename Scalar>
+struct sqrt_impl
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_ALWAYS_INLINE Scalar run(const Scalar& x)
+  {
+    EIGEN_USING_STD(sqrt);
+    return sqrt(x);
+  }
+};
+
+// Complex sqrt defined in MathFunctionsImpl.h.
+template<typename T> EIGEN_DEVICE_FUNC std::complex<T> complex_sqrt(const std::complex<T>& a_x);
+
+// Custom implementation is faster than `std::sqrt`, works on
+// GPU, and correctly handles special cases (unlike MSVC).
+template<typename T>
+struct sqrt_impl<std::complex<T> >
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_ALWAYS_INLINE std::complex<T> run(const std::complex<T>& x)
+  {
+    return complex_sqrt<T>(x);
+  }
+};
+
+template<typename Scalar>
+struct sqrt_retval
+{
+  typedef Scalar type;
+};
+
+// Default implementation relies on numext::sqrt, at bottom of file.
+template<typename T>
+struct rsqrt_impl;
+
+// Complex rsqrt defined in MathFunctionsImpl.h.
+template<typename T> EIGEN_DEVICE_FUNC std::complex<T> complex_rsqrt(const std::complex<T>& a_x);
+
+template<typename T>
+struct rsqrt_impl<std::complex<T> >
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_ALWAYS_INLINE std::complex<T> run(const std::complex<T>& x)
+  {
+    return complex_rsqrt<T>(x);
+  }
+};
+
+template<typename Scalar>
+struct rsqrt_retval
+{
+  typedef Scalar type;
+};
+
 /****************************************************************************
 * Implementation of norm1                                                *
 ****************************************************************************/
 
 template<typename Scalar, bool IsComplex>
-struct norm1_default_impl
+struct norm1_default_impl;
+
+template<typename Scalar>
+struct norm1_default_impl<Scalar,true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
   EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
-    EIGEN_USING_STD_MATH(abs);
-    return abs(real(x)) + abs(imag(x));
+    EIGEN_USING_STD(abs);
+    return abs(x.real()) + abs(x.imag());
   }
 };
 
@@ -329,7 +397,7 @@ struct norm1_default_impl<Scalar, false>
   EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
-    EIGEN_USING_STD_MATH(abs);
+    EIGEN_USING_STD(abs);
     return abs(x);
   }
 };
@@ -347,31 +415,7 @@ struct norm1_retval
 * 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)
-  {
-    EIGEN_USING_STD_MATH(abs);
-    EIGEN_USING_STD_MATH(sqrt);
-    RealScalar _x = abs(x);
-    RealScalar _y = abs(y);
-    Scalar p, qp;
-    if(_x>_y)
-    {
-      p = _x;
-      qp = _y / p;
-    }
-    else
-    {
-      p = _y;
-      qp = _x / p;
-    }
-    if(p==RealScalar(0)) return RealScalar(0);
-    return p * sqrt(RealScalar(1) + qp*qp);
-  }
-};
+template<typename Scalar> struct hypot_impl;
 
 template<typename Scalar>
 struct hypot_retval
@@ -383,7 +427,7 @@ struct hypot_retval
 * Implementation of cast                                                 *
 ****************************************************************************/
 
-template<typename OldType, typename NewType>
+template<typename OldType, typename NewType, typename EnableIf = void>
 struct cast_impl
 {
   EIGEN_DEVICE_FUNC
@@ -393,6 +437,22 @@ struct cast_impl
   }
 };
 
+// Casting from S -> Complex<T> leads to an implicit conversion from S to T,
+// generating warnings on clang.  Here we explicitly cast the real component.
+template<typename OldType, typename NewType>
+struct cast_impl<OldType, NewType,
+  typename internal::enable_if<
+    !NumTraits<OldType>::IsComplex && NumTraits<NewType>::IsComplex
+  >::type>
+{
+  EIGEN_DEVICE_FUNC
+  static inline NewType run(const OldType& x)
+  {
+    typedef typename NumTraits<NewType>::Real NewReal;
+    return static_cast<NewType>(static_cast<NewReal>(x));
+  }
+};
+
 // here, for once, we're plainly returning NewType: we don't want cast to do weird things.
 
 template<typename OldType, typename NewType>
@@ -406,29 +466,59 @@ inline NewType cast(const OldType& x)
 * Implementation of round                                                   *
 ****************************************************************************/
 
+template<typename Scalar>
+struct round_impl
+{
+  EIGEN_DEVICE_FUNC
+  static inline Scalar run(const Scalar& x)
+  {
+    EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
 #if EIGEN_HAS_CXX11_MATH
-  template<typename Scalar>
-  struct round_impl {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
-      EIGEN_USING_STD_MATH(round);
-      return round(x);
-    }
-  };
+    EIGEN_USING_STD(round);
+#endif
+    return Scalar(round(x));
+  }
+};
+
+#if !EIGEN_HAS_CXX11_MATH
+#if EIGEN_HAS_C99_MATH
+// Use ::roundf for float.
+template<>
+struct round_impl<float> {
+  EIGEN_DEVICE_FUNC
+  static inline float run(const float& x)
+  {
+    return ::roundf(x);
+  }
+};
 #else
-  template<typename Scalar>
-  struct round_impl
+template<typename Scalar>
+struct round_using_floor_ceil_impl
+{
+  EIGEN_DEVICE_FUNC
+  static inline Scalar run(const Scalar& x)
   {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
-      EIGEN_USING_STD_MATH(floor);
-      EIGEN_USING_STD_MATH(ceil);
-      return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5));
+    EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+    // Without C99 round/roundf, resort to floor/ceil.
+    EIGEN_USING_STD(floor);
+    EIGEN_USING_STD(ceil);
+    // If not enough precision to resolve a decimal at all, return the input.
+    // Otherwise, adding 0.5 can trigger an increment by 1.
+    const Scalar limit = Scalar(1ull << (NumTraits<Scalar>::digits() - 1));
+    if (x >= limit || x <= -limit) {
+      return x;
     }
-  };
-#endif
+    return (x > Scalar(0)) ? Scalar(floor(x + Scalar(0.5))) : Scalar(ceil(x - Scalar(0.5)));
+  }
+};
+
+template<>
+struct round_impl<float> : round_using_floor_ceil_impl<float> {};
+
+template<>
+struct round_impl<double> : round_using_floor_ceil_impl<double> {};
+#endif // EIGEN_HAS_C99_MATH
+#endif // !EIGEN_HAS_CXX11_MATH
 
 template<typename Scalar>
 struct round_retval
@@ -437,43 +527,112 @@ struct round_retval
 };
 
 /****************************************************************************
-* Implementation of arg                                                     *
+* Implementation of rint                                                    *
 ****************************************************************************/
 
+template<typename Scalar>
+struct rint_impl {
+  EIGEN_DEVICE_FUNC
+  static inline Scalar run(const Scalar& x)
+  {
+    EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
 #if EIGEN_HAS_CXX11_MATH
-  template<typename Scalar>
-  struct arg_impl {
-    static inline Scalar run(const Scalar& x)
-    {
-      EIGEN_USING_STD_MATH(arg);
-      return arg(x);
-    }
-  };
-#else
-  template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
-  struct arg_default_impl
+      EIGEN_USING_STD(rint);
+#endif
+    return rint(x);
+  }
+};
+
+#if !EIGEN_HAS_CXX11_MATH
+template<>
+struct rint_impl<double> {
+  EIGEN_DEVICE_FUNC
+  static inline double run(const double& x)
   {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_DEVICE_FUNC
-    static inline RealScalar run(const Scalar& x)
-    {
-      return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); }
-  };
+    return ::rint(x);
+  }
+};
+template<>
+struct rint_impl<float> {
+  EIGEN_DEVICE_FUNC
+  static inline float run(const float& x)
+  {
+    return ::rintf(x);
+  }
+};
+#endif
 
-  template<typename Scalar>
-  struct arg_default_impl<Scalar,true>
+template<typename Scalar>
+struct rint_retval
+{
+  typedef Scalar type;
+};
+
+/****************************************************************************
+* Implementation of arg                                                     *
+****************************************************************************/
+
+// Visual Studio 2017 has a bug where arg(float) returns 0 for negative inputs.
+// This seems to be fixed in VS 2019.
+#if EIGEN_HAS_CXX11_MATH && (!EIGEN_COMP_MSVC || EIGEN_COMP_MSVC >= 1920)
+// std::arg is only defined for types of std::complex, or integer types or float/double/long double
+template<typename Scalar,
+          bool HasStdImpl = NumTraits<Scalar>::IsComplex || is_integral<Scalar>::value
+                            || is_same<Scalar, float>::value || is_same<Scalar, double>::value
+                            || is_same<Scalar, long double>::value >
+struct arg_default_impl;
+
+template<typename Scalar>
+struct arg_default_impl<Scalar, true> {
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
   {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_DEVICE_FUNC
-    static inline RealScalar run(const Scalar& x)
-    {
-      EIGEN_USING_STD_MATH(arg);
-      return arg(x);
-    }
-  };
+    #if defined(EIGEN_HIP_DEVICE_COMPILE)
+    // HIP does not seem to have a native device side implementation for the math routine "arg"
+    using std::arg;
+    #else
+    EIGEN_USING_STD(arg);
+    #endif
+    return static_cast<RealScalar>(arg(x));
+  }
+};
 
-  template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
+// Must be non-complex floating-point type (e.g. half/bfloat16).
+template<typename Scalar>
+struct arg_default_impl<Scalar, false> {
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
+  {
+    return (x < Scalar(0)) ? RealScalar(EIGEN_PI) : RealScalar(0);
+  }
+};
+#else
+template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+struct arg_default_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
+  {
+    return (x < RealScalar(0)) ? RealScalar(EIGEN_PI) : RealScalar(0);
+  }
+};
+
+template<typename Scalar>
+struct arg_default_impl<Scalar,true>
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
+  {
+    EIGEN_USING_STD(arg);
+    return arg(x);
+  }
+};
 #endif
+template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
 
 template<typename Scalar>
 struct arg_retval
@@ -495,18 +654,19 @@ namespace std_fallback {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
-    EIGEN_USING_STD_MATH(exp);
+    EIGEN_USING_STD(exp);
     Scalar u = exp(x);
-    if (u == Scalar(1)) {
+    if (numext::equal_strict(u, Scalar(1))) {
       return x;
     }
     Scalar um1 = u - RealScalar(1);
-    if (um1 == Scalar(-1)) {
+    if (numext::equal_strict(um1, Scalar(-1))) {
       return RealScalar(-1);
     }
 
-    EIGEN_USING_STD_MATH(log);
-    return (u - RealScalar(1)) * x / log(u);
+    EIGEN_USING_STD(log);
+    Scalar logu = log(u);
+    return numext::equal_strict(u, logu) ? u : (u - RealScalar(1)) * x / logu;
   }
 }
 
@@ -517,19 +677,43 @@ struct expm1_impl {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
     #if EIGEN_HAS_CXX11_MATH
     using std::expm1;
-    #endif
+    #else
     using std_fallback::expm1;
+    #endif
     return expm1(x);
   }
 };
 
-
 template<typename Scalar>
 struct expm1_retval
 {
   typedef Scalar type;
 };
 
+/****************************************************************************
+* Implementation of log                                                     *
+****************************************************************************/
+
+// Complex log defined in MathFunctionsImpl.h.
+template<typename T> EIGEN_DEVICE_FUNC std::complex<T> complex_log(const std::complex<T>& z);
+
+template<typename Scalar>
+struct log_impl {
+  EIGEN_DEVICE_FUNC static inline Scalar run(const Scalar& x)
+  {
+    EIGEN_USING_STD(log);
+    return static_cast<Scalar>(log(x));
+  }
+};
+
+template<typename Scalar>
+struct log_impl<std::complex<Scalar> > {
+  EIGEN_DEVICE_FUNC static inline std::complex<Scalar> run(const std::complex<Scalar>& z)
+  {
+    return complex_log(z);
+  }
+};
+
 /****************************************************************************
 * Implementation of log1p                                                   *
 ****************************************************************************/
@@ -541,9 +725,12 @@ namespace std_fallback {
   EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    EIGEN_USING_STD_MATH(log);
+    EIGEN_USING_STD(log);
     Scalar x1p = RealScalar(1) + x;
-    return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) );
+    Scalar log_1p = log_impl<Scalar>::run(x1p);
+    const bool is_small = numext::equal_strict(x1p, Scalar(1));
+    const bool is_inf = numext::equal_strict(x1p, log_1p);
+    return (is_small || is_inf) ? x : x * (log_1p / (x1p - RealScalar(1)));
   }
 }
 
@@ -554,12 +741,22 @@ struct log1p_impl {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
     #if EIGEN_HAS_CXX11_MATH
     using std::log1p;
-    #endif
+    #else
     using std_fallback::log1p;
+    #endif
     return log1p(x);
   }
 };
 
+// Specialization for complex types that are not supported by std::log1p.
+template <typename RealScalar>
+struct log1p_impl<std::complex<RealScalar> > {
+  EIGEN_DEVICE_FUNC static inline std::complex<RealScalar> run(
+      const std::complex<RealScalar>& x) {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(RealScalar)
+    return std_fallback::log1p(x);
+  }
+};
 
 template<typename Scalar>
 struct log1p_retval
@@ -578,7 +775,7 @@ struct pow_impl
   typedef typename ScalarBinaryOpTraits<ScalarX,ScalarY,internal::scalar_pow_op<ScalarX,ScalarY> >::ReturnType result_type;
   static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y)
   {
-    EIGEN_USING_STD_MATH(pow);
+    EIGEN_USING_STD(pow);
     return pow(x, y);
   }
 };
@@ -689,20 +886,27 @@ struct random_default_impl<Scalar, false, true>
 {
   static inline Scalar run(const Scalar& x, const Scalar& y)
   {
-    typedef typename conditional<NumTraits<Scalar>::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX;
-    if(y<x)
+    if (y <= x)
       return x;
-    // the following difference might overflow on a 32 bits system,
-    // but since y>=x the result converted to an unsigned long is still correct.
-    std::size_t range = ScalarX(y)-ScalarX(x);
-    std::size_t offset = 0;
-    // rejection sampling
-    std::size_t divisor = 1;
-    std::size_t multiplier = 1;
-    if(range<RAND_MAX) divisor = (std::size_t(RAND_MAX)+1)/(range+1);
-    else               multiplier = 1 + range/(std::size_t(RAND_MAX)+1);
+    // ScalarU is the unsigned counterpart of Scalar, possibly Scalar itself.
+    typedef typename make_unsigned<Scalar>::type ScalarU;
+    // ScalarX is the widest of ScalarU and unsigned int.
+    // We'll deal only with ScalarX and unsigned int below thus avoiding signed
+    // types and arithmetic and signed overflows (which are undefined behavior).
+    typedef typename conditional<(ScalarU(-1) > unsigned(-1)), ScalarU, unsigned>::type ScalarX;
+    // The following difference doesn't overflow, provided our integer types are two's
+    // complement and have the same number of padding bits in signed and unsigned variants.
+    // This is the case in most modern implementations of C++.
+    ScalarX range = ScalarX(y) - ScalarX(x);
+    ScalarX offset = 0;
+    ScalarX divisor = 1;
+    ScalarX multiplier = 1;
+    const unsigned rand_max = RAND_MAX;
+    if (range <= rand_max) divisor = (rand_max + 1) / (range + 1);
+    else                   multiplier = 1 + range / (rand_max + 1);
+    // Rejection sampling.
     do {
-      offset = (std::size_t(std::rand()) * multiplier) / divisor;
+      offset = (unsigned(std::rand()) * multiplier) / divisor;
     } while (offset > range);
     return Scalar(ScalarX(x) + offset);
   }
@@ -727,8 +931,8 @@ 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)));
+    return Scalar(random(x.real(), y.real()),
+                  random(x.imag(), y.imag()));
   }
   static inline Scalar run()
   {
@@ -749,7 +953,7 @@ inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
   return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
 }
 
-// Implementatin of is* functions
+// Implementation of is* functions
 
 // std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang.
 #if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG)
@@ -778,7 +982,7 @@ EIGEN_DEVICE_FUNC
 typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
 isfinite_impl(const T& x)
 {
-  #ifdef EIGEN_CUDA_ARCH
+  #if defined(EIGEN_GPU_COMPILE_PHASE)
     return (::isfinite)(x);
   #elif EIGEN_USE_STD_FPCLASSIFY
     using std::isfinite;
@@ -793,7 +997,7 @@ EIGEN_DEVICE_FUNC
 typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
 isinf_impl(const T& x)
 {
-  #ifdef EIGEN_CUDA_ARCH
+  #if defined(EIGEN_GPU_COMPILE_PHASE)
     return (::isinf)(x);
   #elif EIGEN_USE_STD_FPCLASSIFY
     using std::isinf;
@@ -808,7 +1012,7 @@ EIGEN_DEVICE_FUNC
 typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
 isnan_impl(const T& x)
 {
-  #ifdef EIGEN_CUDA_ARCH
+  #if defined(EIGEN_GPU_COMPILE_PHASE)
     return (::isnan)(x);
   #elif EIGEN_USE_STD_FPCLASSIFY
     using std::isnan;
@@ -865,7 +1069,6 @@ template<typename T> EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x)
 template<typename T> EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x);
 
 template<typename T> T generic_fast_tanh_float(const T& a_x);
-
 } // end namespace internal
 
 /****************************************************************************
@@ -874,12 +1077,12 @@ template<typename T> T generic_fast_tanh_float(const T& a_x);
 
 namespace numext {
 
-#if !defined(EIGEN_CUDA_ARCH) && !defined(__SYCL_DEVICE_ONLY__)
+#if (!defined(EIGEN_GPUCC) || defined(EIGEN_CONSTEXPR_ARE_DEVICE_FUNC))
 template<typename T>
 EIGEN_DEVICE_FUNC
 EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
 {
-  EIGEN_USING_STD_MATH(min);
+  EIGEN_USING_STD(min)
   return min EIGEN_NOT_A_MACRO (x,y);
 }
 
@@ -887,114 +1090,140 @@ template<typename T>
 EIGEN_DEVICE_FUNC
 EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
 {
-  EIGEN_USING_STD_MATH(max);
+  EIGEN_USING_STD(max)
   return max EIGEN_NOT_A_MACRO (x,y);
 }
-
-
-#elif defined(__SYCL_DEVICE_ONLY__)
+#else
 template<typename T>
+EIGEN_DEVICE_FUNC
 EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
 {
-
   return y < x ? y : x;
 }
-
-template<typename T>
-EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
-{
-
-  return x < y ? y : x;
-}
-
-EIGEN_ALWAYS_INLINE int mini(const int& x, const int& y)
-{
-  return cl::sycl::min(x,y);
-}
-
-EIGEN_ALWAYS_INLINE int maxi(const int& x, const int& y)
-{
-  return cl::sycl::max(x,y);
-}
-
-EIGEN_ALWAYS_INLINE unsigned int mini(const unsigned int& x, const unsigned int& y)
-{
-  return cl::sycl::min(x,y);
-}
-
-EIGEN_ALWAYS_INLINE unsigned int maxi(const unsigned int& x, const unsigned int& y)
-{
-  return cl::sycl::max(x,y);
-}
-
-EIGEN_ALWAYS_INLINE  long mini(const long & x, const long & y)
-{
-  return cl::sycl::min(x,y);
-}
-
-EIGEN_ALWAYS_INLINE  long maxi(const long & x, const long & y)
-{
-  return cl::sycl::max(x,y);
-}
-
-EIGEN_ALWAYS_INLINE unsigned long mini(const unsigned long& x, const unsigned long& y)
-{
-  return cl::sycl::min(x,y);
-}
-
-EIGEN_ALWAYS_INLINE unsigned long maxi(const unsigned long& x, const unsigned long& y)
-{
-  return cl::sycl::max(x,y);
-}
-
-
+template<>
+EIGEN_DEVICE_FUNC
 EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
 {
-  return cl::sycl::fmin(x,y);
-}
-
-EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
-{
-  return cl::sycl::fmax(x,y);
+  return fminf(x, y);
 }
-
+template<>
+EIGEN_DEVICE_FUNC
 EIGEN_ALWAYS_INLINE double mini(const double& x, const double& y)
 {
-  return cl::sycl::fmin(x,y);
+  return fmin(x, y);
 }
-
-EIGEN_ALWAYS_INLINE double maxi(const double& x, const double& y)
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE long double mini(const long double& x, const long double& y)
 {
-  return cl::sycl::fmax(x,y);
+#if defined(EIGEN_HIPCC)
+  // no "fminl" on HIP yet
+  return (x < y) ? x : y;
+#else
+  return fminl(x, y);
+#endif
 }
 
-#else
 template<typename T>
 EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
 {
-  return y < x ? y : x;
+  return x < y ? y : x;
 }
 template<>
 EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
+EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
 {
-  return fminf(x, y);
+  return fmaxf(x, y);
 }
-template<typename T>
+template<>
 EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+EIGEN_ALWAYS_INLINE double maxi(const double& x, const double& y)
 {
-  return x < y ? y : x;
+  return fmax(x, y);
 }
 template<>
 EIGEN_DEVICE_FUNC
-EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
+EIGEN_ALWAYS_INLINE long double maxi(const long double& x, const long double& y)
 {
-  return fmaxf(x, y);
+#if defined(EIGEN_HIPCC)
+  // no "fmaxl" on HIP yet
+  return (x > y) ? x : y;
+#else
+  return fmaxl(x, y);
+#endif
 }
 #endif
 
+#if defined(SYCL_DEVICE_ONLY)
+
+
+#define SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_BINARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_char)   \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_short)  \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_int)    \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_long)
+#define SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_UNARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_char)   \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_short)  \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_int)    \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_long)
+#define SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_BINARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_uchar)  \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_ushort) \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_uint)   \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_ulong)
+#define SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_UNARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_uchar)  \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_ushort) \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_uint)   \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_ulong)
+#define SYCL_SPECIALIZE_INTEGER_TYPES_BINARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_BINARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_BINARY(NAME, FUNC)
+#define SYCL_SPECIALIZE_INTEGER_TYPES_UNARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_UNARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_UNARY(NAME, FUNC)
+#define SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, cl::sycl::cl_float) \
+  SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC,cl::sycl::cl_double)
+#define SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(NAME, FUNC) \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, cl::sycl::cl_float) \
+  SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC,cl::sycl::cl_double)
+#define SYCL_SPECIALIZE_FLOATING_TYPES_UNARY_FUNC_RET_TYPE(NAME, FUNC, RET_TYPE) \
+  SYCL_SPECIALIZE_GEN_UNARY_FUNC(NAME, FUNC, RET_TYPE, cl::sycl::cl_float) \
+  SYCL_SPECIALIZE_GEN_UNARY_FUNC(NAME, FUNC, RET_TYPE, cl::sycl::cl_double)
+
+#define SYCL_SPECIALIZE_GEN_UNARY_FUNC(NAME, FUNC, RET_TYPE, ARG_TYPE) \
+template<>                                               \
+  EIGEN_DEVICE_FUNC                                      \
+  EIGEN_ALWAYS_INLINE RET_TYPE NAME(const ARG_TYPE& x) { \
+    return cl::sycl::FUNC(x);                            \
+  }
+
+#define SYCL_SPECIALIZE_UNARY_FUNC(NAME, FUNC, TYPE) \
+  SYCL_SPECIALIZE_GEN_UNARY_FUNC(NAME, FUNC, TYPE, TYPE)
+
+#define SYCL_SPECIALIZE_GEN1_BINARY_FUNC(NAME, FUNC, RET_TYPE, ARG_TYPE1, ARG_TYPE2) \
+  template<>                                                                  \
+  EIGEN_DEVICE_FUNC                                                           \
+  EIGEN_ALWAYS_INLINE RET_TYPE NAME(const ARG_TYPE1& x, const ARG_TYPE2& y) { \
+    return cl::sycl::FUNC(x, y);                                              \
+  }
+
+#define SYCL_SPECIALIZE_GEN2_BINARY_FUNC(NAME, FUNC, RET_TYPE, ARG_TYPE) \
+  SYCL_SPECIALIZE_GEN1_BINARY_FUNC(NAME, FUNC, RET_TYPE, ARG_TYPE, ARG_TYPE)
+
+#define SYCL_SPECIALIZE_BINARY_FUNC(NAME, FUNC, TYPE) \
+  SYCL_SPECIALIZE_GEN2_BINARY_FUNC(NAME, FUNC, TYPE, TYPE)
+
+SYCL_SPECIALIZE_INTEGER_TYPES_BINARY(mini, min)
+SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(mini, fmin)
+SYCL_SPECIALIZE_INTEGER_TYPES_BINARY(maxi, max)
+SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(maxi, fmax)
+
+#endif
+
 
 template<typename Scalar>
 EIGEN_DEVICE_FUNC
@@ -1062,6 +1291,34 @@ inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
 EIGEN_DEVICE_FUNC
 inline bool abs2(bool x) { return x; }
 
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T absdiff(const T& x, const T& y)
+{
+  return x > y ? x - y : y - x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float absdiff(const float& x, const float& y)
+{
+  return fabsf(x - y);
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE double absdiff(const double& x, const double& y)
+{
+  return fabs(x - y);
+}
+
+#if !defined(EIGEN_GPUCC)
+// HIP and CUDA do not support long double.
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE long double absdiff(const long double& x, const long double& y) {
+  return fabsl(x - y);
+}
+#endif
+
 template<typename Scalar>
 EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
@@ -1076,6 +1333,10 @@ inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar&
   return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
 }
 
+#if defined(SYCL_DEVICE_ONLY)
+  SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(hypot, hypot)
+#endif
+
 template<typename Scalar>
 EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
@@ -1083,12 +1344,11 @@ inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
   return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   log1p(float x) { return cl::sycl::log1p(x); }
-EIGEN_ALWAYS_INLINE double  log1p(double x) { return cl::sycl::log1p(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(log1p, log1p)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float log1p(const float &x) { return ::log1pf(x); }
 
@@ -1103,23 +1363,26 @@ inline typename internal::pow_impl<ScalarX,ScalarY>::result_type pow(const Scala
   return internal::pow_impl<ScalarX,ScalarY>::run(x, y);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   pow(float x, float y) { return cl::sycl::pow(x, y); }
-EIGEN_ALWAYS_INLINE double  pow(double x, double y) { return cl::sycl::pow(x, y); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(pow, pow)
+#endif
 
 template<typename T> EIGEN_DEVICE_FUNC bool (isnan)   (const T &x) { return internal::isnan_impl(x); }
 template<typename T> EIGEN_DEVICE_FUNC bool (isinf)   (const T &x) { return internal::isinf_impl(x); }
 template<typename T> EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   isnan(float x) { return cl::sycl::isnan(x); }
-EIGEN_ALWAYS_INLINE double  isnan(double x) { return cl::sycl::isnan(x); }
-EIGEN_ALWAYS_INLINE float   isinf(float x) { return cl::sycl::isinf(x); }
-EIGEN_ALWAYS_INLINE double  isinf(double x) { return cl::sycl::isinf(x); }
-EIGEN_ALWAYS_INLINE float   isfinite(float x) { return cl::sycl::isfinite(x); }
-EIGEN_ALWAYS_INLINE double  isfinite(double x) { return cl::sycl::isfinite(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY_FUNC_RET_TYPE(isnan, isnan, bool)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY_FUNC_RET_TYPE(isinf, isinf, bool)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY_FUNC_RET_TYPE(isfinite, isfinite, bool)
+#endif
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(rint, Scalar) rint(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(rint, Scalar)::run(x);
+}
 
 template<typename Scalar>
 EIGEN_DEVICE_FUNC
@@ -1128,25 +1391,23 @@ inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x)
   return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   round(float x) { return cl::sycl::round(x); }
-EIGEN_ALWAYS_INLINE double  round(double x) { return cl::sycl::round(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(round, round)
+#endif
 
 template<typename T>
 EIGEN_DEVICE_FUNC
 T (floor)(const T& x)
 {
-  EIGEN_USING_STD_MATH(floor);
+  EIGEN_USING_STD(floor)
   return floor(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   floor(float x) { return cl::sycl::floor(x); }
-EIGEN_ALWAYS_INLINE double  floor(double x) { return cl::sycl::floor(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(floor, floor)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float floor(const float &x) { return ::floorf(x); }
 
@@ -1158,16 +1419,15 @@ template<typename T>
 EIGEN_DEVICE_FUNC
 T (ceil)(const T& x)
 {
-  EIGEN_USING_STD_MATH(ceil);
+  EIGEN_USING_STD(ceil);
   return ceil(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   ceil(float x) { return cl::sycl::ceil(x); }
-EIGEN_ALWAYS_INLINE double  ceil(double x) { return cl::sycl::ceil(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(ceil, ceil)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float ceil(const float &x) { return ::ceilf(x); }
 
@@ -1193,39 +1453,49 @@ inline int log2(int x)
 
 /** \returns the square root of \a x.
   *
-  * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode,
+  * It is essentially equivalent to
+  * \code using std::sqrt; return sqrt(x); \endcode
   * but slightly faster for float/double and some compilers (e.g., gcc), thanks to
   * specializations when SSE is enabled.
   *
   * It's usage is justified in performance critical functions, like norm/normalize.
   */
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE EIGEN_MATHFUNC_RETVAL(sqrt, Scalar) sqrt(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(sqrt, Scalar)::run(x);
+}
+
+// Boolean specialization, avoids implicit float to bool conversion (-Wimplicit-conversion-floating-point-to-bool).
+template<>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_DEVICE_FUNC
+bool sqrt<bool>(const bool &x) { return x; }
+
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(sqrt, sqrt)
+#endif
+
+/** \returns the reciprocal square root of \a x. **/
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-T sqrt(const T &x)
+T rsqrt(const T& x)
 {
-  EIGEN_USING_STD_MATH(sqrt);
-  return sqrt(x);
+  return internal::rsqrt_impl<T>::run(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   sqrt(float x) { return cl::sycl::sqrt(x); }
-EIGEN_ALWAYS_INLINE double  sqrt(double x) { return cl::sycl::sqrt(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
-
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T log(const T &x) {
-  EIGEN_USING_STD_MATH(log);
-  return log(x);
+  return internal::log_impl<T>::run(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   log(float x) { return cl::sycl::log(x); }
-EIGEN_ALWAYS_INLINE double  log(double x) { return cl::sycl::log(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(log, log)
+#endif
 
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float log(const float &x) { return ::logf(x); }
 
@@ -1237,7 +1507,7 @@ template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 typename internal::enable_if<NumTraits<T>::IsSigned || NumTraits<T>::IsComplex,typename NumTraits<T>::Real>::type
 abs(const T &x) {
-  EIGEN_USING_STD_MATH(abs);
+  EIGEN_USING_STD(abs);
   return abs(x);
 }
 
@@ -1248,12 +1518,12 @@ abs(const T &x) {
   return x;
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   abs(float x) { return cl::sycl::fabs(x); }
-EIGEN_ALWAYS_INLINE double  abs(double x) { return cl::sycl::fabs(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_INTEGER_TYPES_UNARY(abs, abs)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(abs, fabs)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float abs(const float &x) { return ::fabsf(x); }
 
@@ -1274,21 +1544,36 @@ double abs(const std::complex<double>& x) {
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T exp(const T &x) {
-  EIGEN_USING_STD_MATH(exp);
+  EIGEN_USING_STD(exp);
   return exp(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   exp(float x) { return cl::sycl::exp(x); }
-EIGEN_ALWAYS_INLINE double  exp(double x) { return cl::sycl::exp(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(exp, exp)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float exp(const float &x) { return ::expf(x); }
 
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 double exp(const double &x) { return ::exp(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+std::complex<float> exp(const std::complex<float>& x) {
+  float com = ::expf(x.real());
+  float res_real = com * ::cosf(x.imag());
+  float res_imag = com * ::sinf(x.imag());
+  return std::complex<float>(res_real, res_imag);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+std::complex<double> exp(const std::complex<double>& x) {
+  double com = ::exp(x.real());
+  double res_real = com * ::cos(x.imag());
+  double res_imag = com * ::sin(x.imag());
+  return std::complex<double>(res_real, res_imag);
+}
 #endif
 
 template<typename Scalar>
@@ -1298,12 +1583,11 @@ inline EIGEN_MATHFUNC_RETVAL(expm1, Scalar) expm1(const Scalar& x)
   return EIGEN_MATHFUNC_IMPL(expm1, Scalar)::run(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   expm1(float x) { return cl::sycl::expm1(x); }
-EIGEN_ALWAYS_INLINE double  expm1(double x) { return cl::sycl::expm1(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(expm1, expm1)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float expm1(const float &x) { return ::expm1f(x); }
 
@@ -1314,16 +1598,15 @@ double expm1(const double &x) { return ::expm1(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T cos(const T &x) {
-  EIGEN_USING_STD_MATH(cos);
+  EIGEN_USING_STD(cos);
   return cos(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   cos(float x) { return cl::sycl::cos(x); }
-EIGEN_ALWAYS_INLINE double  cos(double x) { return cl::sycl::cos(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(cos,cos)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float cos(const float &x) { return ::cosf(x); }
 
@@ -1334,16 +1617,15 @@ double cos(const double &x) { return ::cos(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T sin(const T &x) {
-  EIGEN_USING_STD_MATH(sin);
+  EIGEN_USING_STD(sin);
   return sin(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   sin(float x) { return cl::sycl::sin(x); }
-EIGEN_ALWAYS_INLINE double  sin(double x) { return cl::sycl::sin(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(sin, sin)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float sin(const float &x) { return ::sinf(x); }
 
@@ -1354,16 +1636,15 @@ double sin(const double &x) { return ::sin(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T tan(const T &x) {
-  EIGEN_USING_STD_MATH(tan);
+  EIGEN_USING_STD(tan);
   return tan(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   tan(float x) { return cl::sycl::tan(x); }
-EIGEN_ALWAYS_INLINE double  tan(double x) { return cl::sycl::tan(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(tan, tan)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float tan(const float &x) { return ::tanf(x); }
 
@@ -1374,7 +1655,7 @@ double tan(const double &x) { return ::tan(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T acos(const T &x) {
-  EIGEN_USING_STD_MATH(acos);
+  EIGEN_USING_STD(acos);
   return acos(x);
 }
 
@@ -1382,19 +1663,17 @@ T acos(const T &x) {
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T acosh(const T &x) {
-  EIGEN_USING_STD_MATH(acosh);
-  return acosh(x);
+  EIGEN_USING_STD(acosh);
+  return static_cast<T>(acosh(x));
 }
 #endif
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   acos(float x) { return cl::sycl::acos(x); }
-EIGEN_ALWAYS_INLINE double  acos(double x) { return cl::sycl::acos(x); }
-EIGEN_ALWAYS_INLINE float   acosh(float x) { return cl::sycl::acosh(x); }
-EIGEN_ALWAYS_INLINE double  acosh(double x) { return cl::sycl::acosh(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(acos, acos)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(acosh, acosh)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float acos(const float &x) { return ::acosf(x); }
 
@@ -1405,7 +1684,7 @@ double acos(const double &x) { return ::acos(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T asin(const T &x) {
-  EIGEN_USING_STD_MATH(asin);
+  EIGEN_USING_STD(asin);
   return asin(x);
 }
 
@@ -1413,19 +1692,17 @@ T asin(const T &x) {
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T asinh(const T &x) {
-  EIGEN_USING_STD_MATH(asinh);
-  return asinh(x);
+  EIGEN_USING_STD(asinh);
+  return static_cast<T>(asinh(x));
 }
 #endif
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   asin(float x) { return cl::sycl::asin(x); }
-EIGEN_ALWAYS_INLINE double  asin(double x) { return cl::sycl::asin(x); }
-EIGEN_ALWAYS_INLINE float   asinh(float x) { return cl::sycl::asinh(x); }
-EIGEN_ALWAYS_INLINE double  asinh(double x) { return cl::sycl::asinh(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(asin, asin)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(asinh, asinh)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float asin(const float &x) { return ::asinf(x); }
 
@@ -1436,27 +1713,25 @@ double asin(const double &x) { return ::asin(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T atan(const T &x) {
-  EIGEN_USING_STD_MATH(atan);
-  return atan(x);
+  EIGEN_USING_STD(atan);
+  return static_cast<T>(atan(x));
 }
 
 #if EIGEN_HAS_CXX11_MATH
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T atanh(const T &x) {
-  EIGEN_USING_STD_MATH(atanh);
-  return atanh(x);
+  EIGEN_USING_STD(atanh);
+  return static_cast<T>(atanh(x));
 }
 #endif
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   atan(float x) { return cl::sycl::atan(x); }
-EIGEN_ALWAYS_INLINE double  atan(double x) { return cl::sycl::atan(x); }
-EIGEN_ALWAYS_INLINE float   atanh(float x) { return cl::sycl::atanh(x); }
-EIGEN_ALWAYS_INLINE double  atanh(double x) { return cl::sycl::atanh(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(atan, atan)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(atanh, atanh)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float atan(const float &x) { return ::atanf(x); }
 
@@ -1468,16 +1743,15 @@ double atan(const double &x) { return ::atan(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T cosh(const T &x) {
-  EIGEN_USING_STD_MATH(cosh);
-  return cosh(x);
+  EIGEN_USING_STD(cosh);
+  return static_cast<T>(cosh(x));
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   cosh(float x) { return cl::sycl::cosh(x); }
-EIGEN_ALWAYS_INLINE double  cosh(double x) { return cl::sycl::cosh(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(cosh, cosh)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float cosh(const float &x) { return ::coshf(x); }
 
@@ -1488,16 +1762,15 @@ double cosh(const double &x) { return ::cosh(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T sinh(const T &x) {
-  EIGEN_USING_STD_MATH(sinh);
-  return sinh(x);
+  EIGEN_USING_STD(sinh);
+  return static_cast<T>(sinh(x));
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   sinh(float x) { return cl::sycl::sinh(x); }
-EIGEN_ALWAYS_INLINE double  sinh(double x) { return cl::sycl::sinh(x); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(sinh, sinh)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float sinh(const float &x) { return ::sinhf(x); }
 
@@ -1508,19 +1781,20 @@ double sinh(const double &x) { return ::sinh(x); }
 template<typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T tanh(const T &x) {
-  EIGEN_USING_STD_MATH(tanh);
+  EIGEN_USING_STD(tanh);
   return tanh(x);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   tanh(float x) { return cl::sycl::tanh(x); }
-EIGEN_ALWAYS_INLINE double  tanh(double x) { return cl::sycl::tanh(x); }
-#elif (!defined(EIGEN_CUDACC)) && EIGEN_FAST_MATH
+#if (!defined(EIGEN_GPUCC)) && EIGEN_FAST_MATH && !defined(SYCL_DEVICE_ONLY)
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float tanh(float x) { return internal::generic_fast_tanh_float(x); }
 #endif
 
-#ifdef EIGEN_CUDACC
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_UNARY(tanh, tanh)
+#endif
+
+#if defined(EIGEN_GPUCC)
 template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float tanh(const float &x) { return ::tanhf(x); }
 
@@ -1531,16 +1805,15 @@ double tanh(const double &x) { return ::tanh(x); }
 template <typename T>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 T fmod(const T& a, const T& b) {
-  EIGEN_USING_STD_MATH(fmod);
+  EIGEN_USING_STD(fmod);
   return fmod(a, b);
 }
 
-#if defined(__SYCL_DEVICE_ONLY__)
-EIGEN_ALWAYS_INLINE float   fmod(float x, float y) { return cl::sycl::fmod(x, y); }
-EIGEN_ALWAYS_INLINE double  fmod(double x, double y) { return cl::sycl::fmod(x, y); }
-#endif // defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
+SYCL_SPECIALIZE_FLOATING_TYPES_BINARY(fmod, fmod)
+#endif
 
-#ifdef EIGEN_CUDACC
+#if defined(EIGEN_GPUCC)
 template <>
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
 float fmod(const float& a, const float& b) {
@@ -1554,6 +1827,23 @@ double fmod(const double& a, const double& b) {
 }
 #endif
 
+#if defined(SYCL_DEVICE_ONLY)
+#undef SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_BINARY
+#undef SYCL_SPECIALIZE_SIGNED_INTEGER_TYPES_UNARY
+#undef SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_BINARY
+#undef SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_UNARY
+#undef SYCL_SPECIALIZE_INTEGER_TYPES_BINARY
+#undef SYCL_SPECIALIZE_UNSIGNED_INTEGER_TYPES_UNARY
+#undef SYCL_SPECIALIZE_FLOATING_TYPES_BINARY
+#undef SYCL_SPECIALIZE_FLOATING_TYPES_UNARY
+#undef SYCL_SPECIALIZE_FLOATING_TYPES_UNARY_FUNC_RET_TYPE
+#undef SYCL_SPECIALIZE_GEN_UNARY_FUNC
+#undef SYCL_SPECIALIZE_UNARY_FUNC
+#undef SYCL_SPECIALIZE_GEN1_BINARY_FUNC
+#undef SYCL_SPECIALIZE_GEN2_BINARY_FUNC
+#undef SYCL_SPECIALIZE_BINARY_FUNC
+#endif
+
 } // end namespace numext
 
 namespace internal {
@@ -1677,6 +1967,11 @@ template<> struct random_impl<bool>
   {
     return random<int>(0,1)==0 ? false : true;
   }
+
+  static inline bool run(const bool& a, const bool& b)
+  {
+    return random<int>(a, b)==0 ? false : true;
+  }
 };
 
 template<> struct scalar_fuzzy_impl<bool>
@@ -1703,6 +1998,57 @@ template<> struct scalar_fuzzy_impl<bool>
 
 };
 
+} // end namespace internal
+
+// Default implementations that rely on other numext implementations
+namespace internal {
+
+// Specialization for complex types that are not supported by std::expm1.
+template <typename RealScalar>
+struct expm1_impl<std::complex<RealScalar> > {
+  EIGEN_DEVICE_FUNC static inline std::complex<RealScalar> run(
+      const std::complex<RealScalar>& x) {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(RealScalar)
+    RealScalar xr = x.real();
+    RealScalar xi = x.imag();
+    // expm1(z) = exp(z) - 1
+    //          = exp(x +  i * y) - 1
+    //          = exp(x) * (cos(y) + i * sin(y)) - 1
+    //          = exp(x) * cos(y) - 1 + i * exp(x) * sin(y)
+    // Imag(expm1(z)) = exp(x) * sin(y)
+    // Real(expm1(z)) = exp(x) * cos(y) - 1
+    //          = exp(x) * cos(y) - 1.
+    //          = expm1(x) + exp(x) * (cos(y) - 1)
+    //          = expm1(x) + exp(x) * (2 * sin(y / 2) ** 2)
+    RealScalar erm1 = numext::expm1<RealScalar>(xr);
+    RealScalar er = erm1 + RealScalar(1.);
+    RealScalar sin2 = numext::sin(xi / RealScalar(2.));
+    sin2 = sin2 * sin2;
+    RealScalar s = numext::sin(xi);
+    RealScalar real_part = erm1 - RealScalar(2.) * er * sin2;
+    return std::complex<RealScalar>(real_part, er * s);
+  }
+};
+
+template<typename T>
+struct rsqrt_impl {
+  EIGEN_DEVICE_FUNC
+  static EIGEN_ALWAYS_INLINE T run(const T& x) {
+    return T(1)/numext::sqrt(x);
+  }
+};
+
+#if defined(EIGEN_GPU_COMPILE_PHASE)
+template<typename T>
+struct conj_impl<std::complex<T>, true>
+{
+  EIGEN_DEVICE_FUNC
+  static inline std::complex<T> run(const std::complex<T>& x)
+  {
+    return std::complex<T>(numext::real(x), -numext::imag(x));
+  }
+};
+#endif
 
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctionsImpl.h b/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctionsImpl.h
index ae1386b4ca..4eaaaa7844 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctionsImpl.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/MathFunctionsImpl.h
@@ -17,19 +17,28 @@ namespace internal {
 
 /** \internal \returns the hyperbolic tan of \a a (coeff-wise)
     Doesn't do anything fancy, just a 13/6-degree rational interpolant which
-    is accurate up to a couple of ulp in the range [-9, 9], outside of which
-    the tanh(x) = +/-1.
+    is accurate up to a couple of ulps in the (approximate) range [-8, 8],
+    outside of which tanh(x) = +/-1 in single precision. The input is clamped
+    to the range [-c, c]. The value c is chosen as the smallest value where
+    the approximation evaluates to exactly 1. In the reange [-0.0004, 0.0004]
+    the approxmation tanh(x) ~= x is used for better accuracy as x tends to zero.
 
     This implementation works on both scalars and packets.
 */
 template<typename T>
 T generic_fast_tanh_float(const T& a_x)
 {
-  // Clamp the inputs to the range [-9, 9] since anything outside
-  // this range is +/-1.0f in single-precision.
-  const T plus_9 = pset1<T>(9.f);
-  const T minus_9 = pset1<T>(-9.f);
-  const T x = pmax(pmin(a_x, plus_9), minus_9);
+  // Clamp the inputs to the range [-c, c]
+#ifdef EIGEN_VECTORIZE_FMA
+  const T plus_clamp = pset1<T>(7.99881172180175781f);
+  const T minus_clamp = pset1<T>(-7.99881172180175781f);
+#else
+  const T plus_clamp = pset1<T>(7.90531110763549805f);
+  const T minus_clamp = pset1<T>(-7.90531110763549805f);
+#endif
+  const T tiny = pset1<T>(0.0004f);
+  const T x = pmax(pmin(a_x, plus_clamp), minus_clamp);
+  const T tiny_mask = pcmp_lt(pabs(a_x), tiny);
   // The monomial coefficients of the numerator polynomial (odd).
   const T alpha_1 = pset1<T>(4.89352455891786e-03f);
   const T alpha_3 = pset1<T>(6.37261928875436e-04f);
@@ -57,13 +66,131 @@ T generic_fast_tanh_float(const T& a_x)
   p = pmadd(x2, p, alpha_1);
   p = pmul(x, p);
 
-  // Evaluate the denominator polynomial p.
+  // Evaluate the denominator polynomial q.
   T q = pmadd(x2, beta_6, beta_4);
   q = pmadd(x2, q, beta_2);
   q = pmadd(x2, q, beta_0);
 
   // Divide the numerator by the denominator.
-  return pdiv(p, q);
+  return pselect(tiny_mask, x, pdiv(p, q));
+}
+
+template<typename RealScalar>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+RealScalar positive_real_hypot(const RealScalar& x, const RealScalar& y)
+{
+  // IEEE IEC 6059 special cases.
+  if ((numext::isinf)(x) || (numext::isinf)(y))
+    return NumTraits<RealScalar>::infinity();
+  if ((numext::isnan)(x) || (numext::isnan)(y))
+    return NumTraits<RealScalar>::quiet_NaN();
+    
+  EIGEN_USING_STD(sqrt);
+  RealScalar p, qp;
+  p = numext::maxi(x,y);
+  if(p==RealScalar(0)) return RealScalar(0);
+  qp = numext::mini(y,x) / p;
+  return p * sqrt(RealScalar(1) + qp*qp);
+}
+
+template<typename Scalar>
+struct hypot_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  static EIGEN_DEVICE_FUNC
+  inline RealScalar run(const Scalar& x, const Scalar& y)
+  {
+    EIGEN_USING_STD(abs);
+    return positive_real_hypot<RealScalar>(abs(x), abs(y));
+  }
+};
+
+// Generic complex sqrt implementation that correctly handles corner cases
+// according to https://en.cppreference.com/w/cpp/numeric/complex/sqrt
+template<typename T>
+EIGEN_DEVICE_FUNC std::complex<T> complex_sqrt(const std::complex<T>& z) {
+  // Computes the principal sqrt of the input.
+  //
+  // For a complex square root of the number x + i*y. We want to find real
+  // numbers u and v such that
+  //    (u + i*v)^2 = x + i*y  <=>
+  //    u^2 - v^2 + i*2*u*v = x + i*v.
+  // By equating the real and imaginary parts we get:
+  //    u^2 - v^2 = x
+  //    2*u*v = y.
+  //
+  // For x >= 0, this has the numerically stable solution
+  //    u = sqrt(0.5 * (x + sqrt(x^2 + y^2)))
+  //    v = y / (2 * u)
+  // and for x < 0,
+  //    v = sign(y) * sqrt(0.5 * (-x + sqrt(x^2 + y^2)))
+  //    u = y / (2 * v)
+  //
+  // Letting w = sqrt(0.5 * (|x| + |z|)),
+  //   if x == 0: u = w, v = sign(y) * w
+  //   if x > 0:  u = w, v = y / (2 * w)
+  //   if x < 0:  u = |y| / (2 * w), v = sign(y) * w
+
+  const T x = numext::real(z);
+  const T y = numext::imag(z);
+  const T zero = T(0);
+  const T w = numext::sqrt(T(0.5) * (numext::abs(x) + numext::hypot(x, y)));
+
+  return
+    (numext::isinf)(y) ? std::complex<T>(NumTraits<T>::infinity(), y)
+      : x == zero ? std::complex<T>(w, y < zero ? -w : w)
+      : x > zero ? std::complex<T>(w, y / (2 * w))
+      : std::complex<T>(numext::abs(y) / (2 * w), y < zero ? -w : w );
+}
+
+// Generic complex rsqrt implementation.
+template<typename T>
+EIGEN_DEVICE_FUNC std::complex<T> complex_rsqrt(const std::complex<T>& z) {
+  // Computes the principal reciprocal sqrt of the input.
+  //
+  // For a complex reciprocal square root of the number z = x + i*y. We want to
+  // find real numbers u and v such that
+  //    (u + i*v)^2 = 1 / (x + i*y)  <=>
+  //    u^2 - v^2 + i*2*u*v = x/|z|^2 - i*v/|z|^2.
+  // By equating the real and imaginary parts we get:
+  //    u^2 - v^2 = x/|z|^2
+  //    2*u*v = y/|z|^2.
+  //
+  // For x >= 0, this has the numerically stable solution
+  //    u = sqrt(0.5 * (x + |z|)) / |z|
+  //    v = -y / (2 * u * |z|)
+  // and for x < 0,
+  //    v = -sign(y) * sqrt(0.5 * (-x + |z|)) / |z|
+  //    u = -y / (2 * v * |z|)
+  //
+  // Letting w = sqrt(0.5 * (|x| + |z|)),
+  //   if x == 0: u = w / |z|, v = -sign(y) * w / |z|
+  //   if x > 0:  u = w / |z|, v = -y / (2 * w * |z|)
+  //   if x < 0:  u = |y| / (2 * w * |z|), v = -sign(y) * w / |z|
+
+  const T x = numext::real(z);
+  const T y = numext::imag(z);
+  const T zero = T(0);
+
+  const T abs_z = numext::hypot(x, y);
+  const T w = numext::sqrt(T(0.5) * (numext::abs(x) + abs_z));
+  const T woz = w / abs_z;
+  // Corner cases consistent with 1/sqrt(z) on gcc/clang.
+  return
+    abs_z == zero ? std::complex<T>(NumTraits<T>::infinity(), NumTraits<T>::quiet_NaN())
+      : ((numext::isinf)(x) || (numext::isinf)(y)) ? std::complex<T>(zero, zero)
+      : x == zero ? std::complex<T>(woz, y < zero ? woz : -woz)
+      : x > zero ? std::complex<T>(woz, -y / (2 * w * abs_z))
+      : std::complex<T>(numext::abs(y) / (2 * w * abs_z), y < zero ? woz : -woz );
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC std::complex<T> complex_log(const std::complex<T>& z) {
+  // Computes complex log.
+  T a = numext::abs(z);
+  EIGEN_USING_STD(atan2);
+  T b = atan2(z.imag(), z.real());
+  return std::complex<T>(numext::log(a), b);
 }
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Matrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/Matrix.h
index 90c336d8ca..f0e59a911d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Matrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Matrix.h
@@ -29,7 +29,7 @@ struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
       required_alignment = unpacket_traits<PacketScalar>::alignment,
       packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0
     };
-    
+
 public:
   typedef _Scalar Scalar;
   typedef Dense StorageKind;
@@ -44,7 +44,7 @@ struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
     Options = _Options,
     InnerStrideAtCompileTime = 1,
     OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
-    
+
     // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase
     EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit,
     Alignment = actual_alignment
@@ -255,55 +255,93 @@ class Matrix
       *
       * \sa resize(Index,Index)
       */
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix() : Base()
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Matrix() : Base()
     {
       Base::_check_template_params();
       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 
     // FIXME is it still needed
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     explicit Matrix(internal::constructor_without_unaligned_array_assert)
       : Base(internal::constructor_without_unaligned_array_assert())
     { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
 
 #if EIGEN_HAS_RVALUE_REFERENCES
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
       : Base(std::move(other))
     {
       Base::_check_template_params();
-      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
-        Base::_set_noalias(other);
     }
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
     {
-      other.swap(*this);
+      Base::operator=(std::move(other));
       return *this;
     }
 #endif
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
+#if EIGEN_HAS_CXX11
+    /** \copydoc PlainObjectBase(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&... args)
+     *
+     * Example: \include Matrix_variadic_ctor_cxx11.cpp
+     * Output: \verbinclude Matrix_variadic_ctor_cxx11.out
+     *
+     * \sa Matrix(const std::initializer_list<std::initializer_list<Scalar>>&)
+     */
+    template <typename... ArgTypes>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Matrix(const Scalar& a0, const Scalar& a1, const Scalar& a2,  const Scalar& a3, const ArgTypes&... args)
+      : Base(a0, a1, a2, a3, args...) {}
+
+    /** \brief Constructs a Matrix and initializes it from the coefficients given as initializer-lists grouped by row. \cpp11
+      *
+      * In the general case, the constructor takes a list of rows, each row being represented as a list of coefficients:
+      *
+      * Example: \include Matrix_initializer_list_23_cxx11.cpp
+      * Output: \verbinclude Matrix_initializer_list_23_cxx11.out
+      *
+      * Each of the inner initializer lists must contain the exact same number of elements, otherwise an assertion is triggered.
+      *
+      * In the case of a compile-time column vector, implicit transposition from a single row is allowed.
+      * Therefore <code>VectorXd{{1,2,3,4,5}}</code> is legal and the more verbose syntax
+      * <code>RowVectorXd{{1},{2},{3},{4},{5}}</code> can be avoided:
+      *
+      * Example: \include Matrix_initializer_list_vector_cxx11.cpp
+      * Output: \verbinclude Matrix_initializer_list_vector_cxx11.out
+      *
+      * In the case of fixed-sized matrices, the initializer list sizes must exactly match the matrix sizes,
+      * and implicit transposition is allowed for compile-time vectors only.
+      *
+      * \sa Matrix(const Scalar& a0, const Scalar& a1, const Scalar& a2,  const Scalar& a3, const ArgTypes&... args)
+      */
+    EIGEN_DEVICE_FUNC
+    explicit EIGEN_STRONG_INLINE Matrix(const std::initializer_list<std::initializer_list<Scalar>>& list) : Base(list) {}
+#endif // end EIGEN_HAS_CXX11
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 
     // This constructor is for both 1x1 matrices and dynamic vectors
     template<typename T>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Matrix(const T& x)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    explicit Matrix(const T& x)
     {
       Base::_check_template_params();
       Base::template _init1<T>(x);
     }
 
     template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Matrix(const T0& x, const T1& y)
     {
       Base::_check_template_params();
       Base::template _init2<T0,T1>(x, y);
     }
-    #else
+
+
+#else
     /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */
     EIGEN_DEVICE_FUNC
     explicit Matrix(const Scalar *data);
@@ -313,7 +351,7 @@ class Matrix
       * This is useful for dynamic-size vectors. For fixed-size vectors,
       * it is redundant to pass these parameters, so one should use the default constructor
       * Matrix() instead.
-      * 
+      *
       * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance,
       * calling Matrix<double,1,1>(1) will call the initialization constructor: Matrix(const Scalar&).
       * For fixed-size \c 1x1 matrices it is therefore recommended to use the default
@@ -321,14 +359,15 @@ class Matrix
       * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
       */
     EIGEN_STRONG_INLINE explicit Matrix(Index dim);
-    /** \brief Constructs an initialized 1x1 matrix with the given coefficient */
+    /** \brief Constructs an initialized 1x1 matrix with the given coefficient
+      * \sa Matrix(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&...) */
     Matrix(const Scalar& x);
     /** \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.
-      * 
+      *
       * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance,
       * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y).
       * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default
@@ -337,12 +376,15 @@ class Matrix
       */
     EIGEN_DEVICE_FUNC
     Matrix(Index rows, Index cols);
-    
-    /** \brief Constructs an initialized 2D vector with given coefficients */
+
+    /** \brief Constructs an initialized 2D vector with given coefficients
+      * \sa Matrix(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&...) */
     Matrix(const Scalar& x, const Scalar& y);
-    #endif
+    #endif  // end EIGEN_PARSED_BY_DOXYGEN
 
-    /** \brief Constructs an initialized 3D vector with given coefficients */
+    /** \brief Constructs an initialized 3D vector with given coefficients
+      * \sa Matrix(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&...)
+      */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
     {
@@ -352,7 +394,9 @@ class Matrix
       m_storage.data()[1] = y;
       m_storage.data()[2] = z;
     }
-    /** \brief Constructs an initialized 4D vector with given coefficients */
+    /** \brief Constructs an initialized 4D vector with given coefficients
+      * \sa Matrix(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&...)
+      */
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
     {
@@ -379,8 +423,10 @@ class Matrix
       : Base(other.derived())
     { }
 
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return 1; }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return this->innerSize(); }
 
     /////////// Geometry module ///////////
 
@@ -407,7 +453,7 @@ class Matrix
   *
   * \ingroup Core_Module
   *
-  * Eigen defines several typedef shortcuts for most common matrix and vector types.
+  * %Eigen defines several typedef shortcuts for most common matrix and vector types.
   *
   * The general patterns are the following:
   *
@@ -420,6 +466,15 @@ class Matrix
   * 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.
   *
+  * With \cpp11, template alias are also defined for common sizes.
+  * They follow the same pattern as above except that the scalar type suffix is replaced by a
+  * template parameter, i.e.:
+  *   - `MatrixSize<Type>` where `Size` can be \c 2,\c 3,\c 4 for fixed size square matrices or \c X for dynamic size.
+  *   - `MatrixXSize<Type>` and `MatrixSizeX<Type>` where `Size` can be \c 2,\c 3,\c 4 for hybrid dynamic/fixed matrices.
+  *   - `VectorSize<Type>` and `RowVectorSize<Type>` for column and row vectors.
+  *
+  * With \cpp11, you can also use fully generic column and row vector types: `Vector<Type,Size>` and `RowVector<Type,Size>`.
+  *
   * \sa class Matrix
   */
 
@@ -456,6 +511,55 @@ EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<double>, cd)
 #undef EIGEN_MAKE_TYPEDEFS
 #undef EIGEN_MAKE_FIXED_TYPEDEFS
 
+#if EIGEN_HAS_CXX11
+
+#define EIGEN_MAKE_TYPEDEFS(Size, SizeSuffix)                     \
+/** \ingroup matrixtypedefs */                                    \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Matrix##SizeSuffix = Matrix<Type, Size, Size>;              \
+/** \ingroup matrixtypedefs */                                    \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Vector##SizeSuffix = Matrix<Type, Size, 1>;                 \
+/** \ingroup matrixtypedefs */                                    \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using RowVector##SizeSuffix = Matrix<Type, 1, Size>;
+
+#define EIGEN_MAKE_FIXED_TYPEDEFS(Size)                           \
+/** \ingroup matrixtypedefs */                                    \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Matrix##Size##X = Matrix<Type, Size, Dynamic>;              \
+/** \ingroup matrixtypedefs */                                    \
+/** \brief \cpp11 */                                              \
+template <typename Type>                                          \
+using Matrix##X##Size = Matrix<Type, Dynamic, Size>;
+
+EIGEN_MAKE_TYPEDEFS(2, 2)
+EIGEN_MAKE_TYPEDEFS(3, 3)
+EIGEN_MAKE_TYPEDEFS(4, 4)
+EIGEN_MAKE_TYPEDEFS(Dynamic, X)
+EIGEN_MAKE_FIXED_TYPEDEFS(2)
+EIGEN_MAKE_FIXED_TYPEDEFS(3)
+EIGEN_MAKE_FIXED_TYPEDEFS(4)
+
+/** \ingroup matrixtypedefs
+  * \brief \cpp11 */
+template <typename Type, int Size>
+using Vector = Matrix<Type, Size, 1>;
+
+/** \ingroup matrixtypedefs
+  * \brief \cpp11 */
+template <typename Type, int Size>
+using RowVector = Matrix<Type, 1, Size>;
+
+#undef EIGEN_MAKE_TYPEDEFS
+#undef EIGEN_MAKE_FIXED_TYPEDEFS
+
+#endif // EIGEN_HAS_CXX11
+
 } // end namespace Eigen
 
 #endif // EIGEN_MATRIX_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/MatrixBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/MatrixBase.h
index 11435903bd..45c3a596ec 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/MatrixBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/MatrixBase.h
@@ -328,6 +328,7 @@ template<typename Derived> class MatrixBase
 
     inline const PartialPivLU<PlainObject> lu() const;
 
+    EIGEN_DEVICE_FUNC
     inline const Inverse<Derived> inverse() const;
 
     template<typename ResultType>
@@ -337,12 +338,15 @@ template<typename Derived> class MatrixBase
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
     ) const;
+
     template<typename ResultType>
     inline void computeInverseWithCheck(
       ResultType& inverse,
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
     ) const;
+
+    EIGEN_DEVICE_FUNC
     Scalar determinant() const;
 
 /////////// Cholesky module ///////////
@@ -414,15 +418,19 @@ template<typename Derived> class MatrixBase
 
 ////////// Householder module ///////////
 
+    EIGEN_DEVICE_FUNC
     void makeHouseholderInPlace(Scalar& tau, RealScalar& beta);
     template<typename EssentialPart>
+    EIGEN_DEVICE_FUNC
     void makeHouseholder(EssentialPart& essential,
                          Scalar& tau, RealScalar& beta) const;
     template<typename EssentialPart>
+    EIGEN_DEVICE_FUNC
     void applyHouseholderOnTheLeft(const EssentialPart& essential,
                                    const Scalar& tau,
                                    Scalar* workspace);
     template<typename EssentialPart>
+    EIGEN_DEVICE_FUNC
     void applyHouseholderOnTheRight(const EssentialPart& essential,
                                     const Scalar& tau,
                                     Scalar* workspace);
@@ -448,19 +456,33 @@ template<typename Derived> class MatrixBase
 ///////// MatrixFunctions module /////////
 
     typedef typename internal::stem_function<Scalar>::type StemFunction;
-    const MatrixExponentialReturnValue<Derived> exp() const;
+#define EIGEN_MATRIX_FUNCTION(ReturnType, Name, Description) \
+    /** \returns an expression of the matrix Description of \c *this. \brief This function requires the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>. To compute the coefficient-wise Description use ArrayBase::##Name . */ \
+    const ReturnType<Derived> Name() const;
+#define EIGEN_MATRIX_FUNCTION_1(ReturnType, Name, Description, Argument) \
+    /** \returns an expression of the matrix Description of \c *this. \brief This function requires the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>. To compute the coefficient-wise Description use ArrayBase::##Name . */ \
+    const ReturnType<Derived> Name(Argument) const;
+
+    EIGEN_MATRIX_FUNCTION(MatrixExponentialReturnValue, exp, exponential)
+    /** \brief Helper function for the <a href="unsupported/group__MatrixFunctions__Module.html"> unsupported MatrixFunctions module</a>.*/
     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;
-    const MatrixSquareRootReturnValue<Derived> sqrt() const;
-    const MatrixLogarithmReturnValue<Derived> log() const;
-    const MatrixPowerReturnValue<Derived> pow(const RealScalar& p) const;
-    const MatrixComplexPowerReturnValue<Derived> pow(const std::complex<RealScalar>& p) const;
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, cosh, hyperbolic cosine)
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, sinh, hyperbolic sine)
+#if EIGEN_HAS_CXX11_MATH
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, atanh, inverse hyperbolic cosine)
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, acosh, inverse hyperbolic cosine)
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, asinh, inverse hyperbolic sine)
+#endif
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, cos, cosine)
+    EIGEN_MATRIX_FUNCTION(MatrixFunctionReturnValue, sin, sine)
+    EIGEN_MATRIX_FUNCTION(MatrixSquareRootReturnValue, sqrt, square root)
+    EIGEN_MATRIX_FUNCTION(MatrixLogarithmReturnValue, log, logarithm)
+    EIGEN_MATRIX_FUNCTION_1(MatrixPowerReturnValue,        pow, power to \c p, const RealScalar& p)
+    EIGEN_MATRIX_FUNCTION_1(MatrixComplexPowerReturnValue, pow, power to \c p, const std::complex<RealScalar>& p)
 
   protected:
-    EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(MatrixBase)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(MatrixBase)
 
   private:
     EIGEN_DEVICE_FUNC explicit MatrixBase(int);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/NestByValue.h b/examples/ThirdPartyLibs/Eigen/src/Core/NestByValue.h
index 01cf192e93..b4275768a0 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/NestByValue.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/NestByValue.h
@@ -16,7 +16,11 @@ namespace Eigen {
 namespace internal {
 template<typename ExpressionType>
 struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
-{};
+{
+  enum {
+    Flags = traits<ExpressionType>::Flags & ~NestByRefBit
+  };
+};
 }
 
 /** \class NestByValue
@@ -41,57 +45,13 @@ template<typename ExpressionType> class NestByValue
 
     EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_expression.coeff(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_expression.const_cast_derived().coeffRef(row, col);
-    }
-
-    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    EIGEN_DEVICE_FUNC inline const PacketScalar packet(Index row, Index col) const
-    {
-      return m_expression.template packet<LoadMode>(row, col);
-    }
-
-    template<int LoadMode>
-    EIGEN_DEVICE_FUNC inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(row, col, x);
-    }
-
-    template<int LoadMode>
-    EIGEN_DEVICE_FUNC inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    EIGEN_DEVICE_FUNC inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return m_expression.cols(); }
 
     EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
 
+    EIGEN_DEVICE_FUNC const ExpressionType& nestedExpression() const { return m_expression; }
+
   protected:
     const ExpressionType m_expression;
 };
@@ -105,6 +65,21 @@ DenseBase<Derived>::nestByValue() const
   return NestByValue<Derived>(derived());
 }
 
+namespace internal {
+
+// Evaluator of Solve -> eval into a temporary
+template<typename ArgType>
+struct evaluator<NestByValue<ArgType> >
+  : public evaluator<ArgType>
+{
+  typedef evaluator<ArgType> Base;
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const NestByValue<ArgType>& xpr)
+    : Base(xpr.nestedExpression())
+  {}
+};
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_NESTBYVALUE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/NoAlias.h b/examples/ThirdPartyLibs/Eigen/src/Core/NoAlias.h
index e94c8ee96b..570283d90f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/NoAlias.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/NoAlias.h
@@ -75,10 +75,10 @@ class NoAlias
   *
   * 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
+  * expressions have this flag. Therefore, noalias() is only useful when
   * the source expression contains a matrix product.
   *
-  * Here are some examples where noalias is usefull:
+  * Here are some examples where noalias is useful:
   * \code
   * D.noalias()  = A * B;
   * D.noalias() += A.transpose() * B;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/NumTraits.h b/examples/ThirdPartyLibs/Eigen/src/Core/NumTraits.h
index 92a9ae1ea7..72eac5a93c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/NumTraits.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/NumTraits.h
@@ -21,12 +21,14 @@ template< typename T,
           bool is_integer = NumTraits<T>::IsInteger>
 struct default_digits10_impl
 {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int run() { return std::numeric_limits<T>::digits10; }
 };
 
 template<typename T>
 struct default_digits10_impl<T,false,false> // Floating point
 {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int run() {
     using std::log10;
     using std::ceil;
@@ -38,11 +40,64 @@ struct default_digits10_impl<T,false,false> // Floating point
 template<typename T>
 struct default_digits10_impl<T,false,true> // Integer
 {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static int run() { return 0; }
+};
+
+
+// default implementation of digits(), based on numeric_limits if specialized,
+// 0 for integer types, and log2(epsilon()) otherwise.
+template< typename T,
+          bool use_numeric_limits = std::numeric_limits<T>::is_specialized,
+          bool is_integer = NumTraits<T>::IsInteger>
+struct default_digits_impl
+{
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static int run() { return std::numeric_limits<T>::digits; }
+};
+
+template<typename T>
+struct default_digits_impl<T,false,false> // Floating point
+{
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static int run() {
+    using std::log;
+    using std::ceil;
+    typedef typename NumTraits<T>::Real Real;
+    return int(ceil(-log(NumTraits<Real>::epsilon())/log(static_cast<Real>(2))));
+  }
+};
+
+template<typename T>
+struct default_digits_impl<T,false,true> // Integer
+{
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int run() { return 0; }
 };
 
 } // end namespace internal
 
+namespace numext {
+/** \internal bit-wise cast without changing the underlying bit representation. */
+
+// TODO: Replace by std::bit_cast (available in C++20)
+template <typename Tgt, typename Src>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Tgt bit_cast(const Src& src) {
+#if EIGEN_HAS_TYPE_TRAITS
+  // The behaviour of memcpy is not specified for non-trivially copyable types
+  EIGEN_STATIC_ASSERT(std::is_trivially_copyable<Src>::value, THIS_TYPE_IS_NOT_SUPPORTED);
+  EIGEN_STATIC_ASSERT(std::is_trivially_copyable<Tgt>::value && std::is_default_constructible<Tgt>::value,
+                      THIS_TYPE_IS_NOT_SUPPORTED);
+#endif
+
+  EIGEN_STATIC_ASSERT(sizeof(Src) == sizeof(Tgt), THIS_TYPE_IS_NOT_SUPPORTED);
+  Tgt tgt;
+  EIGEN_USING_STD(memcpy)
+  memcpy(&tgt, &src, sizeof(Tgt));
+  return tgt;
+}
+}  // namespace numext
+
 /** \class NumTraits
   * \ingroup Core_Module
   *
@@ -80,9 +135,18 @@ struct default_digits10_impl<T,false,true> // Integer
   * \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.
+  * \li digits() function returning the number of radix digits (non-sign digits for integers, mantissa for floating-point). This is
+  *     the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits">std::numeric_limits<T>::digits</a>
+  *     which is used as the default implementation if specialized.
   * \li digits10() function returning the number of decimal digits that can be represented without change. This is
   *     the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits10">std::numeric_limits<T>::digits10</a>
   *     which is used as the default implementation if specialized.
+  * \li min_exponent() and max_exponent() functions returning the highest and lowest possible values, respectively,
+  *     such that the radix raised to the power exponent-1 is a normalized floating-point number.  These are equivalent to
+  *     <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/min_exponent">std::numeric_limits<T>::min_exponent</a>/
+  *     <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/max_exponent">std::numeric_limits<T>::max_exponent</a>.
+  * \li infinity() function returning a representation of positive infinity, if available.
+  * \li quiet_NaN function returning a non-signaling "not-a-number", if available.
   */
 
 template<typename T> struct GenericNumTraits
@@ -106,42 +170,60 @@ template<typename T> struct GenericNumTraits
   typedef T Nested;
   typedef T Literal;
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline Real epsilon()
   {
     return numext::numeric_limits<T>::epsilon();
   }
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline int digits10()
   {
     return internal::default_digits10_impl<T>::run();
   }
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static inline int digits()
+  {
+    return internal::default_digits_impl<T>::run();
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static inline int min_exponent()
+  {
+    return numext::numeric_limits<T>::min_exponent;
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static inline int max_exponent()
+  {
+    return numext::numeric_limits<T>::max_exponent;
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline Real dummy_precision()
   {
     // make sure to override this for floating-point types
     return Real(0);
   }
 
-
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline T highest() {
     return (numext::numeric_limits<T>::max)();
   }
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline T lowest()  {
-    return IsInteger ? (numext::numeric_limits<T>::min)() : (-(numext::numeric_limits<T>::max)());
+    return IsInteger ? (numext::numeric_limits<T>::min)()
+                     : static_cast<T>(-(numext::numeric_limits<T>::max)());
   }
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline T infinity() {
     return numext::numeric_limits<T>::infinity();
   }
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline T quiet_NaN() {
     return numext::numeric_limits<T>::quiet_NaN();
   }
@@ -153,19 +235,20 @@ template<typename T> struct NumTraits : GenericNumTraits<T>
 template<> struct NumTraits<float>
   : GenericNumTraits<float>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline float dummy_precision() { return 1e-5f; }
 };
 
 template<> struct NumTraits<double> : GenericNumTraits<double>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline double dummy_precision() { return 1e-12; }
 };
 
 template<> struct NumTraits<long double>
   : GenericNumTraits<long double>
 {
+  EIGEN_CONSTEXPR
   static inline long double dummy_precision() { return 1e-15l; }
 };
 
@@ -182,11 +265,11 @@ template<typename _Real> struct NumTraits<std::complex<_Real> >
     MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
   };
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline Real epsilon() { return NumTraits<Real>::epsilon(); }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline int digits10() { return NumTraits<Real>::digits10(); }
 };
 
@@ -206,16 +289,17 @@ struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
     IsInteger = NumTraits<Scalar>::IsInteger,
     IsSigned  = NumTraits<Scalar>::IsSigned,
     RequireInitialization = 1,
-    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
-    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
-    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * int(NumTraits<Scalar>::ReadCost),
+    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * int(NumTraits<Scalar>::AddCost),
+    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * int(NumTraits<Scalar>::MulCost)
   };
 
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline RealScalar epsilon() { return NumTraits<RealScalar>::epsilon(); }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static inline RealScalar dummy_precision() { return NumTraits<RealScalar>::dummy_precision(); }
 
+  EIGEN_CONSTEXPR
   static inline int digits10() { return NumTraits<Scalar>::digits10(); }
 };
 
@@ -229,6 +313,7 @@ template<> struct NumTraits<std::string>
     MulCost  = HugeCost
   };
 
+  EIGEN_CONSTEXPR
   static inline int digits10() { return 0; }
 
 private:
@@ -243,6 +328,8 @@ template<> struct NumTraits<std::string>
 // Empty specialization for void to allow template specialization based on NumTraits<T>::Real with T==void and SFINAE.
 template<> struct NumTraits<void> {};
 
+template<> struct NumTraits<bool> : GenericNumTraits<bool> {};
+
 } // end namespace Eigen
 
 #endif // EIGEN_NUMTRAITS_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/PartialReduxEvaluator.h b/examples/ThirdPartyLibs/Eigen/src/Core/PartialReduxEvaluator.h
new file mode 100644
index 0000000000..17c06f0783
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/PartialReduxEvaluator.h
@@ -0,0 +1,237 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011-2018 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PARTIALREDUX_H
+#define EIGEN_PARTIALREDUX_H
+
+namespace Eigen { 
+
+namespace internal {
+
+
+/***************************************************************************
+*
+* This file provides evaluators for partial reductions.
+* There are two modes:
+*
+*  - scalar path: simply calls the respective function on the column or row.
+*    -> nothing special here, all the tricky part is handled by the return
+*       types of VectorwiseOp's members. They embed the functor calling the
+*       respective DenseBase's member function.
+*
+*  - vectorized path: implements a packet-wise reductions followed by
+*    some (optional) processing of the outcome, e.g., division by n for mean.
+*
+* For the vectorized path let's observe that the packet-size and outer-unrolling
+* are both decided by the assignement logic. So all we have to do is to decide
+* on the inner unrolling.
+*
+* For the unrolling, we can reuse "internal::redux_vec_unroller" from Redux.h,
+* but be need to be careful to specify correct increment.
+*
+***************************************************************************/
+
+
+/* logic deciding a strategy for unrolling of vectorized paths */
+template<typename Func, typename Evaluator>
+struct packetwise_redux_traits
+{
+  enum {
+    OuterSize = int(Evaluator::IsRowMajor) ? Evaluator::RowsAtCompileTime : Evaluator::ColsAtCompileTime,
+    Cost = OuterSize == Dynamic ? HugeCost
+         : OuterSize * Evaluator::CoeffReadCost + (OuterSize-1) * functor_traits<Func>::Cost,
+    Unrolling = Cost <= EIGEN_UNROLLING_LIMIT ? CompleteUnrolling : NoUnrolling
+  };
+
+};
+
+/* Value to be returned when size==0 , by default let's return 0 */
+template<typename PacketType,typename Func>
+EIGEN_DEVICE_FUNC
+PacketType packetwise_redux_empty_value(const Func& ) {
+  const typename unpacket_traits<PacketType>::type zero(0);
+  return pset1<PacketType>(zero);
+}
+
+/* For products the default is 1 */
+template<typename PacketType,typename Scalar>
+EIGEN_DEVICE_FUNC
+PacketType packetwise_redux_empty_value(const scalar_product_op<Scalar,Scalar>& ) {
+  return pset1<PacketType>(Scalar(1));
+}
+
+/* Perform the actual reduction */
+template<typename Func, typename Evaluator,
+         int Unrolling = packetwise_redux_traits<Func, Evaluator>::Unrolling
+>
+struct packetwise_redux_impl;
+
+/* Perform the actual reduction with unrolling */
+template<typename Func, typename Evaluator>
+struct packetwise_redux_impl<Func, Evaluator, CompleteUnrolling>
+{
+  typedef redux_novec_unroller<Func,Evaluator, 0, Evaluator::SizeAtCompileTime> Base;
+  typedef typename Evaluator::Scalar Scalar;
+
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE
+  PacketType run(const Evaluator &eval, const Func& func, Index /*size*/)
+  {
+    return redux_vec_unroller<Func, Evaluator, 0, packetwise_redux_traits<Func, Evaluator>::OuterSize>::template run<PacketType>(eval,func);
+  }
+};
+
+/* Add a specialization of redux_vec_unroller for size==0 at compiletime.
+ * This specialization is not required for general reductions, which is
+ * why it is defined here.
+ */
+template<typename Func, typename Evaluator, int Start>
+struct redux_vec_unroller<Func, Evaluator, Start, 0>
+{
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE PacketType run(const Evaluator &, const Func& f)
+  {
+    return packetwise_redux_empty_value<PacketType>(f);
+  }
+};
+
+/* Perform the actual reduction for dynamic sizes */
+template<typename Func, typename Evaluator>
+struct packetwise_redux_impl<Func, Evaluator, NoUnrolling>
+{
+  typedef typename Evaluator::Scalar Scalar;
+  typedef typename redux_traits<Func, Evaluator>::PacketType PacketScalar;
+
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC
+  static PacketType run(const Evaluator &eval, const Func& func, Index size)
+  {
+    if(size==0)
+      return packetwise_redux_empty_value<PacketType>(func);
+    
+    const Index size4 = (size-1)&(~3);
+    PacketType p = eval.template packetByOuterInner<Unaligned,PacketType>(0,0);
+    Index i = 1;
+    // This loop is optimized for instruction pipelining:
+    // - each iteration generates two independent instructions
+    // - thanks to branch prediction and out-of-order execution we have independent instructions across loops
+    for(; i<size4; i+=4)
+      p = func.packetOp(p,
+            func.packetOp(
+              func.packetOp(eval.template packetByOuterInner<Unaligned,PacketType>(i+0,0),eval.template packetByOuterInner<Unaligned,PacketType>(i+1,0)),
+              func.packetOp(eval.template packetByOuterInner<Unaligned,PacketType>(i+2,0),eval.template packetByOuterInner<Unaligned,PacketType>(i+3,0))));
+    for(; i<size; ++i)
+      p = func.packetOp(p, eval.template packetByOuterInner<Unaligned,PacketType>(i,0));
+    return p;
+  }
+};
+
+template< typename ArgType, typename MemberOp, int Direction>
+struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
+  : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
+{
+  typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
+  typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
+  typedef typename internal::add_const_on_value_type<ArgTypeNested>::type ConstArgTypeNested;
+  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+  typedef typename ArgType::Scalar InputScalar;
+  typedef typename XprType::Scalar Scalar;
+  enum {
+    TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) :  int(ArgType::ColsAtCompileTime)
+  };
+  typedef typename MemberOp::template Cost<int(TraversalSize)> CostOpType;
+  enum {
+    CoeffReadCost = TraversalSize==Dynamic ? HugeCost
+                  : TraversalSize==0 ? 1
+                  : int(TraversalSize) * int(evaluator<ArgType>::CoeffReadCost) + int(CostOpType::value),
+    
+    _ArgFlags = evaluator<ArgType>::Flags,
+
+    _Vectorizable =  bool(int(_ArgFlags)&PacketAccessBit)
+                  && bool(MemberOp::Vectorizable)
+                  && (Direction==int(Vertical) ? bool(_ArgFlags&RowMajorBit) : (_ArgFlags&RowMajorBit)==0)
+                  && (TraversalSize!=0),
+                  
+    Flags = (traits<XprType>::Flags&RowMajorBit)
+          | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit)))
+          | (_Vectorizable ? PacketAccessBit : 0)
+          | LinearAccessBit,
+    
+    Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
+    : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : (TraversalSize==0 ? 1 : int(CostOpType::value)));
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index i, Index j) const
+  {
+    return coeff(Direction==Vertical ? j : i);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index index) const
+  {
+    return m_functor(m_arg.template subVector<DirectionType(Direction)>(index));
+  }
+
+  template<int LoadMode,typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  PacketType packet(Index i, Index j) const
+  {
+    return packet<LoadMode,PacketType>(Direction==Vertical ? j : i);
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+  PacketType packet(Index idx) const
+  {
+    enum { PacketSize = internal::unpacket_traits<PacketType>::size };
+    typedef Block<const ArgTypeNestedCleaned,
+                  Direction==Vertical ? int(ArgType::RowsAtCompileTime) : int(PacketSize),
+                  Direction==Vertical ? int(PacketSize) : int(ArgType::ColsAtCompileTime),
+                  true /* InnerPanel */> PanelType;
+    
+    PanelType panel(m_arg,
+                    Direction==Vertical ? 0 : idx,
+                    Direction==Vertical ? idx : 0,
+                    Direction==Vertical ? m_arg.rows() : Index(PacketSize),
+                    Direction==Vertical ? Index(PacketSize) : m_arg.cols());
+
+    // FIXME
+    // See bug 1612, currently if PacketSize==1 (i.e. complex<double> with 128bits registers) then the storage-order of panel get reversed
+    // and methods like packetByOuterInner do not make sense anymore in this context.
+    // So let's just by pass "vectorization" in this case:
+    if(PacketSize==1)
+      return internal::pset1<PacketType>(coeff(idx));
+    
+    typedef typename internal::redux_evaluator<PanelType> PanelEvaluator;
+    PanelEvaluator panel_eval(panel);
+    typedef typename MemberOp::BinaryOp BinaryOp;
+    PacketType p = internal::packetwise_redux_impl<BinaryOp,PanelEvaluator>::template run<PacketType>(panel_eval,m_functor.binaryFunc(),m_arg.outerSize());
+    return p;
+  }
+
+protected:
+  ConstArgTypeNested m_arg;
+  const MemberOp m_functor;
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PARTIALREDUX_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/PermutationMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/PermutationMatrix.h
index b1fb455b98..69401bf41e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/PermutationMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/PermutationMatrix.h
@@ -87,25 +87,14 @@ class PermutationBase : public EigenBase<Derived>
       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 Index(indices().size()); }
+    inline EIGEN_DEVICE_FUNC Index rows() const { return Index(indices().size()); }
 
     /** \returns the number of columns */
-    inline Index cols() const { return Index(indices().size()); }
+    inline EIGEN_DEVICE_FUNC Index cols() const { return Index(indices().size()); }
 
     /** \returns the size of a side of the respective square matrix, i.e., the number of indices */
-    inline Index size() const { return Index(indices().size()); }
+    inline EIGEN_DEVICE_FUNC Index size() const { return Index(indices().size()); }
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename DenseDerived>
@@ -333,12 +322,6 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
     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].
       *
@@ -373,17 +356,6 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
       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. */
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/PlainObjectBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/PlainObjectBase.h
index 1dc7e223af..e2ddbd1d52 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/PlainObjectBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/PlainObjectBase.h
@@ -13,10 +13,10 @@
 
 #if defined(EIGEN_INITIALIZE_MATRICES_BY_ZERO)
 # define EIGEN_INITIALIZE_COEFFS
-# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
+# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(Index i=0;i<base().size();++i) coeffRef(i)=Scalar(0);
 #elif defined(EIGEN_INITIALIZE_MATRICES_BY_NAN)
 # define EIGEN_INITIALIZE_COEFFS
-# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(int i=0;i<base().size();++i) coeffRef(i)=std::numeric_limits<Scalar>::quiet_NaN();
+# define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED for(Index i=0;i<base().size();++i) coeffRef(i)=std::numeric_limits<Scalar>::quiet_NaN();
 #else
 # undef EIGEN_INITIALIZE_COEFFS
 # define EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
@@ -104,7 +104,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
     typedef typename internal::traits<Derived>::Scalar Scalar;
-    
+
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef Derived DenseType;
@@ -118,16 +118,8 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     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;
-#if EIGEN_MAX_ALIGN_BYTES>0
-    // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
-    friend  class Eigen::Map<Derived, AlignedMax>;
-    friend  class Eigen::Map<const Derived, AlignedMax>;
-#endif
     typedef Eigen::Map<Derived, AlignedMax> AlignedMapType;
     typedef const Eigen::Map<const Derived, AlignedMax> ConstAlignedMapType;
     template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
@@ -147,10 +139,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     EIGEN_DEVICE_FUNC
     const Base& base() const { return *static_cast<const Base*>(this); }
 
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
-    EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_storage.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_storage.cols(); }
 
     /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index,Index) const
       * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
@@ -358,7 +350,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
     {
       const OtherDerived& other = _other.derived();
@@ -383,7 +375,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * 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 
+      * Matrices are resized relative to the top-left element. In case values need to be
       * appended to the matrix they will be uninitialized.
       */
     EIGEN_DEVICE_FUNC
@@ -440,7 +432,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * 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 
+      * 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>
@@ -508,8 +500,8 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     EIGEN_DEVICE_FUNC
     PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT
     {
-      using std::swap;
-      swap(m_storage, other.m_storage);
+      _check_template_params();
+      m_storage = std::move(other.m_storage);
       return *this;
     }
 #endif
@@ -526,6 +518,71 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 //       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 
+    #if EIGEN_HAS_CXX11
+    /** \brief Construct a row of column vector with fixed size from an arbitrary number of coefficients. \cpp11
+      *
+      * \only_for_vectors
+      *
+      * This constructor is for 1D array or vectors with more than 4 coefficients.
+      * There exists C++98 analogue constructors for fixed-size array/vector having 1, 2, 3, or 4 coefficients.
+      *
+      * \warning To construct a column (resp. row) vector of fixed length, the number of values passed to this
+      * constructor must match the the fixed number of rows (resp. columns) of \c *this.
+      */
+    template <typename... ArgTypes>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    PlainObjectBase(const Scalar& a0, const Scalar& a1, const Scalar& a2,  const Scalar& a3, const ArgTypes&... args)
+      : m_storage()
+    {
+      _check_template_params();
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, sizeof...(args) + 4);
+      m_storage.data()[0] = a0;
+      m_storage.data()[1] = a1;
+      m_storage.data()[2] = a2;
+      m_storage.data()[3] = a3;
+      Index i = 4;
+      auto x = {(m_storage.data()[i++] = args, 0)...};
+      static_cast<void>(x);
+    }
+
+    /** \brief Constructs a Matrix or Array and initializes it by elements given by an initializer list of initializer
+      * lists \cpp11
+      */
+    EIGEN_DEVICE_FUNC
+    explicit EIGEN_STRONG_INLINE PlainObjectBase(const std::initializer_list<std::initializer_list<Scalar>>& list)
+      : m_storage()
+    {
+      _check_template_params();
+
+      size_t list_size = 0;
+      if (list.begin() != list.end()) {
+        list_size = list.begin()->size();
+      }
+
+      // This is to allow syntax like VectorXi {{1, 2, 3, 4}}
+      if (ColsAtCompileTime == 1 && list.size() == 1) {
+        eigen_assert(list_size == static_cast<size_t>(RowsAtCompileTime) || RowsAtCompileTime == Dynamic);
+        resize(list_size, ColsAtCompileTime);
+        std::copy(list.begin()->begin(), list.begin()->end(), m_storage.data());
+      } else {
+        eigen_assert(list.size() == static_cast<size_t>(RowsAtCompileTime) || RowsAtCompileTime == Dynamic);
+        eigen_assert(list_size == static_cast<size_t>(ColsAtCompileTime) || ColsAtCompileTime == Dynamic);
+        resize(list.size(), list_size);
+
+        Index row_index = 0;
+        for (const std::initializer_list<Scalar>& row : list) {
+          eigen_assert(list_size == row.size());
+          Index col_index = 0;
+          for (const Scalar& e : row) {
+            coeffRef(row_index, col_index) = e;
+            ++col_index;
+          }
+          ++row_index;
+        }
+      }
+    }
+    #endif  // end EIGEN_HAS_CXX11
+
     /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
     template<typename OtherDerived>
     EIGEN_DEVICE_FUNC
@@ -564,7 +621,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
     {
       _resize_to_match(other);
@@ -652,18 +709,26 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     using Base::setConstant;
     EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val);
     EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val);
+    EIGEN_DEVICE_FUNC Derived& setConstant(NoChange_t, Index cols, const Scalar& val);
+    EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, NoChange_t, const Scalar& val);
 
     using Base::setZero;
     EIGEN_DEVICE_FUNC Derived& setZero(Index size);
     EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setZero(NoChange_t, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setZero(Index rows, NoChange_t);
 
     using Base::setOnes;
     EIGEN_DEVICE_FUNC Derived& setOnes(Index size);
     EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setOnes(NoChange_t, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, NoChange_t);
 
     using Base::setRandom;
     Derived& setRandom(Index size);
     Derived& setRandom(Index rows, Index cols);
+    Derived& setRandom(NoChange_t, Index cols);
+    Derived& setRandom(Index rows, NoChange_t);
 
     #ifdef EIGEN_PLAINOBJECTBASE_PLUGIN
     #include EIGEN_PLAINOBJECTBASE_PLUGIN
@@ -678,7 +743,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
     {
       #ifdef EIGEN_NO_AUTOMATIC_RESIZING
@@ -705,10 +770,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \internal
       */
-    // aliasing is dealt once in internall::call_assignment
+    // aliasing is dealt once in internal::call_assignment
     // so at this stage we have to assume aliasing... and resising has to be done later.
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
     {
       internal::call_assignment(this->derived(), other.derived());
@@ -721,7 +786,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * \sa operator=(const MatrixBase<OtherDerived>&), _set()
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     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
@@ -737,23 +802,25 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
     {
-      EIGEN_STATIC_ASSERT(bool(NumTraits<T0>::IsInteger) &&
-                          bool(NumTraits<T1>::IsInteger),
+      const bool t0_is_integer_alike = internal::is_valid_index_type<T0>::value;
+      const bool t1_is_integer_alike = internal::is_valid_index_type<T1>::value;
+      EIGEN_STATIC_ASSERT(t0_is_integer_alike &&
+                          t1_is_integer_alike,
                           FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
       resize(rows,cols);
     }
-    
+
     template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
     {
       EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
       m_storage.data()[0] = Scalar(val0);
       m_storage.data()[1] = Scalar(val1);
     }
-    
+
     template<typename T0, typename T1>
-    EIGEN_DEVICE_FUNC 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1,
                                     typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
                                                                   && (internal::is_same<T0,Index>::value)
@@ -773,14 +840,14 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
                                                                               && ((!internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0)
     {
       // NOTE MSVC 2008 complains if we directly put bool(NumTraits<T>::IsInteger) as the EIGEN_STATIC_ASSERT argument.
-      const bool is_integer = NumTraits<T>::IsInteger;
-      EIGEN_UNUSED_VARIABLE(is_integer);
-      EIGEN_STATIC_ASSERT(is_integer,
+      const bool is_integer_alike = internal::is_valid_index_type<T>::value;
+      EIGEN_UNUSED_VARIABLE(is_integer_alike);
+      EIGEN_STATIC_ASSERT(is_integer_alike,
                           FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
       resize(size);
     }
-    
-    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted)
+
+    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitly converted)
     template<typename T>
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1 && internal::is_convertible<T, Scalar>::value,T>::type* = 0)
@@ -788,7 +855,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
       m_storage.data()[0] = val0;
     }
-    
+
     // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type)
     template<typename T>
     EIGEN_DEVICE_FUNC
@@ -844,7 +911,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     {
       this->derived() = r;
     }
-    
+
     // For fixed-size Array<Scalar,...>
     template<typename T>
     EIGEN_DEVICE_FUNC
@@ -856,7 +923,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     {
       Base::setConstant(val0);
     }
-    
+
     // For fixed-size Array<Index,...>
     template<typename T>
     EIGEN_DEVICE_FUNC
@@ -870,38 +937,38 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     {
       Base::setConstant(val0);
     }
-    
+
     template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
     friend struct internal::matrix_swap_impl;
 
   public:
-    
+
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal
       * \brief Override DenseBase::swap() since for dynamic-sized matrices
       * of same type it is enough to swap the data pointers.
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void swap(DenseBase<OtherDerived> & other)
     {
       enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
       internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.derived());
     }
-    
+
     /** \internal
       * \brief const version forwarded to DenseBase::swap
       */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void swap(DenseBase<OtherDerived> const & other)
     { Base::swap(other.derived()); }
-    
-    EIGEN_DEVICE_FUNC 
+
+    EIGEN_DEVICE_FUNC
     static EIGEN_STRONG_INLINE 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)
+      EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (int(Options)&RowMajor)==RowMajor)
+                        && EIGEN_IMPLIES(MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1, (int(Options)&RowMajor)==0)
                         && ((RowsAtCompileTime == Dynamic) || (RowsAtCompileTime >= 0))
                         && ((ColsAtCompileTime == Dynamic) || (ColsAtCompileTime >= 0))
                         && ((MaxRowsAtCompileTime == Dynamic) || (MaxRowsAtCompileTime >= 0))
@@ -913,6 +980,17 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     }
 
     enum { IsPlainObjectBase = 1 };
+#endif
+  public:
+    // These apparently need to be down here for nvcc+icc to prevent duplicate
+    // Map symbol.
+    template<typename PlainObjectType, int MapOptions, typename StrideType> friend class Eigen::Map;
+    friend class Eigen::Map<Derived, Unaligned>;
+    friend class Eigen::Map<const Derived, Unaligned>;
+#if EIGEN_MAX_ALIGN_BYTES>0
+    // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
+    friend class Eigen::Map<Derived, AlignedMax>;
+    friend class Eigen::Map<const Derived, AlignedMax>;
 #endif
 };
 
@@ -921,13 +999,19 @@ namespace internal {
 template <typename Derived, typename OtherDerived, bool IsVector>
 struct conservative_resize_like_impl
 {
+  #if EIGEN_HAS_TYPE_TRAITS
+  static const bool IsRelocatable = std::is_trivially_copyable<typename Derived::Scalar>::value;
+  #else
+  static const bool IsRelocatable = !NumTraits<typename Derived::Scalar>::RequireInitialization;
+  #endif
   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
+    if ( IsRelocatable
+          && (( 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
     {
       internal::check_rows_cols_for_overflow<Derived::MaxSizeAtCompileTime>::run(rows, cols);
       _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
@@ -935,7 +1019,7 @@ struct conservative_resize_like_impl
     else
     {
       // The storage order does not allow us to use reallocation.
-      typename Derived::PlainObject tmp(rows,cols);
+      Derived tmp(rows,cols);
       const Index common_rows = numext::mini(rows, _this.rows());
       const Index common_cols = numext::mini(cols, _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
@@ -955,8 +1039,9 @@ struct conservative_resize_like_impl
     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
+    if ( IsRelocatable &&
+          (( 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();
@@ -969,7 +1054,7 @@ struct conservative_resize_like_impl
     else
     {
       // The storage order does not allow us to use reallocation.
-      typename Derived::PlainObject tmp(other);
+      Derived tmp(other);
       const Index common_rows = numext::mini(tmp.rows(), _this.rows());
       const Index common_cols = numext::mini(tmp.cols(), _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
@@ -984,13 +1069,18 @@ template <typename Derived, typename OtherDerived>
 struct conservative_resize_like_impl<Derived,OtherDerived,true>
   : conservative_resize_like_impl<Derived,OtherDerived,false>
 {
-  using conservative_resize_like_impl<Derived,OtherDerived,false>::run;
-  
+  typedef conservative_resize_like_impl<Derived,OtherDerived,false> Base;
+  using Base::run;
+  using Base::IsRelocatable;
+
   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);
+    if(IsRelocatable)
+      _this.derived().m_storage.conservativeResize(size,new_rows,new_cols);
+    else
+      Base::run(_this.derived(), new_rows, new_cols);
   }
 
   static void run(DenseBase<Derived>& _this, const DenseBase<OtherDerived>& other)
@@ -1001,7 +1091,10 @@ struct conservative_resize_like_impl<Derived,OtherDerived,true>
 
     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(IsRelocatable)
+      _this.derived().m_storage.conservativeResize(other.size(),new_rows,new_cols);
+    else
+      Base::run(_this.derived(), new_rows, new_cols);
 
     if (num_new_elements > 0)
       _this.tail(num_new_elements) = other.tail(num_new_elements);
@@ -1012,7 +1105,7 @@ template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
 struct matrix_swap_impl
 {
   EIGEN_DEVICE_FUNC
-  static inline void run(MatrixTypeA& a, MatrixTypeB& b)
+  static EIGEN_STRONG_INLINE void run(MatrixTypeA& a, MatrixTypeB& b)
   {
     a.base().swap(b);
   }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Product.h b/examples/ThirdPartyLibs/Eigen/src/Core/Product.h
index ae0c94b38e..70a6c10639 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Product.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Product.h
@@ -23,25 +23,25 @@ struct traits<Product<Lhs, Rhs, Option> >
   typedef typename remove_all<Rhs>::type RhsCleaned;
   typedef traits<LhsCleaned> LhsTraits;
   typedef traits<RhsCleaned> RhsTraits;
-  
+
   typedef MatrixXpr XprKind;
-  
+
   typedef typename ScalarBinaryOpTraits<typename traits<LhsCleaned>::Scalar, typename traits<RhsCleaned>::Scalar>::ReturnType Scalar;
   typedef typename product_promote_storage_type<typename LhsTraits::StorageKind,
                                                 typename RhsTraits::StorageKind,
                                                 internal::product_type<Lhs,Rhs>::ret>::ret StorageKind;
   typedef typename promote_index_type<typename LhsTraits::StorageIndex,
                                       typename RhsTraits::StorageIndex>::type StorageIndex;
-  
+
   enum {
     RowsAtCompileTime    = LhsTraits::RowsAtCompileTime,
     ColsAtCompileTime    = RhsTraits::ColsAtCompileTime,
     MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime,
-    
+
     // FIXME: only needed by GeneralMatrixMatrixTriangular
     InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime),
-    
+
     // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator.
     Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit
           : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
@@ -74,10 +74,10 @@ class Product : public ProductImpl<_Lhs,_Rhs,Option,
                                                                                    internal::product_type<_Lhs,_Rhs>::ret>::ret>
 {
   public:
-    
+
     typedef _Lhs Lhs;
     typedef _Rhs Rhs;
-    
+
     typedef typename ProductImpl<
         Lhs, Rhs, Option,
         typename internal::product_promote_storage_type<typename internal::traits<Lhs>::StorageKind,
@@ -90,18 +90,23 @@ class Product : public ProductImpl<_Lhs,_Rhs,Option,
     typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
     typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
 
-    EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Product(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");
     }
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
-    EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; }
-    EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const LhsNestedCleaned& lhs() const { return m_lhs; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const RhsNestedCleaned& rhs() const { return m_rhs; }
 
   protected:
 
@@ -110,13 +115,13 @@ class Product : public ProductImpl<_Lhs,_Rhs,Option,
 };
 
 namespace internal {
-  
+
 template<typename Lhs, typename Rhs, int Option, int ProductTag = internal::product_type<Lhs,Rhs>::ret>
 class dense_product_base
  : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
 {};
 
-/** Convertion to scalar for inner-products */
+/** Conversion to scalar for inner-products */
 template<typename Lhs, typename Rhs, int Option>
 class dense_product_base<Lhs, Rhs, Option, InnerProduct>
  : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
@@ -126,8 +131,8 @@ class dense_product_base<Lhs, Rhs, Option, InnerProduct>
 public:
   using Base::derived;
   typedef typename Base::Scalar Scalar;
-  
-  operator const Scalar() const
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE operator const Scalar() const
   {
     return internal::evaluator<ProductXpr>(derived()).coeff(0,0);
   }
@@ -148,37 +153,37 @@ class ProductImpl<Lhs,Rhs,Option,Dense>
   : public internal::dense_product_base<Lhs,Rhs,Option>
 {
     typedef Product<Lhs, Rhs, Option> Derived;
-    
+
   public:
-    
+
     typedef typename internal::dense_product_base<Lhs, Rhs, Option> Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
   protected:
     enum {
-      IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && 
+      IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) &&
                    (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic),
       EnableCoeff = IsOneByOne || Option==LazyProduct
     };
-    
+
   public:
-  
-    EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const
+
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar coeff(Index row, Index col) const
     {
       EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
       eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
-      
+
       return internal::evaluator<Derived>(derived()).coeff(row,col);
     }
 
-    EIGEN_DEVICE_FUNC Scalar coeff(Index i) const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar coeff(Index i) const
     {
       EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
       eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
-      
+
       return internal::evaluator<Derived>(derived()).coeff(i);
     }
-    
-  
+
+
 };
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ProductEvaluators.h b/examples/ThirdPartyLibs/Eigen/src/Core/ProductEvaluators.h
index 86966abdb1..8cf294b287 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ProductEvaluators.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ProductEvaluators.h
@@ -14,27 +14,27 @@
 #define EIGEN_PRODUCTEVALUATORS_H
 
 namespace Eigen {
-  
+
 namespace internal {
 
 /** \internal
   * Evaluator of a product expression.
   * Since products require special treatments to handle all possible cases,
-  * we simply deffer the evaluation logic to a product_evaluator class
+  * we simply defer the evaluation logic to a product_evaluator class
   * which offers more partial specialization possibilities.
-  * 
+  *
   * \sa class product_evaluator
   */
 template<typename Lhs, typename Rhs, int Options>
-struct evaluator<Product<Lhs, Rhs, Options> > 
+struct evaluator<Product<Lhs, Rhs, Options> >
  : public product_evaluator<Product<Lhs, Rhs, Options> >
 {
   typedef Product<Lhs, Rhs, Options> XprType;
   typedef product_evaluator<XprType> Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr) : Base(xpr) {}
 };
- 
+
 // Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B"
 // TODO we should apply that rule only if that's really helpful
 template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
@@ -55,20 +55,20 @@ struct evaluator<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
                                const Product<Lhs, Rhs, DefaultProduct> > XprType;
   typedef evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> > Base;
 
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr)
     : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs())
   {}
 };
 
 
 template<typename Lhs, typename Rhs, int DiagIndex>
-struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> > 
+struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> >
  : public evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> >
 {
   typedef Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> XprType;
   typedef evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> > Base;
-  
-  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit evaluator(const XprType& xpr)
     : Base(Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex>(
         Product<Lhs, Rhs, LazyProduct>(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()),
         xpr.index() ))
@@ -108,27 +108,27 @@ struct product_evaluator<Product<Lhs, Rhs, Options>, ProductTag, LhsShape, RhsSh
     : m_result(xpr.rows(), xpr.cols())
   {
     ::new (static_cast<Base*>(this)) Base(m_result);
-    
+
 // FIXME shall we handle nested_eval here?,
 // if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.)
 //     typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
 //     typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
 //     typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
 //     typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
-//     
+//
 //     const LhsNested lhs(xpr.lhs());
 //     const RhsNested rhs(xpr.rhs());
-//   
+//
 //     generic_product_impl<LhsNestedCleaned, RhsNestedCleaned>::evalTo(m_result, lhs, rhs);
 
     generic_product_impl<Lhs, Rhs, LhsShape, RhsShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
   }
-  
-protected:  
+
+protected:
   PlainObject m_result;
 };
 
-// The following three shortcuts are enabled only if the scalar types match excatly.
+// The following three shortcuts are enabled only if the scalar types match exactly.
 // TODO: we could enable them for different scalar types when the product is not vectorized.
 
 // Dense = Product
@@ -137,7 +137,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::assign_op<Scal
   typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
 {
   typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
   {
     Index dstRows = src.rows();
@@ -155,7 +155,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::add_assign_op<
   typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
 {
   typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,Scalar> &)
   {
     eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
@@ -170,7 +170,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::sub_assign_op<
   typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
 {
   typedef Product<Lhs,Rhs,Options> SrcXprType;
-  static EIGEN_STRONG_INLINE
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,Scalar> &)
   {
     eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
@@ -190,7 +190,7 @@ struct Assignment<DstXprType, CwiseBinaryOp<internal::scalar_product_op<ScalarBi
   typedef CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>,
                         const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
                         const Product<Lhs,Rhs,DefaultProduct> > SrcXprType;
-  static EIGEN_STRONG_INLINE
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func)
   {
     call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func);
@@ -217,7 +217,7 @@ template<typename DstXprType, typename OtherXpr, typename ProductType, typename
 struct assignment_from_xpr_op_product
 {
   template<typename SrcXprType, typename InitialFunc>
-  static EIGEN_STRONG_INLINE
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
   {
     call_assignment_no_alias(dst, src.lhs(), Func1());
@@ -246,19 +246,19 @@ template<typename Lhs, typename Rhs>
 struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
 {
   template<typename Dst>
-  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
   }
-  
+
   template<typename Dst>
-  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum();
   }
-  
+
   template<typename Dst>
-  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); }
 };
 
@@ -269,10 +269,10 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
 
 // Column major result
 template<typename Dst, typename Lhs, typename Rhs, typename Func>
-void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
+void EIGEN_DEVICE_FUNC outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
 {
   evaluator<Rhs> rhsEval(rhs);
-  typename nested_eval<Lhs,Rhs::SizeAtCompileTime>::type actual_lhs(lhs);
+  ei_declare_local_nested_eval(Lhs,lhs,Rhs::SizeAtCompileTime,actual_lhs);
   // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored
   // FIXME not very good if rhs is real and lhs complex while alpha is real too
   const Index cols = dst.cols();
@@ -282,10 +282,10 @@ void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const
 
 // Row major result
 template<typename Dst, typename Lhs, typename Rhs, typename Func>
-void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
+void EIGEN_DEVICE_FUNC outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
 {
   evaluator<Lhs> lhsEval(lhs);
-  typename nested_eval<Rhs,Lhs::SizeAtCompileTime>::type actual_rhs(rhs);
+  ei_declare_local_nested_eval(Rhs,rhs,Lhs::SizeAtCompileTime,actual_rhs);
   // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored
   // FIXME not very good if lhs is real and rhs complex while alpha is real too
   const Index rows = dst.rows();
@@ -298,43 +298,43 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,OuterProduct>
 {
   template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose
-  struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
-  struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
-  struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
+  struct set  { template<typename Dst, typename Src> EIGEN_DEVICE_FUNC void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
+  struct add  { template<typename Dst, typename Src> EIGEN_DEVICE_FUNC void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
+  struct sub  { template<typename Dst, typename Src> EIGEN_DEVICE_FUNC void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
   struct adds {
     Scalar m_scale;
     explicit adds(const Scalar& s) : m_scale(s) {}
-    template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
+    template<typename Dst, typename Src> void EIGEN_DEVICE_FUNC operator()(const Dst& dst, const Src& src) const {
       dst.const_cast_derived() += m_scale * src;
     }
   };
-  
+
   template<typename Dst>
-  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major<Dst>());
   }
-  
+
   template<typename Dst>
-  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major<Dst>());
   }
-  
+
   template<typename Dst>
-  static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major<Dst>());
   }
-  
+
   template<typename Dst>
-  static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
     internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major<Dst>());
   }
-  
+
 };
 
 
@@ -343,21 +343,21 @@ template<typename Lhs, typename Rhs, typename Derived>
 struct generic_product_impl_base
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
 
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); }
 
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
-  
+
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
 
 };
@@ -373,8 +373,13 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
   typedef typename internal::remove_all<typename internal::conditional<int(Side)==OnTheRight,LhsNested,RhsNested>::type>::type MatrixType;
 
   template<typename Dest>
-  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
+    // Fallback to inner product if both the lhs and rhs is a runtime vector.
+    if (lhs.rows() == 1 && rhs.cols() == 1) {
+      dst.coeffRef(0,0) += alpha * lhs.row(0).conjugate().dot(rhs.col(0));
+      return;
+    }
     LhsNested actual_lhs(lhs);
     RhsNested actual_rhs(rhs);
     internal::gemv_dense_selector<Side,
@@ -385,35 +390,84 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
 };
 
 template<typename Lhs, typename Rhs>
-struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> 
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode>
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     // Same as: dst.noalias() = lhs.lazyProduct(rhs);
     // but easier on the compiler side
     call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op<typename Dst::Scalar,Scalar>());
   }
-  
+
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     // dst.noalias() += lhs.lazyProduct(rhs);
     call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op<typename Dst::Scalar,Scalar>());
   }
-  
+
   template<typename Dst>
-  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     // dst.noalias() -= lhs.lazyProduct(rhs);
     call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op<typename Dst::Scalar,Scalar>());
   }
-  
-//   template<typename Dst>
-//   static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
-//   { dst.noalias() += alpha * lhs.lazyProduct(rhs); }
+
+  // This is a special evaluation path called from generic_product_impl<...,GemmProduct> in file GeneralMatrixMatrix.h
+  // This variant tries to extract scalar multiples from both the LHS and RHS and factor them out. For instance:
+  //   dst {,+,-}= (s1*A)*(B*s2)
+  // will be rewritten as:
+  //   dst {,+,-}= (s1*s2) * (A.lazyProduct(B))
+  // There are at least four benefits of doing so:
+  //  1 - huge performance gain for heap-allocated matrix types as it save costly allocations.
+  //  2 - it is faster than simply by-passing the heap allocation through stack allocation.
+  //  3 - it makes this fallback consistent with the heavy GEMM routine.
+  //  4 - it fully by-passes huge stack allocation attempts when multiplying huge fixed-size matrices.
+  //      (see https://stackoverflow.com/questions/54738495)
+  // For small fixed sizes matrices, howver, the gains are less obvious, it is sometimes x2 faster, but sometimes x3 slower,
+  // and the behavior depends also a lot on the compiler... This is why this re-writting strategy is currently
+  // enabled only when falling back from the main GEMM.
+  template<typename Dst, typename Func>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  void eval_dynamic(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Func &func)
+  {
+    enum {
+      HasScalarFactor = blas_traits<Lhs>::HasScalarFactor || blas_traits<Rhs>::HasScalarFactor,
+      ConjLhs = blas_traits<Lhs>::NeedToConjugate,
+      ConjRhs = blas_traits<Rhs>::NeedToConjugate
+    };
+    // FIXME: in c++11 this should be auto, and extractScalarFactor should also return auto
+    //        this is important for real*complex_mat
+    Scalar actualAlpha = combine_scalar_factors<Scalar>(lhs, rhs);
+
+    eval_dynamic_impl(dst,
+                      blas_traits<Lhs>::extract(lhs).template conjugateIf<ConjLhs>(),
+                      blas_traits<Rhs>::extract(rhs).template conjugateIf<ConjRhs>(),
+                      func,
+                      actualAlpha,
+                      typename conditional<HasScalarFactor,true_type,false_type>::type());
+  }
+
+protected:
+
+  template<typename Dst, typename LhsT, typename RhsT, typename Func, typename Scalar>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  void eval_dynamic_impl(Dst& dst, const LhsT& lhs, const RhsT& rhs, const Func &func, const Scalar&  s /* == 1 */, false_type)
+  {
+    EIGEN_UNUSED_VARIABLE(s);
+    eigen_internal_assert(s==Scalar(1));
+    call_restricted_packet_assignment_no_alias(dst, lhs.lazyProduct(rhs), func);
+  }
+
+  template<typename Dst, typename LhsT, typename RhsT, typename Func, typename Scalar>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  void eval_dynamic_impl(Dst& dst, const LhsT& lhs, const RhsT& rhs, const Func &func, const Scalar& s, true_type)
+  {
+    call_restricted_packet_assignment_no_alias(dst, s * lhs.lazyProduct(rhs), func);
+  }
 };
 
 // This specialization enforces the use of a coefficient-based evaluation strategy
@@ -471,7 +525,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
 
   typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
   typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-  
+
   typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
   typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
 
@@ -490,19 +544,19 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
   typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
 
   enum {
-      
+
     LhsCoeffReadCost = LhsEtorType::CoeffReadCost,
     RhsCoeffReadCost = RhsEtorType::CoeffReadCost,
     CoeffReadCost = InnerSize==0 ? NumTraits<Scalar>::ReadCost
                   : InnerSize == Dynamic ? HugeCost
-                  : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+                    : InnerSize * (NumTraits<Scalar>::MulCost + int(LhsCoeffReadCost) + int(RhsCoeffReadCost))
                     + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
 
     Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
-    
+
     LhsFlags = LhsEtorType::Flags,
     RhsFlags = RhsEtorType::Flags,
-    
+
     LhsRowMajor = LhsFlags & RowMajorBit,
     RhsRowMajor = RhsFlags & RowMajorBit,
 
@@ -512,7 +566,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
     // Here, we don't care about alignment larger than the usable packet size.
     LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))),
     RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))),
-      
+
     SameType = is_same<typename LhsNestedCleaned::Scalar,typename RhsNestedCleaned::Scalar>::value,
 
     CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1),
@@ -522,12 +576,12 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
                     : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
                     : (bool(RhsRowMajor) && !CanVectorizeLhs),
 
-    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+    Flags = ((int(LhsFlags) | int(RhsFlags)) & HereditaryBits & ~RowMajorBit)
           | (EvalToRowMajor ? RowMajorBit : 0)
           // TODO enable vectorization for mixed types
           | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0)
           | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0),
-          
+
     LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)),
     RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)),
 
@@ -543,10 +597,10 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
     CanVectorizeInner =    SameType
                         && LhsRowMajor
                         && (!RhsRowMajor)
-                        && (LhsFlags & RhsFlags & ActualPacketAccessBit)
-                        && (InnerSize % packet_traits<Scalar>::size == 0)
+                        && (int(LhsFlags) & int(RhsFlags) & ActualPacketAccessBit)
+                        && (int(InnerSize) % packet_traits<Scalar>::size == 0)
   };
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
   {
     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
@@ -556,7 +610,8 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
    * which is why we don't set the LinearAccessBit.
    * TODO: this seems possible when the result is a vector
    */
-  EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const CoeffReturnType coeff(Index index) const
   {
     const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
     const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
@@ -564,6 +619,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
   }
 
   template<int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   const PacketType packet(Index row, Index col) const
   {
     PacketType res;
@@ -575,6 +631,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
   }
 
   template<int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   const PacketType packet(Index index) const
   {
     const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
@@ -585,7 +642,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
 protected:
   typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
   typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
-  
+
   LhsEtorType m_lhsImpl;
   RhsEtorType m_rhsImpl;
 
@@ -603,7 +660,8 @@ struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProduc
   enum {
     Flags = Base::Flags | EvalBeforeNestingBit
   };
-  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit product_evaluator(const XprType& xpr)
     : Base(BaseProduct(xpr.lhs(),xpr.rhs()))
   {}
 };
@@ -615,7 +673,7 @@ struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProduc
 template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
   {
     etor_product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
     res =  pmadd(pset1<Packet>(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet<LoadMode,Packet>(Index(UnrollingIndex-1), col), res);
@@ -625,7 +683,7 @@ struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, Load
 template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
   {
     etor_product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
@@ -635,7 +693,7 @@ struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, Load
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
   {
     res = pmul(pset1<Packet>(lhs.coeff(row, Index(0))),rhs.template packet<LoadMode,Packet>(Index(0), col));
   }
@@ -644,7 +702,7 @@ struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
   {
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
   }
@@ -653,7 +711,7 @@ struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
   {
     res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
   }
@@ -662,7 +720,7 @@ struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
   {
     res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
   }
@@ -671,7 +729,7 @@ struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
   {
     res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
     for(Index i = 0; i < innerDim; ++i)
@@ -682,7 +740,7 @@ struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
 template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
 struct etor_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
 {
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
   {
     res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
     for(Index i = 0; i < innerDim; ++i)
@@ -704,7 +762,7 @@ struct generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag>
   : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag> >
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dest>
   static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
@@ -718,7 +776,7 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag>
 : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag> >
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dest>
   static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
@@ -739,9 +797,10 @@ struct generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag>
   : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag> >
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dest>
-  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC
+  void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
     selfadjoint_product_impl<typename Lhs::MatrixType,Lhs::Mode,false,Rhs,0,Rhs::IsVectorAtCompileTime>::run(dst, lhs.nestedExpression(), rhs, alpha);
   }
@@ -752,7 +811,7 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
 : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag> >
 {
   typedef typename Product<Lhs,Rhs>::Scalar Scalar;
-  
+
   template<typename Dest>
   static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
   {
@@ -764,7 +823,7 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
 /***************************************************************************
 * Diagonal products
 ***************************************************************************/
-  
+
 template<typename MatrixType, typename DiagonalType, typename Derived, int ProductOrder>
 struct diagonal_product_evaluator_base
   : evaluator_base<Derived>
@@ -772,34 +831,49 @@ struct diagonal_product_evaluator_base
    typedef typename ScalarBinaryOpTraits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
 public:
   enum {
-    CoeffReadCost = NumTraits<Scalar>::MulCost + evaluator<MatrixType>::CoeffReadCost + evaluator<DiagonalType>::CoeffReadCost,
-    
+    CoeffReadCost = int(NumTraits<Scalar>::MulCost) + int(evaluator<MatrixType>::CoeffReadCost) + int(evaluator<DiagonalType>::CoeffReadCost),
+
     MatrixFlags = evaluator<MatrixType>::Flags,
     DiagFlags = evaluator<DiagonalType>::Flags,
-    _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
+
+    _StorageOrder = (Derived::MaxRowsAtCompileTime==1 && Derived::MaxColsAtCompileTime!=1) ? RowMajor
+                  : (Derived::MaxColsAtCompileTime==1 && Derived::MaxRowsAtCompileTime!=1) ? ColMajor
+                  : MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
+    _SameStorageOrder = _StorageOrder == (MatrixFlags & RowMajorBit ? RowMajor : ColMajor),
+
     _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
                            ||(int(_StorageOrder) == RowMajor && 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(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))),
-    _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
+    _Vectorizable =   bool(int(MatrixFlags)&PacketAccessBit)
+                  &&  _SameTypes
+                  && (_SameStorageOrder || (MatrixFlags&LinearAccessBit)==LinearAccessBit)
+                  && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
     _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0,
     Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0),
-    Alignment = evaluator<MatrixType>::Alignment
+    Alignment = evaluator<MatrixType>::Alignment,
+
+    AsScalarProduct =     (DiagonalType::SizeAtCompileTime==1)
+                      ||  (DiagonalType::SizeAtCompileTime==Dynamic && MatrixType::RowsAtCompileTime==1 && ProductOrder==OnTheLeft)
+                      ||  (DiagonalType::SizeAtCompileTime==Dynamic && MatrixType::ColsAtCompileTime==1 && ProductOrder==OnTheRight)
   };
-  
-  diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
+
+  EIGEN_DEVICE_FUNC diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
     : m_diagImpl(diag), m_matImpl(mat)
   {
     EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
     EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
   {
-    return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
+    if(AsScalarProduct)
+      return m_diagImpl.coeff(0) * m_matImpl.coeff(idx);
+    else
+      return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
   }
-  
+
 protected:
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const
@@ -807,7 +881,7 @@ struct diagonal_product_evaluator_base
     return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
                           internal::pset1<PacketType>(m_diagImpl.coeff(id)));
   }
-  
+
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const
   {
@@ -818,7 +892,7 @@ struct diagonal_product_evaluator_base
     return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
                           m_diagImpl.template packet<DiagonalPacketLoadMode,PacketType>(id));
   }
-  
+
   evaluator<DiagonalType> m_diagImpl;
   evaluator<MatrixType>   m_matImpl;
 };
@@ -833,25 +907,25 @@ struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalSha
   using Base::m_matImpl;
   using Base::coeff;
   typedef typename Base::Scalar Scalar;
-  
+
   typedef Product<Lhs, Rhs, ProductKind> XprType;
   typedef typename XprType::PlainObject PlainObject;
-  
-  enum {
-    StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor
-  };
+  typedef typename Lhs::DiagonalVectorType DiagonalType;
+
+
+  enum { StorageOrder = Base::_StorageOrder };
 
   EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
     : Base(xpr.rhs(), xpr.lhs().diagonal())
   {
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
   {
     return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col);
   }
-  
-#ifndef EIGEN_CUDACC
+
+#ifndef EIGEN_GPUCC
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
   {
@@ -860,7 +934,7 @@ struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalSha
     return this->template packet_impl<LoadMode,PacketType>(row,col, row,
                                  typename internal::conditional<int(StorageOrder)==RowMajor, internal::true_type, internal::false_type>::type());
   }
-  
+
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet(Index idx) const
   {
@@ -879,30 +953,30 @@ struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DenseShape,
   using Base::m_matImpl;
   using Base::coeff;
   typedef typename Base::Scalar Scalar;
-  
+
   typedef Product<Lhs, Rhs, ProductKind> XprType;
   typedef typename XprType::PlainObject PlainObject;
-  
-  enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor };
+
+  enum { StorageOrder = Base::_StorageOrder };
 
   EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
     : Base(xpr.lhs(), xpr.rhs().diagonal())
   {
   }
-  
+
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
   {
     return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col);
   }
-  
-#ifndef EIGEN_CUDACC
+
+#ifndef EIGEN_GPUCC
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
   {
     return this->template packet_impl<LoadMode,PacketType>(row,col, col,
                                  typename internal::conditional<int(StorageOrder)==ColMajor, internal::true_type, internal::false_type>::type());
   }
-  
+
   template<int LoadMode,typename PacketType>
   EIGEN_STRONG_INLINE PacketType packet(Index idx) const
   {
@@ -930,7 +1004,7 @@ struct permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
     typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
 
     template<typename Dest, typename PermutationType>
-    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
+    static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
     {
       MatrixType mat(xpr);
       const Index n = Side==OnTheLeft ? mat.rows() : mat.cols();
@@ -984,7 +1058,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Rhs, PermutationShape, MatrixShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
   {
     permutation_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
   }
@@ -994,7 +1068,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Rhs, MatrixShape, PermutationShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
   {
     permutation_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
   }
@@ -1004,7 +1078,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Inverse<Lhs>, Rhs, PermutationShape, MatrixShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
   {
     permutation_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
   }
@@ -1014,7 +1088,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Inverse<Rhs>, MatrixShape, PermutationShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
   {
     permutation_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
   }
@@ -1036,9 +1110,9 @@ struct transposition_matrix_product
 {
   typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
   typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
-  
+
   template<typename Dest, typename TranspositionType>
-  static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
   {
     MatrixType mat(xpr);
     typedef typename TranspositionType::StorageIndex StorageIndex;
@@ -1061,7 +1135,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Rhs, TranspositionsShape, MatrixShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
   {
     transposition_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
   }
@@ -1071,7 +1145,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Rhs, MatrixShape, TranspositionsShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
   {
     transposition_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
   }
@@ -1082,7 +1156,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Transpose<Lhs>, Rhs, TranspositionsShape, MatrixShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
   {
     transposition_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
   }
@@ -1092,7 +1166,7 @@ template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
 struct generic_product_impl<Lhs, Transpose<Rhs>, MatrixShape, TranspositionsShape, ProductTag>
 {
   template<typename Dest>
-  static void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
   {
     transposition_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
   }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Random.h b/examples/ThirdPartyLibs/Eigen/src/Core/Random.h
index 486e9ed522..dab2ac8e9e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Random.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Random.h
@@ -177,6 +177,42 @@ PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
   return setRandom();
 }
 
+/** Resizes to the given size, changing only the number of columns, and sets all
+  * coefficients in this expression to random values. For the parameter of type
+  * NoChange_t, just pass the special value \c NoChange.
+  *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  *
+  * \not_reentrant
+  *
+  * \sa DenseBase::setRandom(), setRandom(Index), setRandom(Index, NoChange_t), class CwiseNullaryOp, DenseBase::Random()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(NoChange_t, Index cols)
+{
+  return setRandom(rows(), cols);
+}
+
+/** Resizes to the given size, changing only the number of rows, and sets all
+  * coefficients in this expression to random values. For the parameter of type
+  * NoChange_t, just pass the special value \c NoChange.
+  *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  *
+  * \not_reentrant
+  *
+  * \sa DenseBase::setRandom(), setRandom(Index), setRandom(NoChange_t, Index), class CwiseNullaryOp, DenseBase::Random()
+  */
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived&
+PlainObjectBase<Derived>::setRandom(Index rows, NoChange_t)
+{
+  return setRandom(rows, cols());
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_RANDOM_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Redux.h b/examples/ThirdPartyLibs/Eigen/src/Core/Redux.h
index 2b5b73bf7b..b6790d1105 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Redux.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Redux.h
@@ -23,23 +23,29 @@ namespace internal {
 * Part 1 : the logic deciding a strategy for vectorization and unrolling
 ***************************************************************************/
 
-template<typename Func, typename Derived>
+template<typename Func, typename Evaluator>
 struct redux_traits
 {
 public:
-    typedef typename find_best_packet<typename Derived::Scalar,Derived::SizeAtCompileTime>::type PacketType;
+    typedef typename find_best_packet<typename Evaluator::Scalar,Evaluator::SizeAtCompileTime>::type PacketType;
   enum {
     PacketSize = unpacket_traits<PacketType>::size,
-    InnerMaxSize = int(Derived::IsRowMajor)
-                 ? Derived::MaxColsAtCompileTime
-                 : Derived::MaxRowsAtCompileTime
+    InnerMaxSize = int(Evaluator::IsRowMajor)
+                 ? Evaluator::MaxColsAtCompileTime
+                 : Evaluator::MaxRowsAtCompileTime,
+    OuterMaxSize = int(Evaluator::IsRowMajor)
+                 ? Evaluator::MaxRowsAtCompileTime
+                 : Evaluator::MaxColsAtCompileTime,
+    SliceVectorizedWork = int(InnerMaxSize)==Dynamic ? Dynamic
+                        : int(OuterMaxSize)==Dynamic ? (int(InnerMaxSize)>=int(PacketSize) ? Dynamic : 0)
+                        : (int(InnerMaxSize)/int(PacketSize)) * int(OuterMaxSize)
   };
 
   enum {
-    MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
+    MightVectorize = (int(Evaluator::Flags)&ActualPacketAccessBit)
                   && (functor_traits<Func>::PacketAccess),
-    MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit),
-    MaySliceVectorize  = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize
+    MayLinearVectorize = bool(MightVectorize) && (int(Evaluator::Flags)&LinearAccessBit),
+    MaySliceVectorize  = bool(MightVectorize) && (int(SliceVectorizedWork)==Dynamic || int(SliceVectorizedWork)>=3)
   };
 
 public:
@@ -51,8 +57,8 @@ struct redux_traits
 
 public:
   enum {
-    Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost
-         : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+    Cost = Evaluator::SizeAtCompileTime == Dynamic ? HugeCost
+         : int(Evaluator::SizeAtCompileTime) * int(Evaluator::CoeffReadCost) + (Evaluator::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
     UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
   };
 
@@ -64,18 +70,20 @@ struct redux_traits
 #ifdef EIGEN_DEBUG_ASSIGN
   static void debug()
   {
-    std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl;
+    std::cerr << "Xpr: " << typeid(typename Evaluator::XprType).name() << std::endl;
     std::cerr.setf(std::ios::hex, std::ios::basefield);
-    EIGEN_DEBUG_VAR(Derived::Flags)
+    EIGEN_DEBUG_VAR(Evaluator::Flags)
     std::cerr.unsetf(std::ios::hex);
     EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(OuterMaxSize)
+    EIGEN_DEBUG_VAR(SliceVectorizedWork)
     EIGEN_DEBUG_VAR(PacketSize)
     EIGEN_DEBUG_VAR(MightVectorize)
     EIGEN_DEBUG_VAR(MayLinearVectorize)
     EIGEN_DEBUG_VAR(MaySliceVectorize)
-    EIGEN_DEBUG_VAR(Traversal)
+    std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
     EIGEN_DEBUG_VAR(UnrollingLimit)
-    EIGEN_DEBUG_VAR(Unrolling)
+    std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl;
     std::cerr << std::endl;
   }
 #endif
@@ -87,88 +95,86 @@ struct redux_traits
 
 /*** no vectorization ***/
 
-template<typename Func, typename Derived, int Start, int Length>
+template<typename Func, typename Evaluator, int Start, int Length>
 struct redux_novec_unroller
 {
   enum {
     HalfLength = Length/2
   };
 
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Evaluator::Scalar Scalar;
 
   EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+  static EIGEN_STRONG_INLINE Scalar run(const Evaluator &eval, 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));
+    return func(redux_novec_unroller<Func, Evaluator, Start, HalfLength>::run(eval,func),
+                redux_novec_unroller<Func, Evaluator, Start+HalfLength, Length-HalfLength>::run(eval,func));
   }
 };
 
-template<typename Func, typename Derived, int Start>
-struct redux_novec_unroller<Func, Derived, Start, 1>
+template<typename Func, typename Evaluator, int Start>
+struct redux_novec_unroller<Func, Evaluator, Start, 1>
 {
   enum {
-    outer = Start / Derived::InnerSizeAtCompileTime,
-    inner = Start % Derived::InnerSizeAtCompileTime
+    outer = Start / Evaluator::InnerSizeAtCompileTime,
+    inner = Start % Evaluator::InnerSizeAtCompileTime
   };
 
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Evaluator::Scalar Scalar;
 
   EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&)
+  static EIGEN_STRONG_INLINE Scalar run(const Evaluator &eval, const Func&)
   {
-    return mat.coeffByOuterInner(outer, inner);
+    return eval.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>
+template<typename Func, typename Evaluator, int Start>
+struct redux_novec_unroller<Func, Evaluator, Start, 0>
 {
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Evaluator::Scalar Scalar;
   EIGEN_DEVICE_FUNC 
-  static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); }
+  static EIGEN_STRONG_INLINE Scalar run(const Evaluator&, const Func&) { return Scalar(); }
 };
 
 /*** vectorization ***/
 
-template<typename Func, typename Derived, int Start, int Length>
+template<typename Func, typename Evaluator, int Start, int Length>
 struct redux_vec_unroller
 {
-  enum {
-    PacketSize = redux_traits<Func, Derived>::PacketSize,
-    HalfLength = Length/2
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-
-  static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func)
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE PacketType run(const Evaluator &eval, const Func& func)
   {
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      HalfLength = Length/2
+    };
+
     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) );
+            redux_vec_unroller<Func, Evaluator, Start, HalfLength>::template run<PacketType>(eval,func),
+            redux_vec_unroller<Func, Evaluator, Start+HalfLength, Length-HalfLength>::template run<PacketType>(eval,func) );
   }
 };
 
-template<typename Func, typename Derived, int Start>
-struct redux_vec_unroller<Func, Derived, Start, 1>
+template<typename Func, typename Evaluator, int Start>
+struct redux_vec_unroller<Func, Evaluator, Start, 1>
 {
-  enum {
-    index = Start * redux_traits<Func, Derived>::PacketSize,
-    outer = index / int(Derived::InnerSizeAtCompileTime),
-    inner = index % int(Derived::InnerSizeAtCompileTime),
-    alignment = Derived::Alignment
-  };
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
-
-  static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&)
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE PacketType run(const Evaluator &eval, const Func&)
   {
-    return mat.template packetByOuterInner<alignment,PacketScalar>(outer, inner);
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      index = Start * PacketSize,
+      outer = index / int(Evaluator::InnerSizeAtCompileTime),
+      inner = index % int(Evaluator::InnerSizeAtCompileTime),
+      alignment = Evaluator::Alignment
+    };
+    return eval.template packetByOuterInner<alignment,PacketType>(outer, inner);
   }
 };
 
@@ -176,53 +182,65 @@ struct redux_vec_unroller<Func, Derived, Start, 1>
 * 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
+template<typename Func, typename Evaluator,
+         int Traversal = redux_traits<Func, Evaluator>::Traversal,
+         int Unrolling = redux_traits<Func, Evaluator>::Unrolling
 >
 struct redux_impl;
 
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
+template<typename Func, typename Evaluator>
+struct redux_impl<Func, Evaluator, DefaultTraversal, NoUnrolling>
 {
-  typedef typename Derived::Scalar Scalar;
-  EIGEN_DEVICE_FUNC
-  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+  typedef typename Evaluator::Scalar Scalar;
+
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE
+  Scalar run(const Evaluator &eval, const Func& func, const XprType& xpr)
   {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    eigen_assert(xpr.rows()>0 && xpr.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));
+    res = eval.coeffByOuterInner(0, 0);
+    for(Index i = 1; i < xpr.innerSize(); ++i)
+      res = func(res, eval.coeffByOuterInner(0, i));
+    for(Index i = 1; i < xpr.outerSize(); ++i)
+      for(Index j = 0; j < xpr.innerSize(); ++j)
+        res = func(res, eval.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 Evaluator>
+struct redux_impl<Func,Evaluator, DefaultTraversal, CompleteUnrolling>
+  : redux_novec_unroller<Func,Evaluator, 0, Evaluator::SizeAtCompileTime>
+{
+  typedef redux_novec_unroller<Func,Evaluator, 0, Evaluator::SizeAtCompileTime> Base;
+  typedef typename Evaluator::Scalar Scalar;
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE
+  Scalar run(const Evaluator &eval, const Func& func, const XprType& /*xpr*/)
+  {
+    return Base::run(eval,func);
+  }
+};
 
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
+template<typename Func, typename Evaluator>
+struct redux_impl<Func, Evaluator, LinearVectorizedTraversal, NoUnrolling>
 {
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+  typedef typename Evaluator::Scalar Scalar;
+  typedef typename redux_traits<Func, Evaluator>::PacketType PacketScalar;
 
-  static Scalar run(const Derived &mat, const Func& func)
+  template<typename XprType>
+  static Scalar run(const Evaluator &eval, const Func& func, const XprType& xpr)
   {
-    const Index size = mat.size();
+    const Index size = xpr.size();
     
-    const Index packetSize = redux_traits<Func, Derived>::PacketSize;
+    const Index packetSize = redux_traits<Func, Evaluator>::PacketSize;
     const int packetAlignment = unpacket_traits<PacketScalar>::alignment;
     enum {
-      alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
-      alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment)
+      alignment0 = (bool(Evaluator::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
+      alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Evaluator::Alignment)
     };
-    const Index alignedStart = internal::first_default_aligned(mat.nestedExpression());
+    const Index alignedStart = internal::first_default_aligned(xpr);
     const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize);
     const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize);
     const Index alignedEnd2 = alignedStart + alignedSize2;
@@ -230,34 +248,34 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
     Scalar res;
     if(alignedSize)
     {
-      PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
+      PacketScalar packet_res0 = eval.template packet<alignment,PacketScalar>(alignedStart);
       if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop
       {
-        PacketScalar packet_res1 = mat.template packet<alignment,PacketScalar>(alignedStart+packetSize);
+        PacketScalar packet_res1 = eval.template packet<alignment,PacketScalar>(alignedStart+packetSize);
         for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize)
         {
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(index));
-          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment,PacketScalar>(index+packetSize));
+          packet_res0 = func.packetOp(packet_res0, eval.template packet<alignment,PacketScalar>(index));
+          packet_res1 = func.packetOp(packet_res1, eval.template packet<alignment,PacketScalar>(index+packetSize));
         }
 
         packet_res0 = func.packetOp(packet_res0,packet_res1);
         if(alignedEnd>alignedEnd2)
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(alignedEnd2));
+          packet_res0 = func.packetOp(packet_res0, eval.template packet<alignment,PacketScalar>(alignedEnd2));
       }
       res = func.predux(packet_res0);
 
       for(Index index = 0; index < alignedStart; ++index)
-        res = func(res,mat.coeff(index));
+        res = func(res,eval.coeff(index));
 
       for(Index index = alignedEnd; index < size; ++index)
-        res = func(res,mat.coeff(index));
+        res = func(res,eval.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);
+      res = eval.coeff(0);
       for(Index index = 1; index < size; ++index)
-        res = func(res,mat.coeff(index));
+        res = func(res,eval.coeff(index));
     }
 
     return res;
@@ -265,130 +283,108 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
 };
 
 // NOTE: for SliceVectorizedTraversal we simply bypass unrolling
-template<typename Func, typename Derived, int Unrolling>
-struct redux_impl<Func, Derived, SliceVectorizedTraversal, Unrolling>
+template<typename Func, typename Evaluator, int Unrolling>
+struct redux_impl<Func, Evaluator, SliceVectorizedTraversal, Unrolling>
 {
-  typedef typename Derived::Scalar Scalar;
-  typedef typename redux_traits<Func, Derived>::PacketType PacketType;
+  typedef typename Evaluator::Scalar Scalar;
+  typedef typename redux_traits<Func, Evaluator>::PacketType PacketType;
 
-  EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func)
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC static Scalar run(const Evaluator &eval, const Func& func, const XprType& xpr)
   {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    const Index innerSize = mat.innerSize();
-    const Index outerSize = mat.outerSize();
+    eigen_assert(xpr.rows()>0 && xpr.cols()>0 && "you are using an empty matrix");
+    const Index innerSize = xpr.innerSize();
+    const Index outerSize = xpr.outerSize();
     enum {
-      packetSize = redux_traits<Func, Derived>::PacketSize
+      packetSize = redux_traits<Func, Evaluator>::PacketSize
     };
     const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
     Scalar res;
     if(packetedInnerSize)
     {
-      PacketType packet_res = mat.template packet<Unaligned,PacketType>(0,0);
+      PacketType packet_res = eval.template packet<Unaligned,PacketType>(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,PacketType>(j,i));
+          packet_res = func.packetOp(packet_res, eval.template packetByOuterInner<Unaligned,PacketType>(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));
+          res = func(res, eval.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);
+      res = redux_impl<Func, Evaluator, DefaultTraversal, NoUnrolling>::run(eval, func, xpr);
     }
 
     return res;
   }
 };
 
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
+template<typename Func, typename Evaluator>
+struct redux_impl<Func, Evaluator, LinearVectorizedTraversal, CompleteUnrolling>
 {
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Evaluator::Scalar Scalar;
 
-  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
+  typedef typename redux_traits<Func, Evaluator>::PacketType PacketType;
   enum {
-    PacketSize = redux_traits<Func, Derived>::PacketSize,
-    Size = Derived::SizeAtCompileTime,
-    VectorizedSize = (Size / PacketSize) * PacketSize
+    PacketSize = redux_traits<Func, Evaluator>::PacketSize,
+    Size = Evaluator::SizeAtCompileTime,
+    VectorizedSize = (int(Size) / int(PacketSize)) * int(PacketSize)
   };
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
+
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE
+  Scalar run(const Evaluator &eval, const Func& func, const XprType &xpr)
   {
-    eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
+    EIGEN_ONLY_USED_FOR_DEBUG(xpr)
+    eigen_assert(xpr.rows()>0 && xpr.cols()>0 && "you are using an empty matrix");
     if (VectorizedSize > 0) {
-      Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+      Scalar res = func.predux(redux_vec_unroller<Func, Evaluator, 0, Size / PacketSize>::template run<PacketType>(eval,func));
       if (VectorizedSize != Size)
-        res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+        res = func(res,redux_novec_unroller<Func, Evaluator, VectorizedSize, Size-VectorizedSize>::run(eval,func));
       return res;
     }
     else {
-      return redux_novec_unroller<Func, Derived, 0, Size>::run(mat,func);
+      return redux_novec_unroller<Func, Evaluator, 0, Size>::run(eval,func);
     }
   }
 };
 
 // evaluator adaptor
 template<typename _XprType>
-class redux_evaluator
+class redux_evaluator : public internal::evaluator<_XprType>
 {
+  typedef internal::evaluator<_XprType> Base;
 public:
   typedef _XprType XprType;
-  EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit redux_evaluator(const XprType &xpr) : Base(xpr) {}
   
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
   typedef typename XprType::PacketScalar PacketScalar;
-  typedef typename XprType::PacketReturnType PacketReturnType;
   
   enum {
     MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = XprType::MaxColsAtCompileTime,
     // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator
-    Flags = evaluator<XprType>::Flags & ~DirectAccessBit,
+    Flags = Base::Flags & ~DirectAccessBit,
     IsRowMajor = XprType::IsRowMajor,
     SizeAtCompileTime = XprType::SizeAtCompileTime,
-    InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime,
-    CoeffReadCost = evaluator<XprType>::CoeffReadCost,
-    Alignment = evaluator<XprType>::Alignment
+    InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime
   };
   
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
-  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
-  EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); }
-  EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); }
-
-  EIGEN_DEVICE_FUNC
-  CoeffReturnType coeff(Index row, Index col) const
-  { return m_evaluator.coeff(row, col); }
-
-  EIGEN_DEVICE_FUNC
-  CoeffReturnType coeff(Index index) const
-  { return m_evaluator.coeff(index); }
-
-  template<int LoadMode, typename PacketType>
-  PacketType packet(Index row, Index col) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(row, col); }
-
-  template<int LoadMode, typename PacketType>
-  PacketType packet(Index index) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(index); }
-  
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
-  { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+  { return Base::coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
   
   template<int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
   PacketType packetByOuterInner(Index outer, Index inner) const
-  { return m_evaluator.template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
-  
-  const XprType & nestedExpression() const { return m_xpr; }
+  { return Base::template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
   
-protected:
-  internal::evaluator<XprType> m_evaluator;
-  const XprType &m_xpr;
 };
 
 } // end namespace internal
@@ -403,39 +399,53 @@ class redux_evaluator
   * The template parameter \a BinaryOp is the type of the functor \a func which must be
   * an associative operator. Both current C++98 and C++11 functor styles are handled.
   *
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
+  *
   * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
   */
 template<typename Derived>
 template<typename Func>
-EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::redux(const Func& func) const
 {
   eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
 
   typedef typename internal::redux_evaluator<Derived> ThisEvaluator;
   ThisEvaluator thisEval(derived());
-  
-  return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
+
+  // The initial expression is passed to the reducer as an additional argument instead of
+  // passing it as a member of redux_evaluator to help  
+  return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
 }
 
 /** \returns the minimum of all coefficients of \c *this.
-  * \warning the result is undefined if \c *this contains NaN.
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is minimum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   */
 template<typename Derived>
+template<int NaNPropagation>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff() const
 {
-  return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar>());
+  return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar, NaNPropagation>());
 }
 
-/** \returns the maximum of all coefficients of \c *this.
-  * \warning the result is undefined if \c *this contains NaN.
+/** \returns the maximum of all coefficients of \c *this. 
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is maximum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   */
 template<typename Derived>
+template<int NaNPropagation>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff() const
 {
-  return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar>());
+  return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar, NaNPropagation>());
 }
 
 /** \returns the sum of all coefficients of \c *this
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Ref.h b/examples/ThirdPartyLibs/Eigen/src/Core/Ref.h
index abb1e51215..c2a37eadbb 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Ref.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Ref.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_REF_H
 #define EIGEN_REF_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -28,12 +28,13 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
 
   template<typename Derived> struct match {
     enum {
+      IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime,
       HasDirectAccess = internal::has_direct_access<Derived>::ret,
-      StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
+      StorageOrderMatch = IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
       InnerStrideMatch = int(StrideType::InnerStrideAtCompileTime)==int(Dynamic)
                       || int(StrideType::InnerStrideAtCompileTime)==int(Derived::InnerStrideAtCompileTime)
                       || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1),
-      OuterStrideMatch = Derived::IsVectorAtCompileTime
+      OuterStrideMatch = IsVectorAtCompileTime
                       || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime),
       // NOTE, this indirection of evaluator<Derived>::Alignment is needed
       // to workaround a very strange bug in MSVC related to the instantiation
@@ -47,7 +48,7 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
     };
     typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
   };
-  
+
 };
 
 template<typename Derived>
@@ -66,12 +67,12 @@ template<typename Derived> class RefBase
   typedef MapBase<Derived> Base;
   EIGEN_DENSE_PUBLIC_INTERFACE(RefBase)
 
-  EIGEN_DEVICE_FUNC inline Index innerStride() const
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index innerStride() const
   {
     return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
   }
 
-  EIGEN_DEVICE_FUNC inline Index outerStride() const
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index outerStride() const
   {
     return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
          : IsVectorAtCompileTime ? this->size()
@@ -85,34 +86,122 @@ template<typename Derived> class RefBase
       m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime,
                StrideType::InnerStrideAtCompileTime==Dynamic?0:StrideType::InnerStrideAtCompileTime)
   {}
-  
+
   EIGEN_INHERIT_ASSIGNMENT_OPERATORS(RefBase)
 
 protected:
 
   typedef Stride<StrideType::OuterStrideAtCompileTime,StrideType::InnerStrideAtCompileTime> StrideBase;
 
+  // Resolves inner stride if default 0.
+  static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index resolveInnerStride(Index inner) {
+    return inner == 0 ? 1 : inner;
+  }
+
+  // Resolves outer stride if default 0.
+  static EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index resolveOuterStride(Index inner, Index outer, Index rows, Index cols, bool isVectorAtCompileTime, bool isRowMajor) {
+    return outer == 0 ? isVectorAtCompileTime ? inner * rows * cols : isRowMajor ? inner * cols : inner * rows : outer;
+  }
+
+  // Returns true if construction is valid, false if there is a stride mismatch,
+  // and fails if there is a size mismatch.
   template<typename Expression>
-  EIGEN_DEVICE_FUNC void construct(Expression& expr)
+  EIGEN_DEVICE_FUNC bool construct(Expression& expr)
   {
+    // Check matrix sizes.  If this is a compile-time vector, we do allow
+    // implicitly transposing.
+    EIGEN_STATIC_ASSERT(
+      EIGEN_PREDICATE_SAME_MATRIX_SIZE(PlainObjectType, Expression)
+      // If it is a vector, the transpose sizes might match.
+      || ( PlainObjectType::IsVectorAtCompileTime
+            && ((int(PlainObjectType::RowsAtCompileTime)==Eigen::Dynamic
+              || int(Expression::ColsAtCompileTime)==Eigen::Dynamic
+              || int(PlainObjectType::RowsAtCompileTime)==int(Expression::ColsAtCompileTime))
+            &&  (int(PlainObjectType::ColsAtCompileTime)==Eigen::Dynamic
+              || int(Expression::RowsAtCompileTime)==Eigen::Dynamic
+              || int(PlainObjectType::ColsAtCompileTime)==int(Expression::RowsAtCompileTime)))),
+      YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
+    )
+
+    // Determine runtime rows and columns.
+    Index rows = expr.rows();
+    Index cols = expr.cols();
     if(PlainObjectType::RowsAtCompileTime==1)
     {
       eigen_assert(expr.rows()==1 || expr.cols()==1);
-      ::new (static_cast<Base*>(this)) Base(expr.data(), 1, expr.size());
+      rows = 1;
+      cols = expr.size();
     }
     else if(PlainObjectType::ColsAtCompileTime==1)
     {
       eigen_assert(expr.rows()==1 || expr.cols()==1);
-      ::new (static_cast<Base*>(this)) Base(expr.data(), expr.size(), 1);
+      rows = expr.size();
+      cols = 1;
+    }
+    // Verify that the sizes are valid.
+    eigen_assert(
+      (PlainObjectType::RowsAtCompileTime == Dynamic) || (PlainObjectType::RowsAtCompileTime == rows));
+    eigen_assert(
+      (PlainObjectType::ColsAtCompileTime == Dynamic) || (PlainObjectType::ColsAtCompileTime == cols));
+
+
+    // If this is a vector, we might be transposing, which means that stride should swap.
+    const bool transpose = PlainObjectType::IsVectorAtCompileTime && (rows != expr.rows());
+    // If the storage format differs, we also need to swap the stride.
+    const bool row_major = ((PlainObjectType::Flags)&RowMajorBit) != 0;
+    const bool expr_row_major = (Expression::Flags&RowMajorBit) != 0;
+    const bool storage_differs =  (row_major != expr_row_major);
+
+    const bool swap_stride = (transpose != storage_differs);
+
+    // Determine expr's actual strides, resolving any defaults if zero.
+    const Index expr_inner_actual = resolveInnerStride(expr.innerStride());
+    const Index expr_outer_actual = resolveOuterStride(expr_inner_actual,
+                                                       expr.outerStride(),
+                                                       expr.rows(),
+                                                       expr.cols(),
+                                                       Expression::IsVectorAtCompileTime != 0,
+                                                       expr_row_major);
+
+    // If this is a column-major row vector or row-major column vector, the inner-stride
+    // is arbitrary, so set it to either the compile-time inner stride or 1.
+    const bool row_vector = (rows == 1);
+    const bool col_vector = (cols == 1);
+    const Index inner_stride =
+        ( (!row_major && row_vector) || (row_major && col_vector) ) ?
+            ( StrideType::InnerStrideAtCompileTime > 0 ? Index(StrideType::InnerStrideAtCompileTime) : 1)
+            : swap_stride ? expr_outer_actual : expr_inner_actual;
+
+    // If this is a column-major column vector or row-major row vector, the outer-stride
+    // is arbitrary, so set it to either the compile-time outer stride or vector size.
+    const Index outer_stride =
+      ( (!row_major && col_vector) || (row_major && row_vector) ) ?
+          ( StrideType::OuterStrideAtCompileTime > 0 ? Index(StrideType::OuterStrideAtCompileTime) : rows * cols * inner_stride)
+          : swap_stride ? expr_inner_actual : expr_outer_actual;
+
+    // Check if given inner/outer strides are compatible with compile-time strides.
+    const bool inner_valid = (StrideType::InnerStrideAtCompileTime == Dynamic)
+        || (resolveInnerStride(Index(StrideType::InnerStrideAtCompileTime)) == inner_stride);
+    if (!inner_valid) {
+      return false;
     }
-    else
-      ::new (static_cast<Base*>(this)) Base(expr.data(), expr.rows(), expr.cols());
-    
-    if(Expression::IsVectorAtCompileTime && (!PlainObjectType::IsVectorAtCompileTime) && ((Expression::Flags&RowMajorBit)!=(PlainObjectType::Flags&RowMajorBit)))
-      ::new (&m_stride) StrideBase(expr.innerStride(), StrideType::InnerStrideAtCompileTime==0?0:1);
-    else
-      ::new (&m_stride) StrideBase(StrideType::OuterStrideAtCompileTime==0?0:expr.outerStride(),
-                                   StrideType::InnerStrideAtCompileTime==0?0:expr.innerStride());    
+
+    const bool outer_valid = (StrideType::OuterStrideAtCompileTime == Dynamic)
+        || (resolveOuterStride(
+              inner_stride,
+              Index(StrideType::OuterStrideAtCompileTime),
+              rows, cols, PlainObjectType::IsVectorAtCompileTime != 0,
+              row_major)
+            == outer_stride);
+    if (!outer_valid) {
+      return false;
+    }
+
+    ::new (static_cast<Base*>(this)) Base(expr.data(), rows, cols);
+    ::new (&m_stride) StrideBase(
+      (StrideType::OuterStrideAtCompileTime == 0) ? 0 : outer_stride,
+      (StrideType::InnerStrideAtCompileTime == 0) ? 0 : inner_stride );
+    return true;
   }
 
   StrideBase m_stride;
@@ -209,7 +298,10 @@ template<typename PlainObjectType, int Options, typename StrideType> class Ref
                                  typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
     {
       EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      Base::construct(expr.derived());
+      // Construction must pass since we will not create temprary storage in the non-const case.
+      const bool success = Base::construct(expr.derived());
+      EIGEN_UNUSED_VARIABLE(success)
+      eigen_assert(success);
     }
     template<typename Derived>
     EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
@@ -223,7 +315,10 @@ template<typename PlainObjectType, int Options, typename StrideType> class Ref
       EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
       EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
       EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      Base::construct(expr.const_cast_derived());
+      // Construction must pass since we will not create temporary storage in the non-const case.
+      const bool success = Base::construct(expr.const_cast_derived());
+      EIGEN_UNUSED_VARIABLE(success)
+      eigen_assert(success);
     }
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Ref)
@@ -264,7 +359,10 @@ template<typename TPlainObjectType, int Options, typename StrideType> class Ref<
     template<typename Expression>
     EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type)
     {
-      Base::construct(expr);
+      // Check if we can use the underlying expr's storage directly, otherwise call the copy version.
+      if (!Base::construct(expr)) {
+        construct(expr, internal::false_type());
+      }
     }
 
     template<typename Expression>
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Replicate.h b/examples/ThirdPartyLibs/Eigen/src/Core/Replicate.h
index 0b2d6d7434..ab5be7e64b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Replicate.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Replicate.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_REPLICATE_H
 #define EIGEN_REPLICATE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 template<typename MatrixType,int RowFactor,int ColFactor>
@@ -35,7 +35,7 @@ struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
     IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
                : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
                : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
-    
+
     // FIXME enable DirectAccess with negative strides?
     Flags = IsRowMajor ? RowMajorBit : 0
   };
@@ -88,15 +88,15 @@ template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
                           THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
     }
 
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
 
     EIGEN_DEVICE_FUNC
     const _MatrixTypeNested& nestedExpression() const
-    { 
-      return m_matrix; 
+    {
+      return m_matrix;
     }
 
   protected:
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Reshaped.h b/examples/ThirdPartyLibs/Eigen/src/Core/Reshaped.h
new file mode 100644
index 0000000000..52de73b6fc
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Reshaped.h
@@ -0,0 +1,454 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2017 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2014 yoco <peter.xiau@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_RESHAPED_H
+#define EIGEN_RESHAPED_H
+
+namespace Eigen {
+
+/** \class Reshaped
+  * \ingroup Core_Module
+  *
+  * \brief Expression of a fixed-size or dynamic-size reshape
+  *
+  * \tparam XprType the type of the expression in which we are taking a reshape
+  * \tparam Rows the number of rows of the reshape we are taking at compile time (optional)
+  * \tparam Cols the number of columns of the reshape we are taking at compile time (optional)
+  * \tparam Order can be ColMajor or RowMajor, default is ColMajor.
+  *
+  * This class represents an expression of either a fixed-size or dynamic-size reshape.
+  * It is the return type of DenseBase::reshaped(NRowsType,NColsType) and
+  * most of the time this is the only way it is used.
+  *
+  * However, in C++98, if you want to directly maniputate reshaped expressions,
+  * for instance if you want to write a function returning such an expression, you
+  * will need to use this class. In C++11, it is advised to use the \em auto
+  * keyword for such use cases.
+  *
+  * Here is an example illustrating the dynamic case:
+  * \include class_Reshaped.cpp
+  * Output: \verbinclude class_Reshaped.out
+  *
+  * Here is an example illustrating the fixed-size case:
+  * \include class_FixedReshaped.cpp
+  * Output: \verbinclude class_FixedReshaped.out
+  *
+  * \sa DenseBase::reshaped(NRowsType,NColsType)
+  */
+
+namespace internal {
+
+template<typename XprType, int Rows, int Cols, int Order>
+struct traits<Reshaped<XprType, Rows, Cols, Order> > : traits<XprType>
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename traits<XprType>::StorageKind StorageKind;
+  typedef typename traits<XprType>::XprKind XprKind;
+  enum{
+    MatrixRows = traits<XprType>::RowsAtCompileTime,
+    MatrixCols = traits<XprType>::ColsAtCompileTime,
+    RowsAtCompileTime = Rows,
+    ColsAtCompileTime = Cols,
+    MaxRowsAtCompileTime = Rows,
+    MaxColsAtCompileTime = Cols,
+    XpxStorageOrder = ((int(traits<XprType>::Flags) & RowMajorBit) == RowMajorBit) ? RowMajor : ColMajor,
+    ReshapedStorageOrder = (RowsAtCompileTime == 1 && ColsAtCompileTime != 1) ? RowMajor
+                         : (ColsAtCompileTime == 1 && RowsAtCompileTime != 1) ? ColMajor
+                         : XpxStorageOrder,
+    HasSameStorageOrderAsXprType = (ReshapedStorageOrder == XpxStorageOrder),
+    InnerSize = (ReshapedStorageOrder==int(RowMajor)) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(inner_stride_at_compile_time<XprType>::ret)
+                             : Dynamic,
+    OuterStrideAtCompileTime = Dynamic,
+
+    HasDirectAccess = internal::has_direct_access<XprType>::ret
+                    && (Order==int(XpxStorageOrder))
+                    && ((evaluator<XprType>::Flags&LinearAccessBit)==LinearAccessBit),
+
+    MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
+                       && (InnerStrideAtCompileTime == 1)
+                        ? PacketAccessBit : 0,
+    //MaskAlignedBit = ((OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % 16) == 0)) ? AlignedBit : 0,
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
+    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
+    FlagsRowMajorBit = (ReshapedStorageOrder==int(RowMajor)) ? RowMajorBit : 0,
+    FlagsDirectAccessBit = HasDirectAccess ? DirectAccessBit : 0,
+    Flags0 = traits<XprType>::Flags & ( (HereditaryBits & ~RowMajorBit) | MaskPacketAccessBit),
+
+    Flags = (Flags0 | FlagsLinearAccessBit | FlagsLvalueBit | FlagsRowMajorBit | FlagsDirectAccessBit)
+  };
+};
+
+template<typename XprType, int Rows, int Cols, int Order, bool HasDirectAccess> class ReshapedImpl_dense;
+
+} // end namespace internal
+
+template<typename XprType, int Rows, int Cols, int Order, typename StorageKind> class ReshapedImpl;
+
+template<typename XprType, int Rows, int Cols, int Order> class Reshaped
+  : public ReshapedImpl<XprType, Rows, Cols, Order, typename internal::traits<XprType>::StorageKind>
+{
+    typedef ReshapedImpl<XprType, Rows, Cols, Order, typename internal::traits<XprType>::StorageKind> Impl;
+  public:
+    //typedef typename Impl::Base Base;
+    typedef Impl Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(Reshaped)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reshaped)
+
+    /** Fixed-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline Reshaped(XprType& xpr)
+      : Impl(xpr)
+    {
+      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+      eigen_assert(Rows * Cols == xpr.rows() * xpr.cols());
+    }
+
+    /** Dynamic-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline Reshaped(XprType& xpr,
+          Index reshapeRows, Index reshapeCols)
+      : Impl(xpr, reshapeRows, reshapeCols)
+    {
+      eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==reshapeRows)
+          && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==reshapeCols));
+      eigen_assert(reshapeRows * reshapeCols == xpr.rows() * xpr.cols());
+    }
+};
+
+// The generic default implementation for dense reshape simply forward to the internal::ReshapedImpl_dense
+// that must be specialized for direct and non-direct access...
+template<typename XprType, int Rows, int Cols, int Order>
+class ReshapedImpl<XprType, Rows, Cols, Order, Dense>
+  : public internal::ReshapedImpl_dense<XprType, Rows, Cols, Order,internal::traits<Reshaped<XprType,Rows,Cols,Order> >::HasDirectAccess>
+{
+    typedef internal::ReshapedImpl_dense<XprType, Rows, Cols, Order,internal::traits<Reshaped<XprType,Rows,Cols,Order> >::HasDirectAccess> Impl;
+  public:
+    typedef Impl Base;
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ReshapedImpl)
+    EIGEN_DEVICE_FUNC inline ReshapedImpl(XprType& xpr) : Impl(xpr) {}
+    EIGEN_DEVICE_FUNC inline ReshapedImpl(XprType& xpr, Index reshapeRows, Index reshapeCols)
+      : Impl(xpr, reshapeRows, reshapeCols) {}
+};
+
+namespace internal {
+
+/** \internal Internal implementation of dense Reshaped in the general case. */
+template<typename XprType, int Rows, int Cols, int Order>
+class ReshapedImpl_dense<XprType,Rows,Cols,Order,false>
+  : public internal::dense_xpr_base<Reshaped<XprType, Rows, Cols, Order> >::type
+{
+    typedef Reshaped<XprType, Rows, Cols, Order> ReshapedType;
+  public:
+
+    typedef typename internal::dense_xpr_base<ReshapedType>::type Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ReshapedType)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ReshapedImpl_dense)
+
+    typedef typename internal::ref_selector<XprType>::non_const_type MatrixTypeNested;
+    typedef typename internal::remove_all<XprType>::type NestedExpression;
+
+    class InnerIterator;
+
+    /** Fixed-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline ReshapedImpl_dense(XprType& xpr)
+      : m_xpr(xpr), m_rows(Rows), m_cols(Cols)
+    {}
+
+    /** Dynamic-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline ReshapedImpl_dense(XprType& xpr, Index nRows, Index nCols)
+      : m_xpr(xpr), m_rows(nRows), m_cols(nCols)
+    {}
+
+    EIGEN_DEVICE_FUNC Index rows() const { return m_rows; }
+    EIGEN_DEVICE_FUNC Index cols() const { return m_cols; }
+
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    /** \sa MapBase::data() */
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const;
+    EIGEN_DEVICE_FUNC inline Index innerStride() const;
+    EIGEN_DEVICE_FUNC inline Index outerStride() const;
+    #endif
+
+    /** \returns the nested expression */
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprType>::type&
+    nestedExpression() const { return m_xpr; }
+
+    /** \returns the nested expression */
+    EIGEN_DEVICE_FUNC
+    typename internal::remove_reference<XprType>::type&
+    nestedExpression() { return m_xpr; }
+
+  protected:
+
+    MatrixTypeNested m_xpr;
+    const internal::variable_if_dynamic<Index, Rows> m_rows;
+    const internal::variable_if_dynamic<Index, Cols> m_cols;
+};
+
+
+/** \internal Internal implementation of dense Reshaped in the direct access case. */
+template<typename XprType, int Rows, int Cols, int Order>
+class ReshapedImpl_dense<XprType, Rows, Cols, Order, true>
+  : public MapBase<Reshaped<XprType, Rows, Cols, Order> >
+{
+    typedef Reshaped<XprType, Rows, Cols, Order> ReshapedType;
+    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
+  public:
+
+    typedef MapBase<ReshapedType> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(ReshapedType)
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ReshapedImpl_dense)
+
+    /** Fixed-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline ReshapedImpl_dense(XprType& xpr)
+      : Base(xpr.data()), m_xpr(xpr)
+    {}
+
+    /** Dynamic-size constructor
+      */
+    EIGEN_DEVICE_FUNC
+    inline ReshapedImpl_dense(XprType& xpr, Index nRows, Index nCols)
+      : Base(xpr.data(), nRows, nCols),
+        m_xpr(xpr)
+    {}
+
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
+    {
+      return m_xpr;
+    }
+
+    EIGEN_DEVICE_FUNC
+    XprType& nestedExpression() { return m_xpr; }
+
+    /** \sa MapBase::innerStride() */
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const
+    {
+      return m_xpr.innerStride();
+    }
+
+    /** \sa MapBase::outerStride() */
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const
+    {
+      return ((Flags&RowMajorBit)==RowMajorBit) ? this->cols() : this->rows();
+    }
+
+  protected:
+
+    XprTypeNested m_xpr;
+};
+
+// Evaluators
+template<typename ArgType, int Rows, int Cols, int Order, bool HasDirectAccess> struct reshaped_evaluator;
+
+template<typename ArgType, int Rows, int Cols, int Order>
+struct evaluator<Reshaped<ArgType, Rows, Cols, Order> >
+  : reshaped_evaluator<ArgType, Rows, Cols, Order, traits<Reshaped<ArgType,Rows,Cols,Order> >::HasDirectAccess>
+{
+  typedef Reshaped<ArgType, Rows, Cols, Order> XprType;
+  typedef typename XprType::Scalar Scalar;
+  // TODO: should check for smaller packet types
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    HasDirectAccess = traits<XprType>::HasDirectAccess,
+
+//     RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
+//     ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
+//     MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
+//     MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
+//
+//     InnerStrideAtCompileTime = traits<XprType>::HasSameStorageOrderAsXprType
+//                              ? int(inner_stride_at_compile_time<ArgType>::ret)
+//                              : Dynamic,
+//     OuterStrideAtCompileTime = Dynamic,
+
+    FlagsLinearAccessBit = (traits<XprType>::RowsAtCompileTime == 1 || traits<XprType>::ColsAtCompileTime == 1 || HasDirectAccess) ? LinearAccessBit : 0,
+    FlagsRowMajorBit = (traits<XprType>::ReshapedStorageOrder==int(RowMajor)) ? RowMajorBit : 0,
+    FlagsDirectAccessBit =  HasDirectAccess ? DirectAccessBit : 0,
+    Flags0 = evaluator<ArgType>::Flags & (HereditaryBits & ~RowMajorBit),
+    Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit | FlagsDirectAccessBit,
+
+    PacketAlignment = unpacket_traits<PacketScalar>::alignment,
+    Alignment = evaluator<ArgType>::Alignment
+  };
+  typedef reshaped_evaluator<ArgType, Rows, Cols, Order, HasDirectAccess> reshaped_evaluator_type;
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : reshaped_evaluator_type(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+};
+
+template<typename ArgType, int Rows, int Cols, int Order>
+struct reshaped_evaluator<ArgType, Rows, Cols, Order, /* HasDirectAccess */ false>
+  : evaluator_base<Reshaped<ArgType, Rows, Cols, Order> >
+{
+  typedef Reshaped<ArgType, Rows, Cols, Order> XprType;
+
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost /* TODO + cost of index computations */,
+
+    Flags = (evaluator<ArgType>::Flags & (HereditaryBits /*| LinearAccessBit | DirectAccessBit*/)),
+
+    Alignment = 0
+  };
+
+  EIGEN_DEVICE_FUNC explicit reshaped_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_xpr(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  typedef std::pair<Index, Index> RowCol;
+
+  inline RowCol index_remap(Index rowId, Index colId) const
+  {
+    if(Order==ColMajor)
+    {
+      const Index nth_elem_idx = colId * m_xpr.rows() + rowId;
+      return RowCol(nth_elem_idx % m_xpr.nestedExpression().rows(),
+                    nth_elem_idx / m_xpr.nestedExpression().rows());
+    }
+    else
+    {
+      const Index nth_elem_idx = colId + rowId * m_xpr.cols();
+      return RowCol(nth_elem_idx / m_xpr.nestedExpression().cols(),
+                    nth_elem_idx % m_xpr.nestedExpression().cols());
+    }
+  }
+
+  EIGEN_DEVICE_FUNC
+  inline Scalar& coeffRef(Index rowId, Index colId)
+  {
+    EIGEN_STATIC_ASSERT_LVALUE(XprType)
+    const RowCol row_col = index_remap(rowId, colId);
+    return m_argImpl.coeffRef(row_col.first, row_col.second);
+  }
+
+  EIGEN_DEVICE_FUNC
+  inline const Scalar& coeffRef(Index rowId, Index colId) const
+  {
+    const RowCol row_col = index_remap(rowId, colId);
+    return m_argImpl.coeffRef(row_col.first, row_col.second);
+  }
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const
+  {
+    const RowCol row_col = index_remap(rowId, colId);
+    return m_argImpl.coeff(row_col.first, row_col.second);
+  }
+
+  EIGEN_DEVICE_FUNC
+  inline Scalar& coeffRef(Index index)
+  {
+    EIGEN_STATIC_ASSERT_LVALUE(XprType)
+    const RowCol row_col = index_remap(Rows == 1 ? 0 : index,
+                                       Rows == 1 ? index : 0);
+    return m_argImpl.coeffRef(row_col.first, row_col.second);
+
+  }
+
+  EIGEN_DEVICE_FUNC
+  inline const Scalar& coeffRef(Index index) const
+  {
+    const RowCol row_col = index_remap(Rows == 1 ? 0 : index,
+                                       Rows == 1 ? index : 0);
+    return m_argImpl.coeffRef(row_col.first, row_col.second);
+  }
+
+  EIGEN_DEVICE_FUNC
+  inline const CoeffReturnType coeff(Index index) const
+  {
+    const RowCol row_col = index_remap(Rows == 1 ? 0 : index,
+                                       Rows == 1 ? index : 0);
+    return m_argImpl.coeff(row_col.first, row_col.second);
+  }
+#if 0
+  EIGEN_DEVICE_FUNC
+  template<int LoadMode>
+  inline PacketScalar packet(Index rowId, Index colId) const
+  {
+    const RowCol row_col = index_remap(rowId, colId);
+    return m_argImpl.template packet<Unaligned>(row_col.first, row_col.second);
+
+  }
+
+  template<int LoadMode>
+  EIGEN_DEVICE_FUNC
+  inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
+  {
+    const RowCol row_col = index_remap(rowId, colId);
+    m_argImpl.const_cast_derived().template writePacket<Unaligned>
+            (row_col.first, row_col.second, val);
+  }
+
+  template<int LoadMode>
+  EIGEN_DEVICE_FUNC
+  inline PacketScalar packet(Index index) const
+  {
+    const RowCol row_col = index_remap(RowsAtCompileTime == 1 ? 0 : index,
+                                        RowsAtCompileTime == 1 ? index : 0);
+    return m_argImpl.template packet<Unaligned>(row_col.first, row_col.second);
+  }
+
+  template<int LoadMode>
+  EIGEN_DEVICE_FUNC
+  inline void writePacket(Index index, const PacketScalar& val)
+  {
+    const RowCol row_col = index_remap(RowsAtCompileTime == 1 ? 0 : index,
+                                        RowsAtCompileTime == 1 ? index : 0);
+    return m_argImpl.template packet<Unaligned>(row_col.first, row_col.second, val);
+  }
+#endif
+protected:
+
+  evaluator<ArgType> m_argImpl;
+  const XprType& m_xpr;
+
+};
+
+template<typename ArgType, int Rows, int Cols, int Order>
+struct reshaped_evaluator<ArgType, Rows, Cols, Order, /* HasDirectAccess */ true>
+: mapbase_evaluator<Reshaped<ArgType, Rows, Cols, Order>,
+                      typename Reshaped<ArgType, Rows, Cols, Order>::PlainObject>
+{
+  typedef Reshaped<ArgType, Rows, Cols, Order> XprType;
+  typedef typename XprType::Scalar Scalar;
+
+  EIGEN_DEVICE_FUNC explicit reshaped_evaluator(const XprType& xpr)
+    : mapbase_evaluator<XprType, typename XprType::PlainObject>(xpr)
+  {
+    // TODO: for the 3.4 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
+    eigen_assert(((internal::UIntPtr(xpr.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
+  }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_RESHAPED_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/ReturnByValue.h b/examples/ThirdPartyLibs/Eigen/src/Core/ReturnByValue.h
index 11dc86d076..4dad13ea11 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/ReturnByValue.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/ReturnByValue.h
@@ -60,8 +60,10 @@ template<typename Derived> class ReturnByValue
     EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const
     { static_cast<const Derived*>(this)->evalTo(dst); }
-    EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return static_cast<const Derived*>(this)->rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { 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
@@ -90,7 +92,7 @@ namespace internal {
 // Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that
 // when a ReturnByValue expression is assigned, the evaluator is not constructed.
 // TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world
-  
+
 template<typename Derived>
 struct evaluator<ReturnByValue<Derived> >
   : public evaluator<typename internal::traits<Derived>::ReturnType>
@@ -98,7 +100,7 @@ struct evaluator<ReturnByValue<Derived> >
   typedef ReturnByValue<Derived> XprType;
   typedef typename internal::traits<Derived>::ReturnType PlainObject;
   typedef evaluator<PlainObject> Base;
-  
+
   EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
     : m_result(xpr.rows(), xpr.cols())
   {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Reverse.h b/examples/ThirdPartyLibs/Eigen/src/Core/Reverse.h
index 8b6b3ab031..28cdd76aca 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Reverse.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Reverse.h
@@ -12,7 +12,7 @@
 #ifndef EIGEN_REVERSE_H
 #define EIGEN_REVERSE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -44,7 +44,7 @@ template<typename PacketType> struct reverse_packet_cond<PacketType,false>
   static inline PacketType run(const PacketType& x) { return x; }
 };
 
-} // end namespace internal 
+} // end namespace internal
 
 /** \class Reverse
   * \ingroup Core_Module
@@ -89,8 +89,10 @@ template<typename MatrixType, int Direction> class Reverse
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
     EIGEN_DEVICE_FUNC inline Index innerStride() const
     {
@@ -98,7 +100,7 @@ template<typename MatrixType, int Direction> class Reverse
     }
 
     EIGEN_DEVICE_FUNC const typename internal::remove_all<typename MatrixType::Nested>::type&
-    nestedExpression() const 
+    nestedExpression() const
     {
       return m_matrix;
     }
@@ -161,7 +163,7 @@ EIGEN_DEVICE_FUNC inline void DenseBase<Derived>::reverseInPlace()
 }
 
 namespace internal {
-  
+
 template<int Direction>
 struct vectorwise_reverse_inplace_impl;
 
@@ -171,8 +173,10 @@ struct vectorwise_reverse_inplace_impl<Vertical>
   template<typename ExpressionType>
   static void run(ExpressionType &xpr)
   {
+    const int HalfAtCompileTime = ExpressionType::RowsAtCompileTime==Dynamic?Dynamic:ExpressionType::RowsAtCompileTime/2;
     Index half = xpr.rows()/2;
-    xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse());
+    xpr.topRows(fix<HalfAtCompileTime>(half))
+       .swap(xpr.bottomRows(fix<HalfAtCompileTime>(half)).colwise().reverse());
   }
 };
 
@@ -182,8 +186,10 @@ struct vectorwise_reverse_inplace_impl<Horizontal>
   template<typename ExpressionType>
   static void run(ExpressionType &xpr)
   {
+    const int HalfAtCompileTime = ExpressionType::ColsAtCompileTime==Dynamic?Dynamic:ExpressionType::ColsAtCompileTime/2;
     Index half = xpr.cols()/2;
-    xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse());
+    xpr.leftCols(fix<HalfAtCompileTime>(half))
+       .swap(xpr.rightCols(fix<HalfAtCompileTime>(half)).rowwise().reverse());
   }
 };
 
@@ -203,7 +209,7 @@ struct vectorwise_reverse_inplace_impl<Horizontal>
 template<typename ExpressionType, int Direction>
 EIGEN_DEVICE_FUNC void VectorwiseOp<ExpressionType,Direction>::reverseInPlace()
 {
-  internal::vectorwise_reverse_inplace_impl<Direction>::run(_expression().const_cast_derived());
+  internal::vectorwise_reverse_inplace_impl<Direction>::run(m_matrix);
 }
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Select.h b/examples/ThirdPartyLibs/Eigen/src/Core/Select.h
index 79eec1b5b0..7c86bf87c1 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Select.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Select.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_SELECT_H
 #define EIGEN_SELECT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class Select
   * \ingroup Core_Module
@@ -67,8 +67,10 @@ class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, Then
       eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
     }
 
-    inline EIGEN_DEVICE_FUNC Index rows() const { return m_condition.rows(); }
-    inline EIGEN_DEVICE_FUNC Index cols() const { return m_condition.cols(); }
+    inline EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_condition.rows(); }
+    inline EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_condition.cols(); }
 
     inline EIGEN_DEVICE_FUNC
     const Scalar coeff(Index i, Index j) const
@@ -120,7 +122,7 @@ class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, Then
   */
 template<typename Derived>
 template<typename ThenDerived,typename ElseDerived>
-inline const Select<Derived,ThenDerived,ElseDerived>
+inline EIGEN_DEVICE_FUNC const Select<Derived,ThenDerived,ElseDerived>
 DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
                             const DenseBase<ElseDerived>& elseMatrix) const
 {
@@ -134,7 +136,7 @@ DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
   */
 template<typename Derived>
 template<typename ThenDerived>
-inline const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
+inline EIGEN_DEVICE_FUNC const Select<Derived,ThenDerived, typename ThenDerived::ConstantReturnType>
 DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
                            const typename ThenDerived::Scalar& elseScalar) const
 {
@@ -149,7 +151,7 @@ DenseBase<Derived>::select(const DenseBase<ThenDerived>& thenMatrix,
   */
 template<typename Derived>
 template<typename ElseDerived>
-inline const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
+inline EIGEN_DEVICE_FUNC const Select<Derived, typename ElseDerived::ConstantReturnType, ElseDerived >
 DenseBase<Derived>::select(const typename ElseDerived::Scalar& thenScalar,
                            const DenseBase<ElseDerived>& elseMatrix) const
 {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/SelfAdjointView.h b/examples/ThirdPartyLibs/Eigen/src/Core/SelfAdjointView.h
index 7e71fe3c08..8ce3b372a0 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/SelfAdjointView.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/SelfAdjointView.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_SELFADJOINTMATRIX_H
 #define EIGEN_SELFADJOINTMATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class SelfAdjointView
   * \ingroup Core_Module
@@ -58,29 +58,32 @@ template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
     typedef MatrixTypeNestedCleaned NestedExpression;
 
     /** \brief The type of coefficients in this matrix */
-    typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
+    typedef typename internal::traits<SelfAdjointView>::Scalar Scalar;
     typedef typename MatrixType::StorageIndex StorageIndex;
     typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
+    typedef SelfAdjointView<typename internal::add_const<MatrixType>::type, UpLo> ConstSelfAdjointView;
 
     enum {
       Mode = internal::traits<SelfAdjointView>::Mode,
       Flags = internal::traits<SelfAdjointView>::Flags,
-      TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0)
+      TransposeMode = ((int(Mode) & int(Upper)) ? Lower : 0) | ((int(Mode) & int(Lower)) ? Upper : 0)
     };
     typedef typename MatrixType::PlainObject PlainObject;
 
     EIGEN_DEVICE_FUNC
     explicit inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
-    {}
+    {
+      EIGEN_STATIC_ASSERT(UpLo==Lower || UpLo==Upper,SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY);
+    }
 
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_matrix.rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_matrix.cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return m_matrix.innerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return m_matrix.outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return m_matrix.innerStride(); }
 
     /** \sa MatrixBase::coeff()
       * \warning the coordinates must fit into the referenced triangular part
@@ -129,7 +132,7 @@ template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
     {
       return Product<OtherDerived,SelfAdjointView>(lhs.derived(),rhs);
     }
-    
+
     friend EIGEN_DEVICE_FUNC
     const SelfAdjointView<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,MatrixType,product),UpLo>
     operator*(const Scalar& s, const SelfAdjointView& mat)
@@ -189,12 +192,24 @@ template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
                                    TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type(tmp2);
     }
 
-    typedef SelfAdjointView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
+    typedef SelfAdjointView<const MatrixConjugateReturnType,UpLo> ConjugateReturnType;
     /** \sa MatrixBase::conjugate() const */
     EIGEN_DEVICE_FUNC
     inline const ConjugateReturnType conjugate() const
     { return ConjugateReturnType(m_matrix.conjugate()); }
 
+    /** \returns an expression of the complex conjugate of \c *this if Cond==true,
+     *           returns \c *this otherwise.
+     */
+    template<bool Cond>
+    EIGEN_DEVICE_FUNC
+    inline typename internal::conditional<Cond,ConjugateReturnType,ConstSelfAdjointView>::type
+    conjugateIf() const
+    {
+      typedef typename internal::conditional<Cond,ConjugateReturnType,ConstSelfAdjointView>::type ReturnType;
+      return ReturnType(m_matrix.template conjugateIf<Cond>());
+    }
+
     typedef SelfAdjointView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
     /** \sa MatrixBase::adjoint() const */
     EIGEN_DEVICE_FUNC
@@ -285,17 +300,17 @@ class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluat
   using Base::m_src;
   using Base::m_functor;
 public:
-  
+
   typedef typename Base::DstEvaluatorType DstEvaluatorType;
   typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
   typedef typename Base::Scalar Scalar;
   typedef typename Base::AssignmentTraits AssignmentTraits;
-  
-  
+
+
   EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
     : Base(dst, src, func, dstExpr)
   {}
-  
+
   EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
   {
     eigen_internal_assert(row!=col);
@@ -303,12 +318,12 @@ class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluat
     m_functor.assignCoeff(m_dst.coeffRef(row,col), tmp);
     m_functor.assignCoeff(m_dst.coeffRef(col,row), numext::conj(tmp));
   }
-  
+
   EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
   {
     Base::assignCoeff(id,id);
   }
-  
+
   EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index, Index)
   { eigen_internal_assert(false && "should never be called"); }
 };
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/SelfCwiseBinaryOp.h b/examples/ThirdPartyLibs/Eigen/src/Core/SelfCwiseBinaryOp.h
index 50099df82f..7c89c2e23c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -17,7 +17,6 @@ namespace Eigen {
 template<typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(const Scalar& other)
 {
-  typedef typename Derived::PlainObject PlainObject;
   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
   return derived();
 }
@@ -25,7 +24,6 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(co
 template<typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other)
 {
-  typedef typename Derived::PlainObject PlainObject;
   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::add_assign_op<Scalar,Scalar>());
   return derived();
 }
@@ -33,7 +31,6 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(co
 template<typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other)
 {
-  typedef typename Derived::PlainObject PlainObject;
   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::sub_assign_op<Scalar,Scalar>());
   return derived();
 }
@@ -41,7 +38,6 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(co
 template<typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other)
 {
-  typedef typename Derived::PlainObject PlainObject;
   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
   return derived();
 }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Solve.h b/examples/ThirdPartyLibs/Eigen/src/Core/Solve.h
index a8daea5113..23d5cb7072 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Solve.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Solve.h
@@ -13,13 +13,13 @@
 namespace Eigen {
 
 template<typename Decomposition, typename RhsType, typename StorageKind> class SolveImpl;
-  
+
 /** \class Solve
   * \ingroup Core_Module
   *
   * \brief Pseudo expression representing a solving operation
   *
-  * \tparam Decomposition the type of the matrix or decomposion object
+  * \tparam Decomposition the type of the matrix or decomposition object
   * \tparam Rhstype the type of the right-hand side
   *
   * This class represents an expression of A.solve(B)
@@ -64,13 +64,13 @@ class Solve : public SolveImpl<Decomposition,RhsType,typename internal::traits<R
 public:
   typedef typename internal::traits<Solve>::PlainObject PlainObject;
   typedef typename internal::traits<Solve>::StorageIndex StorageIndex;
-  
+
   Solve(const Decomposition &dec, const RhsType &rhs)
     : m_dec(dec), m_rhs(rhs)
   {}
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
   EIGEN_DEVICE_FUNC const Decomposition& dec() const { return m_dec; }
   EIGEN_DEVICE_FUNC const RhsType&       rhs() const { return m_rhs; }
@@ -87,14 +87,14 @@ class SolveImpl<Decomposition,RhsType,Dense>
   : public MatrixBase<Solve<Decomposition,RhsType> >
 {
   typedef Solve<Decomposition,RhsType> Derived;
-  
+
 public:
-  
+
   typedef MatrixBase<Solve<Decomposition,RhsType> > Base;
   EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
 
 private:
-  
+
   Scalar coeff(Index row, Index col) const;
   Scalar coeff(Index i) const;
 };
@@ -119,15 +119,15 @@ struct evaluator<Solve<Decomposition,RhsType> >
   typedef evaluator<PlainObject> Base;
 
   enum { Flags = Base::Flags | EvalBeforeNestingBit };
-  
+
   EIGEN_DEVICE_FUNC explicit evaluator(const SolveType& solve)
     : m_result(solve.rows(), solve.cols())
   {
     ::new (static_cast<Base*>(this)) Base(m_result);
     solve.dec()._solve_impl(solve.rhs(), m_result);
   }
-  
-protected:  
+
+protected:
   PlainObject m_result;
 };
 
@@ -176,12 +176,12 @@ struct Assignment<DstXprType, Solve<CwiseUnaryOp<internal::scalar_conjugate_op<t
     Index dstCols = src.cols();
     if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
       dst.resize(dstRows, dstCols);
-    
+
     src.dec().nestedExpression().nestedExpression().template _solve_impl_transposed<true>(src.rhs(), dst);
   }
 };
 
-} // end namepsace internal
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/SolveTriangular.h b/examples/ThirdPartyLibs/Eigen/src/Core/SolveTriangular.h
index a0011d4f9a..dfbf99523a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/SolveTriangular.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/SolveTriangular.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_SOLVETRIANGULAR_H
 #define EIGEN_SOLVETRIANGULAR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -19,7 +19,7 @@ namespace internal {
 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>
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherStorageOrder, int OtherInnerStride>
 struct triangular_solve_matrix;
 
 // small helper struct extracting some traits on the underlying solver operation
@@ -54,7 +54,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
   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)
+  static EIGEN_DEVICE_FUNC void run(const Lhs& lhs, Rhs& rhs)
   {
     ActualLhsType actualLhs = LhsProductTraits::extract(lhs);
 
@@ -64,7 +64,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
 
     ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhs,rhs.size(),
                                                   (useRhsDirectly ? rhs.data() : 0));
-                                                  
+
     if(!useRhsDirectly)
       MappedRhs(actualRhs,rhs.size()) = rhs;
 
@@ -85,7 +85,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
   typedef blas_traits<Lhs> LhsProductTraits;
   typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
 
-  static void run(const Lhs& lhs, Rhs& rhs)
+  static EIGEN_DEVICE_FUNC void run(const Lhs& lhs, Rhs& rhs)
   {
     typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsProductTraits::extract(lhs);
 
@@ -98,8 +98,8 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
     BlockingType blocking(rhs.rows(), rhs.cols(), size, 1, false);
 
     triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
-                               (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
-      ::run(size, othersize, &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.outerStride(), blocking);
+                               (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor, Rhs::InnerStrideAtCompileTime>
+      ::run(size, othersize, &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &rhs.coeffRef(0,0), rhs.innerStride(), rhs.outerStride(), blocking);
   }
 };
 
@@ -118,7 +118,7 @@ struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
     DiagIndex  = IsLower ? LoopIndex : Size - LoopIndex - 1,
     StartIndex = IsLower ? 0         : DiagIndex+1
   };
-  static void run(const Lhs& lhs, Rhs& rhs)
+  static EIGEN_DEVICE_FUNC void run(const Lhs& lhs, Rhs& rhs)
   {
     if (LoopIndex>0)
       rhs.coeffRef(DiagIndex) -= lhs.row(DiagIndex).template segment<LoopIndex>(StartIndex).transpose()
@@ -133,22 +133,22 @@ struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
 
 template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
 struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,true> {
-  static void run(const Lhs&, Rhs&) {}
+  static EIGEN_DEVICE_FUNC 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)
+  static EIGEN_DEVICE_FUNC 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)
+  static EIGEN_DEVICE_FUNC 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);
@@ -168,7 +168,10 @@ EIGEN_DEVICE_FUNC void TriangularViewImpl<MatrixType,Mode,Dense>::solveInPlace(c
 {
   OtherDerived& other = _other.const_cast_derived();
   eigen_assert( derived().cols() == derived().rows() && ((Side==OnTheLeft && derived().cols() == other.rows()) || (Side==OnTheRight && derived().cols() == other.cols())) );
-  eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
+  eigen_assert((!(int(Mode) & int(ZeroDiag))) && bool(int(Mode) & (int(Upper) | int(Lower))));
+  // If solving for a 0x0 matrix, nothing to do, simply return.
+  if (derived().cols() == 0)
+    return;
 
   enum { copy = (internal::traits<OtherDerived>::Flags & RowMajorBit)  && OtherDerived::IsVectorAtCompileTime && OtherDerived::SizeAtCompileTime!=1};
   typedef typename internal::conditional<copy,
@@ -210,8 +213,8 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
     : m_triangularMatrix(tri), m_rhs(rhs)
   {}
 
-  inline Index rows() const { return m_rhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
+  inline EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_rhs.rows(); }
+  inline EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
   template<typename Dest> inline void evalTo(Dest& dst) const
   {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/SolverBase.h b/examples/ThirdPartyLibs/Eigen/src/Core/SolverBase.h
index 8a4adc2297..5014610420 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/SolverBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/SolverBase.h
@@ -14,8 +14,35 @@ namespace Eigen {
 
 namespace internal {
 
+template<typename Derived>
+struct solve_assertion {
+    template<bool Transpose_, typename Rhs>
+    static void run(const Derived& solver, const Rhs& b) { solver.template _check_solve_assertion<Transpose_>(b); }
+};
+
+template<typename Derived>
+struct solve_assertion<Transpose<Derived> >
+{
+    typedef Transpose<Derived> type;
+
+    template<bool Transpose_, typename Rhs>
+    static void run(const type& transpose, const Rhs& b)
+    {
+        internal::solve_assertion<typename internal::remove_all<Derived>::type>::template run<true>(transpose.nestedExpression(), b);
+    }
+};
 
+template<typename Scalar, typename Derived>
+struct solve_assertion<CwiseUnaryOp<Eigen::internal::scalar_conjugate_op<Scalar>, const Transpose<Derived> > >
+{
+    typedef CwiseUnaryOp<Eigen::internal::scalar_conjugate_op<Scalar>, const Transpose<Derived> > type;
 
+    template<bool Transpose_, typename Rhs>
+    static void run(const type& adjoint, const Rhs& b)
+    {
+        internal::solve_assertion<typename internal::remove_all<Transpose<Derived> >::type>::template run<true>(adjoint.nestedExpression(), b);
+    }
+};
 } // end namespace internal
 
 /** \class SolverBase
@@ -35,7 +62,7 @@ namespace internal {
   *
   * \warning Currently, any other usage of transpose() and adjoint() are not supported and will produce compilation errors.
   *
-  * \sa class PartialPivLU, class FullPivLU
+  * \sa class PartialPivLU, class FullPivLU, class HouseholderQR, class ColPivHouseholderQR, class FullPivHouseholderQR, class CompleteOrthogonalDecomposition, class LLT, class LDLT, class SVDBase
   */
 template<typename Derived>
 class SolverBase : public EigenBase<Derived>
@@ -46,6 +73,9 @@ class SolverBase : public EigenBase<Derived>
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef Scalar CoeffReturnType;
 
+    template<typename Derived_>
+    friend struct internal::solve_assertion;
+
     enum {
       RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
       ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
@@ -56,7 +86,8 @@ class SolverBase : public EigenBase<Derived>
       MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
                                                              internal::traits<Derived>::MaxColsAtCompileTime>::ret),
       IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
-                           || internal::traits<Derived>::MaxColsAtCompileTime == 1
+                           || internal::traits<Derived>::MaxColsAtCompileTime == 1,
+      NumDimensions = int(MaxSizeAtCompileTime) == 1 ? 0 : bool(IsVectorAtCompileTime) ? 1 : 2
     };
 
     /** Default constructor */
@@ -74,7 +105,7 @@ class SolverBase : public EigenBase<Derived>
     inline const Solve<Derived, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
-      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      internal::solve_assertion<typename internal::remove_all<Derived>::type>::template run<false>(derived(), b);
       return Solve<Derived, Rhs>(derived(), b.derived());
     }
 
@@ -112,6 +143,13 @@ class SolverBase : public EigenBase<Derived>
     }
 
   protected:
+
+    template<bool Transpose_, typename Rhs>
+    void _check_solve_assertion(const Rhs& b) const {
+        EIGEN_ONLY_USED_FOR_DEBUG(b);
+        eigen_assert(derived().m_isInitialized && "Solver is not initialized.");
+        eigen_assert((Transpose_?derived().cols():derived().rows())==b.rows() && "SolverBase::solve(): invalid number of rows of the right hand side matrix b");
+    }
 };
 
 namespace internal {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/StableNorm.h b/examples/ThirdPartyLibs/Eigen/src/Core/StableNorm.h
index be04ed44d8..4a3f0cca8c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/StableNorm.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/StableNorm.h
@@ -50,6 +50,71 @@ inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& sc
     ssq += (bl*invScale).squaredNorm();
 }
 
+template<typename VectorType, typename RealScalar>
+void stable_norm_impl_inner_step(const VectorType &vec, RealScalar& ssq, RealScalar& scale, RealScalar& invScale)
+{
+  typedef typename VectorType::Scalar Scalar;
+  const Index blockSize = 4096;
+  
+  typedef typename internal::nested_eval<VectorType,2>::type VectorTypeCopy;
+  typedef typename internal::remove_all<VectorTypeCopy>::type VectorTypeCopyClean;
+  const VectorTypeCopy copy(vec);
+  
+  enum {
+    CanAlign = (   (int(VectorTypeCopyClean::Flags)&DirectAccessBit)
+                || (int(internal::evaluator<VectorTypeCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
+               ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT)
+                 && (EIGEN_MAX_STATIC_ALIGN_BYTES>0) // if we cannot allocate on the stack, then let's not bother about this optimization
+  };
+  typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<VectorTypeCopyClean>::Alignment>,
+                                                   typename VectorTypeCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
+  Index n = vec.size();
+  
+  Index bi = internal::first_default_aligned(copy);
+  if (bi>0)
+    internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
+  for (; bi<n; bi+=blockSize)
+    internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
+}
+
+template<typename VectorType>
+typename VectorType::RealScalar
+stable_norm_impl(const VectorType &vec, typename enable_if<VectorType::IsVectorAtCompileTime>::type* = 0 )
+{
+  using std::sqrt;
+  using std::abs;
+
+  Index n = vec.size();
+
+  if(n==1)
+    return abs(vec.coeff(0));
+
+  typedef typename VectorType::RealScalar RealScalar;
+  RealScalar scale(0);
+  RealScalar invScale(1);
+  RealScalar ssq(0); // sum of squares
+
+  stable_norm_impl_inner_step(vec, ssq, scale, invScale);
+  
+  return scale * sqrt(ssq);
+}
+
+template<typename MatrixType>
+typename MatrixType::RealScalar
+stable_norm_impl(const MatrixType &mat, typename enable_if<!MatrixType::IsVectorAtCompileTime>::type* = 0 )
+{
+  using std::sqrt;
+
+  typedef typename MatrixType::RealScalar RealScalar;
+  RealScalar scale(0);
+  RealScalar invScale(1);
+  RealScalar ssq(0); // sum of squares
+
+  for(Index j=0; j<mat.outerSize(); ++j)
+    stable_norm_impl_inner_step(mat.innerVector(j), ssq, scale, invScale);
+  return scale * sqrt(ssq);
+}
+
 template<typename Derived>
 inline typename NumTraits<typename traits<Derived>::Scalar>::Real
 blueNorm_impl(const EigenBase<Derived>& _vec)
@@ -58,52 +123,43 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
   using std::pow;
   using std::sqrt;
   using std::abs;
+
+  // This program calculates the machine-dependent constants
+  // bl, b2, slm, s2m, relerr overfl
+  // 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
+  static const int ibeta = std::numeric_limits<RealScalar>::radix;  // base for floating-point numbers
+  static const int it    = NumTraits<RealScalar>::digits();  // number of base-beta digits in mantissa
+  static const int iemin = NumTraits<RealScalar>::min_exponent();  // minimum exponent
+  static const int iemax = NumTraits<RealScalar>::max_exponent();  // maximum exponent
+  static const RealScalar rbig   = NumTraits<RealScalar>::highest();  // largest floating-point number
+  static const RealScalar b1     = RealScalar(pow(RealScalar(ibeta),RealScalar(-((1-iemin)/2))));  // lower boundary of midrange
+  static const RealScalar b2     = RealScalar(pow(RealScalar(ibeta),RealScalar((iemax + 1 - it)/2)));  // upper boundary of midrange
+  static const RealScalar s1m    = RealScalar(pow(RealScalar(ibeta),RealScalar((2-iemin)/2)));  // scaling factor for lower range
+  static const RealScalar s2m    = RealScalar(pow(RealScalar(ibeta),RealScalar(- ((iemax+it)/2))));  // scaling factor for upper range
+  static const RealScalar eps    = RealScalar(pow(double(ibeta), 1-it));
+  static const RealScalar relerr = sqrt(eps);  // tolerance for neglecting asml
+
   const Derived& vec(_vec.derived());
-  static bool initialized = false;
-  static RealScalar b1, b2, s1m, s2m, rbig, relerr;
-  if(!initialized)
-  {
-    int ibeta, it, iemin, iemax, iexp;
-    RealScalar eps;
-    // This program calculates the machine-dependent constants
-    // bl, b2, slm, s2m, relerr overfl
-    // 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
-    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
-
-    eps     = RealScalar(pow(double(ibeta), 1-it));
-    relerr  = sqrt(eps);                                            // tolerance for neglecting asml
-    initialized = true;
-  }
   Index n = vec.size();
   RealScalar ab2 = b2 / RealScalar(n);
   RealScalar asml = RealScalar(0);
   RealScalar amed = RealScalar(0);
   RealScalar abig = RealScalar(0);
-  for(typename Derived::InnerIterator it(vec, 0); it; ++it)
+
+  for(Index j=0; j<vec.outerSize(); ++j)
   {
-    RealScalar ax = abs(it.value());
-    if(ax > ab2)     abig += numext::abs2(ax*s2m);
-    else if(ax < b1) asml += numext::abs2(ax*s1m);
-    else             amed += numext::abs2(ax);
+    for(typename Derived::InnerIterator iter(vec, j); iter; ++iter)
+    {
+      RealScalar ax = abs(iter.value());
+      if(ax > ab2)     abig += numext::abs2(ax*s2m);
+      else if(ax < b1) asml += numext::abs2(ax*s1m);
+      else             amed += numext::abs2(ax);
+    }
   }
   if(amed!=amed)
     return amed;  // we got a NaN
@@ -156,36 +212,7 @@ template<typename Derived>
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
 MatrixBase<Derived>::stableNorm() const
 {
-  using std::sqrt;
-  using std::abs;
-  const Index blockSize = 4096;
-  RealScalar scale(0);
-  RealScalar invScale(1);
-  RealScalar ssq(0); // sum of square
-  
-  typedef typename internal::nested_eval<Derived,2>::type DerivedCopy;
-  typedef typename internal::remove_all<DerivedCopy>::type DerivedCopyClean;
-  DerivedCopy copy(derived());
-  
-  enum {
-    CanAlign = (   (int(DerivedCopyClean::Flags)&DirectAccessBit)
-                || (int(internal::evaluator<DerivedCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
-               ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT)
-                 && (EIGEN_MAX_STATIC_ALIGN_BYTES>0) // if we cannot allocate on the stack, then let's not bother about this optimization
-  };
-  typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<DerivedCopyClean>::Alignment>,
-                                                   typename DerivedCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
-  Index n = size();
-  
-  if(n==1)
-    return abs(this->coeff(0));
-  
-  Index bi = internal::first_default_aligned(copy);
-  if (bi>0)
-    internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
-  for (; bi<n; bi+=blockSize)
-    internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
-  return scale * sqrt(ssq);
+  return internal::stable_norm_impl(derived());
 }
 
 /** \returns the \em l2 norm of \c *this using the Blue's algorithm.
@@ -213,7 +240,10 @@ 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>());
+  if(size()==1)
+    return numext::abs(coeff(0,0));
+  else
+    return this->cwiseAbs().redux(internal::scalar_hypot_op<RealScalar>());
 }
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/StlIterators.h b/examples/ThirdPartyLibs/Eigen/src/Core/StlIterators.h
new file mode 100644
index 0000000000..09041db1d5
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/StlIterators.h
@@ -0,0 +1,463 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2018 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STLITERATORS_H
+#define EIGEN_STLITERATORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename IteratorType>
+struct indexed_based_stl_iterator_traits;
+
+template<typename  Derived>
+class indexed_based_stl_iterator_base
+{
+protected:
+  typedef indexed_based_stl_iterator_traits<Derived> traits;
+  typedef typename traits::XprType XprType;
+  typedef indexed_based_stl_iterator_base<typename traits::non_const_iterator> non_const_iterator;
+  typedef indexed_based_stl_iterator_base<typename traits::const_iterator> const_iterator;
+  typedef typename internal::conditional<internal::is_const<XprType>::value,non_const_iterator,const_iterator>::type other_iterator;
+  // NOTE: in C++03 we cannot declare friend classes through typedefs because we need to write friend class:
+  friend class indexed_based_stl_iterator_base<typename traits::const_iterator>;
+  friend class indexed_based_stl_iterator_base<typename traits::non_const_iterator>;
+public:
+  typedef Index difference_type;
+  typedef std::random_access_iterator_tag iterator_category;
+
+  indexed_based_stl_iterator_base() EIGEN_NO_THROW : mp_xpr(0), m_index(0) {}
+  indexed_based_stl_iterator_base(XprType& xpr, Index index) EIGEN_NO_THROW : mp_xpr(&xpr), m_index(index) {}
+
+  indexed_based_stl_iterator_base(const non_const_iterator& other) EIGEN_NO_THROW
+    : mp_xpr(other.mp_xpr), m_index(other.m_index)
+  {}
+
+  indexed_based_stl_iterator_base& operator=(const non_const_iterator& other)
+  {
+    mp_xpr = other.mp_xpr;
+    m_index = other.m_index;
+    return *this;
+  }
+
+  Derived& operator++() { ++m_index; return derived(); }
+  Derived& operator--() { --m_index; return derived(); }
+
+  Derived operator++(int) { Derived prev(derived()); operator++(); return prev;}
+  Derived operator--(int) { Derived prev(derived()); operator--(); return prev;}
+
+  friend Derived operator+(const indexed_based_stl_iterator_base& a, Index b) { Derived ret(a.derived()); ret += b; return ret; }
+  friend Derived operator-(const indexed_based_stl_iterator_base& a, Index b) { Derived ret(a.derived()); ret -= b; return ret; }
+  friend Derived operator+(Index a, const indexed_based_stl_iterator_base& b) { Derived ret(b.derived()); ret += a; return ret; }
+  friend Derived operator-(Index a, const indexed_based_stl_iterator_base& b) { Derived ret(b.derived()); ret -= a; return ret; }
+  
+  Derived& operator+=(Index b) { m_index += b; return derived(); }
+  Derived& operator-=(Index b) { m_index -= b; return derived(); }
+
+  difference_type operator-(const indexed_based_stl_iterator_base& other) const
+  {
+    eigen_assert(mp_xpr == other.mp_xpr);
+    return m_index - other.m_index;
+  }
+
+  difference_type operator-(const other_iterator& other) const
+  {
+    eigen_assert(mp_xpr == other.mp_xpr);
+    return m_index - other.m_index;
+  }
+
+  bool operator==(const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index == other.m_index; }
+  bool operator!=(const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index != other.m_index; }
+  bool operator< (const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <  other.m_index; }
+  bool operator<=(const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <= other.m_index; }
+  bool operator> (const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >  other.m_index; }
+  bool operator>=(const indexed_based_stl_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >= other.m_index; }
+
+  bool operator==(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index == other.m_index; }
+  bool operator!=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index != other.m_index; }
+  bool operator< (const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <  other.m_index; }
+  bool operator<=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <= other.m_index; }
+  bool operator> (const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >  other.m_index; }
+  bool operator>=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >= other.m_index; }
+
+protected:
+
+  Derived& derived() { return static_cast<Derived&>(*this); }
+  const Derived& derived() const { return static_cast<const Derived&>(*this); }
+
+  XprType *mp_xpr;
+  Index m_index;
+};
+
+template<typename  Derived>
+class indexed_based_stl_reverse_iterator_base
+{
+protected:
+  typedef indexed_based_stl_iterator_traits<Derived> traits;
+  typedef typename traits::XprType XprType;
+  typedef indexed_based_stl_reverse_iterator_base<typename traits::non_const_iterator> non_const_iterator;
+  typedef indexed_based_stl_reverse_iterator_base<typename traits::const_iterator> const_iterator;
+  typedef typename internal::conditional<internal::is_const<XprType>::value,non_const_iterator,const_iterator>::type other_iterator;
+  // NOTE: in C++03 we cannot declare friend classes through typedefs because we need to write friend class:
+  friend class indexed_based_stl_reverse_iterator_base<typename traits::const_iterator>;
+  friend class indexed_based_stl_reverse_iterator_base<typename traits::non_const_iterator>;
+public:
+  typedef Index difference_type;
+  typedef std::random_access_iterator_tag iterator_category;
+
+  indexed_based_stl_reverse_iterator_base() : mp_xpr(0), m_index(0) {}
+  indexed_based_stl_reverse_iterator_base(XprType& xpr, Index index) : mp_xpr(&xpr), m_index(index) {}
+
+  indexed_based_stl_reverse_iterator_base(const non_const_iterator& other)
+    : mp_xpr(other.mp_xpr), m_index(other.m_index)
+  {}
+
+  indexed_based_stl_reverse_iterator_base& operator=(const non_const_iterator& other)
+  {
+    mp_xpr = other.mp_xpr;
+    m_index = other.m_index;
+    return *this;
+  }
+
+  Derived& operator++() { --m_index; return derived(); }
+  Derived& operator--() { ++m_index; return derived(); }
+
+  Derived operator++(int) { Derived prev(derived()); operator++(); return prev;}
+  Derived operator--(int) { Derived prev(derived()); operator--(); return prev;}
+
+  friend Derived operator+(const indexed_based_stl_reverse_iterator_base& a, Index b) { Derived ret(a.derived()); ret += b; return ret; }
+  friend Derived operator-(const indexed_based_stl_reverse_iterator_base& a, Index b) { Derived ret(a.derived()); ret -= b; return ret; }
+  friend Derived operator+(Index a, const indexed_based_stl_reverse_iterator_base& b) { Derived ret(b.derived()); ret += a; return ret; }
+  friend Derived operator-(Index a, const indexed_based_stl_reverse_iterator_base& b) { Derived ret(b.derived()); ret -= a; return ret; }
+  
+  Derived& operator+=(Index b) { m_index -= b; return derived(); }
+  Derived& operator-=(Index b) { m_index += b; return derived(); }
+
+  difference_type operator-(const indexed_based_stl_reverse_iterator_base& other) const
+  {
+    eigen_assert(mp_xpr == other.mp_xpr);
+    return other.m_index - m_index;
+  }
+
+  difference_type operator-(const other_iterator& other) const
+  {
+    eigen_assert(mp_xpr == other.mp_xpr);
+    return other.m_index - m_index;
+  }
+
+  bool operator==(const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index == other.m_index; }
+  bool operator!=(const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index != other.m_index; }
+  bool operator< (const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >  other.m_index; }
+  bool operator<=(const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >= other.m_index; }
+  bool operator> (const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <  other.m_index; }
+  bool operator>=(const indexed_based_stl_reverse_iterator_base& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <= other.m_index; }
+
+  bool operator==(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index == other.m_index; }
+  bool operator!=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index != other.m_index; }
+  bool operator< (const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >  other.m_index; }
+  bool operator<=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index >= other.m_index; }
+  bool operator> (const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <  other.m_index; }
+  bool operator>=(const other_iterator& other) const { eigen_assert(mp_xpr == other.mp_xpr); return m_index <= other.m_index; }
+
+protected:
+
+  Derived& derived() { return static_cast<Derived&>(*this); }
+  const Derived& derived() const { return static_cast<const Derived&>(*this); }
+
+  XprType *mp_xpr;
+  Index m_index;
+};
+
+template<typename XprType>
+class pointer_based_stl_iterator
+{
+  enum { is_lvalue  = internal::is_lvalue<XprType>::value };
+  typedef pointer_based_stl_iterator<typename internal::remove_const<XprType>::type> non_const_iterator;
+  typedef pointer_based_stl_iterator<typename internal::add_const<XprType>::type> const_iterator;
+  typedef typename internal::conditional<internal::is_const<XprType>::value,non_const_iterator,const_iterator>::type other_iterator;
+  // NOTE: in C++03 we cannot declare friend classes through typedefs because we need to write friend class:
+  friend class pointer_based_stl_iterator<typename internal::add_const<XprType>::type>;
+  friend class pointer_based_stl_iterator<typename internal::remove_const<XprType>::type>;
+public:
+  typedef Index difference_type;
+  typedef typename XprType::Scalar value_type;
+  typedef std::random_access_iterator_tag iterator_category;
+  typedef typename internal::conditional<bool(is_lvalue), value_type*, const value_type*>::type pointer;
+  typedef typename internal::conditional<bool(is_lvalue), value_type&, const value_type&>::type reference;
+
+
+  pointer_based_stl_iterator() EIGEN_NO_THROW : m_ptr(0) {}
+  pointer_based_stl_iterator(XprType& xpr, Index index) EIGEN_NO_THROW : m_incr(xpr.innerStride())
+  {
+    m_ptr = xpr.data() + index * m_incr.value();
+  }
+
+  pointer_based_stl_iterator(const non_const_iterator& other) EIGEN_NO_THROW
+    : m_ptr(other.m_ptr), m_incr(other.m_incr)
+  {}
+
+  pointer_based_stl_iterator& operator=(const non_const_iterator& other) EIGEN_NO_THROW
+  {
+    m_ptr = other.m_ptr;
+    m_incr.setValue(other.m_incr);
+    return *this;
+  }
+
+  reference operator*()         const { return *m_ptr;   }
+  reference operator[](Index i) const { return *(m_ptr+i*m_incr.value()); }
+  pointer   operator->()        const { return m_ptr;    }
+
+  pointer_based_stl_iterator& operator++() { m_ptr += m_incr.value(); return *this; }
+  pointer_based_stl_iterator& operator--() { m_ptr -= m_incr.value(); return *this; }
+
+  pointer_based_stl_iterator operator++(int) { pointer_based_stl_iterator prev(*this); operator++(); return prev;}
+  pointer_based_stl_iterator operator--(int) { pointer_based_stl_iterator prev(*this); operator--(); return prev;}
+
+  friend pointer_based_stl_iterator operator+(const pointer_based_stl_iterator& a, Index b) { pointer_based_stl_iterator ret(a); ret += b; return ret; }
+  friend pointer_based_stl_iterator operator-(const pointer_based_stl_iterator& a, Index b) { pointer_based_stl_iterator ret(a); ret -= b; return ret; }
+  friend pointer_based_stl_iterator operator+(Index a, const pointer_based_stl_iterator& b) { pointer_based_stl_iterator ret(b); ret += a; return ret; }
+  friend pointer_based_stl_iterator operator-(Index a, const pointer_based_stl_iterator& b) { pointer_based_stl_iterator ret(b); ret -= a; return ret; }
+  
+  pointer_based_stl_iterator& operator+=(Index b) { m_ptr += b*m_incr.value(); return *this; }
+  pointer_based_stl_iterator& operator-=(Index b) { m_ptr -= b*m_incr.value(); return *this; }
+
+  difference_type operator-(const pointer_based_stl_iterator& other) const {
+    return (m_ptr - other.m_ptr)/m_incr.value();
+  }
+
+  difference_type operator-(const other_iterator& other) const {
+    return (m_ptr - other.m_ptr)/m_incr.value();
+  }
+
+  bool operator==(const pointer_based_stl_iterator& other) const { return m_ptr == other.m_ptr; }
+  bool operator!=(const pointer_based_stl_iterator& other) const { return m_ptr != other.m_ptr; }
+  bool operator< (const pointer_based_stl_iterator& other) const { return m_ptr <  other.m_ptr; }
+  bool operator<=(const pointer_based_stl_iterator& other) const { return m_ptr <= other.m_ptr; }
+  bool operator> (const pointer_based_stl_iterator& other) const { return m_ptr >  other.m_ptr; }
+  bool operator>=(const pointer_based_stl_iterator& other) const { return m_ptr >= other.m_ptr; }
+
+  bool operator==(const other_iterator& other) const { return m_ptr == other.m_ptr; }
+  bool operator!=(const other_iterator& other) const { return m_ptr != other.m_ptr; }
+  bool operator< (const other_iterator& other) const { return m_ptr <  other.m_ptr; }
+  bool operator<=(const other_iterator& other) const { return m_ptr <= other.m_ptr; }
+  bool operator> (const other_iterator& other) const { return m_ptr >  other.m_ptr; }
+  bool operator>=(const other_iterator& other) const { return m_ptr >= other.m_ptr; }
+
+protected:
+
+  pointer m_ptr;
+  internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_incr;
+};
+
+template<typename _XprType>
+struct indexed_based_stl_iterator_traits<generic_randaccess_stl_iterator<_XprType> >
+{
+  typedef _XprType XprType;
+  typedef generic_randaccess_stl_iterator<typename internal::remove_const<XprType>::type> non_const_iterator;
+  typedef generic_randaccess_stl_iterator<typename internal::add_const<XprType>::type> const_iterator;
+};
+
+template<typename XprType>
+class generic_randaccess_stl_iterator : public indexed_based_stl_iterator_base<generic_randaccess_stl_iterator<XprType> >
+{
+public:
+  typedef typename XprType::Scalar value_type;
+
+protected:
+
+  enum {
+    has_direct_access = (internal::traits<XprType>::Flags & DirectAccessBit) ? 1 : 0,
+    is_lvalue  = internal::is_lvalue<XprType>::value
+  };
+
+  typedef indexed_based_stl_iterator_base<generic_randaccess_stl_iterator> Base;
+  using Base::m_index;
+  using Base::mp_xpr;
+
+  // TODO currently const Transpose/Reshape expressions never returns const references,
+  // so lets return by value too.
+  //typedef typename internal::conditional<bool(has_direct_access), const value_type&, const value_type>::type read_only_ref_t;
+  typedef const value_type read_only_ref_t;
+
+public:
+  
+  typedef typename internal::conditional<bool(is_lvalue), value_type *, const value_type *>::type pointer;
+  typedef typename internal::conditional<bool(is_lvalue), value_type&, read_only_ref_t>::type reference;
+  
+  generic_randaccess_stl_iterator() : Base() {}
+  generic_randaccess_stl_iterator(XprType& xpr, Index index) : Base(xpr,index) {}
+  generic_randaccess_stl_iterator(const typename Base::non_const_iterator& other) : Base(other) {}
+  using Base::operator=;
+
+  reference operator*()         const { return   (*mp_xpr)(m_index);   }
+  reference operator[](Index i) const { return   (*mp_xpr)(m_index+i); }
+  pointer   operator->()        const { return &((*mp_xpr)(m_index)); }
+};
+
+template<typename _XprType, DirectionType Direction>
+struct indexed_based_stl_iterator_traits<subvector_stl_iterator<_XprType,Direction> >
+{
+  typedef _XprType XprType;
+  typedef subvector_stl_iterator<typename internal::remove_const<XprType>::type, Direction> non_const_iterator;
+  typedef subvector_stl_iterator<typename internal::add_const<XprType>::type, Direction> const_iterator;
+};
+
+template<typename XprType, DirectionType Direction>
+class subvector_stl_iterator : public indexed_based_stl_iterator_base<subvector_stl_iterator<XprType,Direction> >
+{
+protected:
+
+  enum { is_lvalue  = internal::is_lvalue<XprType>::value };
+
+  typedef indexed_based_stl_iterator_base<subvector_stl_iterator> Base;
+  using Base::m_index;
+  using Base::mp_xpr;
+
+  typedef typename internal::conditional<Direction==Vertical,typename XprType::ColXpr,typename XprType::RowXpr>::type SubVectorType;
+  typedef typename internal::conditional<Direction==Vertical,typename XprType::ConstColXpr,typename XprType::ConstRowXpr>::type ConstSubVectorType;
+
+
+public:
+  typedef typename internal::conditional<bool(is_lvalue), SubVectorType, ConstSubVectorType>::type reference;
+  typedef typename reference::PlainObject value_type;
+
+private:
+  class subvector_stl_iterator_ptr
+  {
+  public:
+      subvector_stl_iterator_ptr(const reference &subvector) : m_subvector(subvector) {}
+      reference* operator->() { return &m_subvector; }
+  private:
+      reference m_subvector;
+  };
+public:
+
+  typedef subvector_stl_iterator_ptr pointer;
+  
+  subvector_stl_iterator() : Base() {}
+  subvector_stl_iterator(XprType& xpr, Index index) : Base(xpr,index) {}
+
+  reference operator*()         const { return (*mp_xpr).template subVector<Direction>(m_index); }
+  reference operator[](Index i) const { return (*mp_xpr).template subVector<Direction>(m_index+i); }
+  pointer   operator->()        const { return (*mp_xpr).template subVector<Direction>(m_index); }
+};
+
+template<typename _XprType, DirectionType Direction>
+struct indexed_based_stl_iterator_traits<subvector_stl_reverse_iterator<_XprType,Direction> >
+{
+  typedef _XprType XprType;
+  typedef subvector_stl_reverse_iterator<typename internal::remove_const<XprType>::type, Direction> non_const_iterator;
+  typedef subvector_stl_reverse_iterator<typename internal::add_const<XprType>::type, Direction> const_iterator;
+};
+
+template<typename XprType, DirectionType Direction>
+class subvector_stl_reverse_iterator : public indexed_based_stl_reverse_iterator_base<subvector_stl_reverse_iterator<XprType,Direction> >
+{
+protected:
+
+  enum { is_lvalue  = internal::is_lvalue<XprType>::value };
+
+  typedef indexed_based_stl_reverse_iterator_base<subvector_stl_reverse_iterator> Base;
+  using Base::m_index;
+  using Base::mp_xpr;
+
+  typedef typename internal::conditional<Direction==Vertical,typename XprType::ColXpr,typename XprType::RowXpr>::type SubVectorType;
+  typedef typename internal::conditional<Direction==Vertical,typename XprType::ConstColXpr,typename XprType::ConstRowXpr>::type ConstSubVectorType;
+
+
+public:
+  typedef typename internal::conditional<bool(is_lvalue), SubVectorType, ConstSubVectorType>::type reference;
+  typedef typename reference::PlainObject value_type;
+
+private:
+  class subvector_stl_reverse_iterator_ptr
+  {
+  public:
+      subvector_stl_reverse_iterator_ptr(const reference &subvector) : m_subvector(subvector) {}
+      reference* operator->() { return &m_subvector; }
+  private:
+      reference m_subvector;
+  };
+public:
+
+  typedef subvector_stl_reverse_iterator_ptr pointer;
+  
+  subvector_stl_reverse_iterator() : Base() {}
+  subvector_stl_reverse_iterator(XprType& xpr, Index index) : Base(xpr,index) {}
+
+  reference operator*()         const { return (*mp_xpr).template subVector<Direction>(m_index); }
+  reference operator[](Index i) const { return (*mp_xpr).template subVector<Direction>(m_index+i); }
+  pointer   operator->()        const { return (*mp_xpr).template subVector<Direction>(m_index); }
+};
+
+} // namespace internal
+
+
+/** returns an iterator to the first element of the 1D vector or array
+  * \only_for_vectors
+  * \sa end(), cbegin()
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::iterator DenseBase<Derived>::begin()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return iterator(derived(), 0);
+}
+
+/** const version of begin() */
+template<typename Derived>
+inline typename DenseBase<Derived>::const_iterator DenseBase<Derived>::begin() const
+{
+  return cbegin();
+}
+
+/** returns a read-only const_iterator to the first element of the 1D vector or array
+  * \only_for_vectors
+  * \sa cend(), begin()
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::const_iterator DenseBase<Derived>::cbegin() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return const_iterator(derived(), 0);
+}
+
+/** returns an iterator to the element following the last element of the 1D vector or array
+  * \only_for_vectors
+  * \sa begin(), cend()
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::iterator DenseBase<Derived>::end()
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return iterator(derived(), size());
+}
+
+/** const version of end() */
+template<typename Derived>
+inline typename DenseBase<Derived>::const_iterator DenseBase<Derived>::end() const
+{
+  return cend();
+}
+
+/** returns a read-only const_iterator to the element following the last element of the 1D vector or array
+  * \only_for_vectors
+  * \sa begin(), cend()
+  */
+template<typename Derived>
+inline typename DenseBase<Derived>::const_iterator DenseBase<Derived>::cend() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+  return const_iterator(derived(), size());
+}
+
+} // namespace Eigen
+
+#endif // EIGEN_STLITERATORS_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Stride.h b/examples/ThirdPartyLibs/Eigen/src/Core/Stride.h
index 513742f34b..d164e53996 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Stride.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Stride.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_STRIDE_H
 #define EIGEN_STRIDE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class Stride
   * \ingroup Core_Module
@@ -38,6 +38,14 @@ namespace Eigen {
   * \include Map_general_stride.cpp
   * Output: \verbinclude Map_general_stride.out
   *
+  * Both strides can be negative. However, a negative stride of -1 cannot be specified at compile time
+  * because of the ambiguity with Dynamic which is defined to -1 (historically, negative strides were
+  * not allowed).
+  *
+  * Note that for compile-time vectors (ColsAtCompileTime==1 or RowsAtCompile==1),
+  * the inner stride is the pointer increment between two consecutive elements,
+  * regardless of storage layout.
+  *
   * \sa class InnerStride, class OuterStride, \ref TopicStorageOrders
   */
 template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
@@ -55,6 +63,8 @@ class Stride
     Stride()
       : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
     {
+      // FIXME: for Eigen 4 we should use DynamicIndex instead of Dynamic.
+      // FIXME: for Eigen 4 we should also unify this API with fix<>
       eigen_assert(InnerStrideAtCompileTime != Dynamic && OuterStrideAtCompileTime != Dynamic);
     }
 
@@ -63,7 +73,6 @@ class Stride
     Stride(Index outerStride, Index innerStride)
       : m_outer(outerStride), m_inner(innerStride)
     {
-      eigen_assert(innerStride>=0 && outerStride>=0);
     }
 
     /** Copy constructor */
@@ -73,10 +82,10 @@ class Stride
     {}
 
     /** \returns the outer stride */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index outer() const { return m_outer.value(); }
     /** \returns the inner stride */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
     inline Index inner() const { return m_inner.value(); }
 
   protected:
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Swap.h b/examples/ThirdPartyLibs/Eigen/src/Core/Swap.h
index d702009185..180a4e5adf 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Swap.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Swap.h
@@ -30,12 +30,13 @@ class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap
   typedef typename Base::DstXprType DstXprType;
   typedef swap_assign_op<Scalar> Functor;
   
-  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
     : Base(dst, src, func, dstExpr)
   {}
   
   template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacket(Index row, Index col)
+  EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
   {
     PacketType tmp = m_src.template packet<LoadMode,PacketType>(row,col);
     const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(row,col, m_dst.template packet<StoreMode,PacketType>(row,col));
@@ -43,7 +44,7 @@ class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap
   }
   
   template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacket(Index index)
+  EIGEN_STRONG_INLINE void assignPacket(Index index)
   {
     PacketType tmp = m_src.template packet<LoadMode,PacketType>(index);
     const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(index, m_dst.template packet<StoreMode,PacketType>(index));
@@ -52,7 +53,7 @@ class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap
   
   // TODO find a simple way not to have to copy/paste this function from generic_dense_assignment_kernel, by simple I mean no CRTP (Gael)
   template<int StoreMode, int LoadMode, typename PacketType>
-  void assignPacketByOuterInner(Index outer, Index inner)
+  EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
   {
     Index row = Base::rowIndexByOuterInner(outer, inner); 
     Index col = Base::colIndexByOuterInner(outer, inner);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Transpose.h b/examples/ThirdPartyLibs/Eigen/src/Core/Transpose.h
index ba7d6e6295..2bc658f40b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Transpose.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Transpose.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_TRANSPOSE_H
 #define EIGEN_TRANSPOSE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 template<typename MatrixType>
@@ -61,24 +61,27 @@ template<typename MatrixType> class Transpose
     typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
     EIGEN_DEVICE_FUNC
-    explicit inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
+    explicit EIGEN_STRONG_INLINE Transpose(MatrixType& matrix) : m_matrix(matrix) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.cols(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
 
     /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    EIGEN_DEVICE_FUNC
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     typename internal::remove_reference<MatrixTypeNested>::type&
     nestedExpression() { return m_matrix; }
 
     /** \internal */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     void resize(Index nrows, Index ncols) {
       m_matrix.resize(ncols,nrows);
     }
@@ -122,8 +125,10 @@ template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
     EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)
 
-    EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
-    EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index innerStride() const { return derived().nestedExpression().innerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index outerStride() const { return derived().nestedExpression().outerStride(); }
 
     typedef typename internal::conditional<
                        internal::is_lvalue<MatrixType>::value,
@@ -131,21 +136,25 @@ template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
-    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return derived().nestedExpression().data(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const Scalar* data() const { return derived().nestedExpression().data(); }
 
     // FIXME: shall we keep the const version of coeffRef?
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index rowId, Index colId) const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return derived().nestedExpression().coeffRef(colId, rowId);
     }
 
-    EIGEN_DEVICE_FUNC
-    inline const Scalar& coeffRef(Index index) const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const Scalar& coeffRef(Index index) const
     {
       return derived().nestedExpression().coeffRef(index);
     }
+  protected:
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(TransposeImpl)
 };
 
 /** \returns an expression of the transpose of *this.
@@ -168,7 +177,8 @@ template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
   *
   * \sa transposeInPlace(), adjoint() */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline Transpose<Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+Transpose<Derived>
 DenseBase<Derived>::transpose()
 {
   return TransposeReturnType(derived());
@@ -180,7 +190,8 @@ DenseBase<Derived>::transpose()
   *
   * \sa transposeInPlace(), adjoint() */
 template<typename Derived>
-EIGEN_DEVICE_FUNC inline typename DenseBase<Derived>::ConstTransposeReturnType
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename DenseBase<Derived>::ConstTransposeReturnType
 DenseBase<Derived>::transpose() const
 {
   return ConstTransposeReturnType(derived());
@@ -228,11 +239,10 @@ struct inplace_transpose_selector;
 template<typename MatrixType>
 struct inplace_transpose_selector<MatrixType,true,false> { // square matrix
   static void run(MatrixType& m) {
-    m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
+    m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose().template triangularView<StrictlyUpper>());
   }
 };
 
-// TODO: vectorized path is currently limited to LargestPacketSize x LargestPacketSize cases only.
 template<typename MatrixType>
 struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x PacketSize
   static void run(MatrixType& m) {
@@ -249,16 +259,66 @@ struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x Packet
   }
 };
 
+
+template <typename MatrixType, Index Alignment>
+void BlockedInPlaceTranspose(MatrixType& m) {
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
+  const Index PacketSize = internal::packet_traits<Scalar>::size;
+  eigen_assert(m.rows() == m.cols());
+  int row_start = 0;
+  for (; row_start + PacketSize <= m.rows(); row_start += PacketSize) {
+    for (int col_start = row_start; col_start + PacketSize <= m.cols(); col_start += PacketSize) {
+      PacketBlock<Packet> A;
+      if (row_start == col_start) {
+        for (Index i=0; i<PacketSize; ++i)
+          A.packet[i] = m.template packetByOuterInner<Alignment>(row_start + i,col_start);
+        internal::ptranspose(A);
+        for (Index i=0; i<PacketSize; ++i)
+          m.template writePacket<Alignment>(m.rowIndexByOuterInner(row_start + i, col_start), m.colIndexByOuterInner(row_start + i,col_start), A.packet[i]);
+      } else {
+        PacketBlock<Packet> B;
+        for (Index i=0; i<PacketSize; ++i) {
+          A.packet[i] = m.template packetByOuterInner<Alignment>(row_start + i,col_start);
+          B.packet[i] = m.template packetByOuterInner<Alignment>(col_start + i, row_start);
+        }
+        internal::ptranspose(A);
+        internal::ptranspose(B);
+        for (Index i=0; i<PacketSize; ++i) {
+          m.template writePacket<Alignment>(m.rowIndexByOuterInner(row_start + i, col_start), m.colIndexByOuterInner(row_start + i,col_start), B.packet[i]);
+          m.template writePacket<Alignment>(m.rowIndexByOuterInner(col_start + i, row_start), m.colIndexByOuterInner(col_start + i,row_start), A.packet[i]);
+        }
+      }
+    }
+  }
+  for (Index row = row_start; row < m.rows(); ++row) {
+    m.matrix().row(row).head(row).swap(
+        m.matrix().col(row).head(row).transpose());
+  }
+}
+
 template<typename MatrixType,bool MatchPacketSize>
-struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square matrix
+struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square or dynamic matrix
   static void run(MatrixType& m) {
-    if (m.rows()==m.cols())
-      m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
-    else
+    typedef typename MatrixType::Scalar Scalar;
+    if (m.rows() == m.cols()) {
+      const Index PacketSize = internal::packet_traits<Scalar>::size;
+      if (!NumTraits<Scalar>::IsComplex && m.rows() >= PacketSize) {
+        if ((m.rows() % PacketSize) == 0)
+          BlockedInPlaceTranspose<MatrixType,internal::evaluator<MatrixType>::Alignment>(m);
+        else
+          BlockedInPlaceTranspose<MatrixType,Unaligned>(m);
+      }
+      else {
+        m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose().template triangularView<StrictlyUpper>());
+      }
+    } else {
       m = m.transpose().eval();
+    }
   }
 };
 
+
 } // end namespace internal
 
 /** This is the "in place" version of transpose(): it replaces \c *this by its own transpose.
@@ -276,7 +336,7 @@ struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non squ
   * 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. 
+  * \note if the matrix is not square, then \c *this must be a resizable matrix.
   * This excludes (non-square) fixed-size matrices, block-expressions and maps.
   *
   * \sa transpose(), adjoint(), adjointInPlace() */
@@ -391,7 +451,8 @@ struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
 template<typename Dst, typename Src>
 void check_for_aliasing(const Dst &dst, const Src &src)
 {
-  internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
+  if((!Dst::IsVectorAtCompileTime) && dst.rows()>1 && dst.cols()>1)
+    internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
 }
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Transpositions.h b/examples/ThirdPartyLibs/Eigen/src/Core/Transpositions.h
index 19c17bb4a6..38a7b01cb5 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Transpositions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Transpositions.h
@@ -10,20 +10,22 @@
 #ifndef EIGEN_TRANSPOSITIONS_H
 #define EIGEN_TRANSPOSITIONS_H
 
-namespace Eigen { 
+namespace Eigen {
 
 template<typename Derived>
 class TranspositionsBase
 {
     typedef internal::traits<Derived> Traits;
-    
+
   public:
 
     typedef typename Traits::IndicesType IndicesType;
     typedef typename IndicesType::Scalar StorageIndex;
     typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
+    EIGEN_DEVICE_FUNC
     Derived& derived() { return *static_cast<Derived*>(this); }
+    EIGEN_DEVICE_FUNC
     const Derived& derived() const { return *static_cast<const Derived*>(this); }
 
     /** Copies the \a other transpositions into \c *this */
@@ -33,26 +35,19 @@ class TranspositionsBase
       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 */
+    EIGEN_DEVICE_FUNC
     Index size() const { return indices().size(); }
     /** \returns the number of rows of the equivalent permutation matrix */
+    EIGEN_DEVICE_FUNC
     Index rows() const { return indices().size(); }
     /** \returns the number of columns of the equivalent permutation matrix */
+    EIGEN_DEVICE_FUNC
     Index cols() const { return indices().size(); }
 
     /** Direct access to the underlying index vector */
+    EIGEN_DEVICE_FUNC
     inline const StorageIndex& coeff(Index i) const { return indices().coeff(i); }
     /** Direct access to the underlying index vector */
     inline StorageIndex& coeffRef(Index i) { return indices().coeffRef(i); }
@@ -66,8 +61,10 @@ class TranspositionsBase
     inline StorageIndex& operator[](Index i) { return indices()(i); }
 
     /** const version of indices(). */
+    EIGEN_DEVICE_FUNC
     const IndicesType& indices() const { return derived().indices(); }
     /** \returns a reference to the stored array representing the transpositions. */
+    EIGEN_DEVICE_FUNC
     IndicesType& indices() { return derived().indices(); }
 
     /** Resizes to given size. */
@@ -84,7 +81,7 @@ class TranspositionsBase
     }
 
     // FIXME: do we want such methods ?
-    // might be usefull when the target matrix expression is complex, e.g.:
+    // might be useful when the target matrix expression is complex, e.g.:
     // object.matrix().block(..,..,..,..) = trans * object.matrix().block(..,..,..,..);
     /*
     template<typename MatrixType>
@@ -171,12 +168,6 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
     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)
@@ -189,25 +180,16 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
       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(). */
+    EIGEN_DEVICE_FUNC
     const IndicesType& indices() const { return m_indices; }
     /** \returns a reference to the stored array representing the transpositions. */
+    EIGEN_DEVICE_FUNC
     IndicesType& indices() { return m_indices; }
 
   protected:
@@ -265,9 +247,11 @@ class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,P
     #endif
 
     /** const version of indices(). */
+    EIGEN_DEVICE_FUNC
     const IndicesType& indices() const { return m_indices; }
-    
+
     /** \returns a reference to the stored array representing the transpositions. */
+    EIGEN_DEVICE_FUNC
     IndicesType& indices() { return m_indices; }
 
   protected:
@@ -306,21 +290,12 @@ class TranspositionsWrapper
       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(). */
+    EIGEN_DEVICE_FUNC
     const IndicesType& indices() const { return m_indices; }
 
     /** \returns a reference to the stored array representing the transpositions. */
+    EIGEN_DEVICE_FUNC
     IndicesType& indices() { return m_indices; }
 
   protected:
@@ -374,9 +349,12 @@ class Transpose<TranspositionsBase<TranspositionsDerived> >
 
     explicit Transpose(const TranspositionType& t) : m_transpositions(t) {}
 
-    Index size() const { return m_transpositions.size(); }
-    Index rows() const { return m_transpositions.size(); }
-    Index cols() const { return m_transpositions.size(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index size() const EIGEN_NOEXCEPT { return m_transpositions.size(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return m_transpositions.size(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return m_transpositions.size(); }
 
     /** \returns the \a matrix with the inverse transpositions applied to the columns.
       */
@@ -384,7 +362,7 @@ class Transpose<TranspositionsBase<TranspositionsDerived> >
     const Product<OtherDerived, Transpose, AliasFreeProduct>
     operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trt)
     {
-      return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt.derived());
+      return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt);
     }
 
     /** \returns the \a matrix with the inverse transpositions applied to the rows.
@@ -395,7 +373,8 @@ class Transpose<TranspositionsBase<TranspositionsDerived> >
     {
       return Product<Transpose, OtherDerived, AliasFreeProduct>(*this, matrix.derived());
     }
-    
+
+    EIGEN_DEVICE_FUNC
     const TranspositionType& nestedExpression() const { return m_transpositions; }
 
   protected:
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/TriangularMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/TriangularMatrix.h
index ed80da36a1..fdb8bc15a5 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/TriangularMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/TriangularMatrix.h
@@ -11,12 +11,12 @@
 #ifndef EIGEN_TRIANGULARMATRIX_H
 #define EIGEN_TRIANGULARMATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
-  
+
 template<int Side, typename TriangularType, typename Rhs> struct triangular_solve_retval;
-  
+
 }
 
 /** \class TriangularBase
@@ -34,16 +34,16 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
       ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
       MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
-      
+
       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 */
-      
+
       MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
                                                    internal::traits<Derived>::MaxColsAtCompileTime>::ret)
-        
+
     };
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
@@ -53,18 +53,19 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
     typedef Derived const& Nested;
 
     EIGEN_DEVICE_FUNC
-    inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
+    inline TriangularBase() { eigen_assert(!((int(Mode) & int(UnitDiag)) && (int(Mode) & int(ZeroDiag)))); }
+
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return derived().rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return derived().cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index outerStride() const EIGEN_NOEXCEPT { return derived().outerStride(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index innerStride() const EIGEN_NOEXCEPT { return derived().innerStride(); }
 
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return derived().rows(); }
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return derived().cols(); }
-    EIGEN_DEVICE_FUNC
-    inline Index outerStride() const { return derived().outerStride(); }
-    EIGEN_DEVICE_FUNC
-    inline Index innerStride() const { return derived().innerStride(); }
-    
     // dummy resize function
+    EIGEN_DEVICE_FUNC
     void resize(Index rows, Index cols)
     {
       EIGEN_UNUSED_VARIABLE(rows);
@@ -155,7 +156,7 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
   * \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, 
+  *             This is in fact a bit field; it must have either #Upper or #Lower,
   *             and additionally it may have #UnitDiag or #ZeroDiag or neither.
   *
   * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
@@ -197,7 +198,8 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
     typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
 
     typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
-    
+    typedef TriangularView<typename internal::add_const<MatrixType>::type, _Mode> ConstTriangularView;
+
   public:
 
     typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
@@ -216,17 +218,15 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
     EIGEN_DEVICE_FUNC
     explicit inline TriangularView(MatrixType& matrix) : m_matrix(matrix)
     {}
-    
-    using Base::operator=;
-    TriangularView& operator=(const TriangularView &other)
-    { return Base::operator=(other); }
+
+    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TriangularView)
 
     /** \copydoc EigenBase::rows() */
-    EIGEN_DEVICE_FUNC
-    inline Index rows() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
     /** \copydoc EigenBase::cols() */
-    EIGEN_DEVICE_FUNC
-    inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
     /** \returns a const reference to the nested expression */
     EIGEN_DEVICE_FUNC
@@ -235,13 +235,25 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
     /** \returns a reference to the nested expression */
     EIGEN_DEVICE_FUNC
     NestedExpression& nestedExpression() { return m_matrix; }
-    
+
     typedef TriangularView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
     /** \sa MatrixBase::conjugate() const */
     EIGEN_DEVICE_FUNC
     inline const ConjugateReturnType conjugate() const
     { return ConjugateReturnType(m_matrix.conjugate()); }
 
+    /** \returns an expression of the complex conjugate of \c *this if Cond==true,
+     *           returns \c *this otherwise.
+     */
+    template<bool Cond>
+    EIGEN_DEVICE_FUNC
+    inline typename internal::conditional<Cond,ConjugateReturnType,ConstTriangularView>::type
+    conjugateIf() const
+    {
+      typedef typename internal::conditional<Cond,ConjugateReturnType,ConstTriangularView>::type ReturnType;
+      return ReturnType(m_matrix.template conjugateIf<Cond>());
+    }
+
     typedef TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
     /** \sa MatrixBase::adjoint() const */
     EIGEN_DEVICE_FUNC
@@ -257,7 +269,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
       typename MatrixType::TransposeReturnType tmp(m_matrix);
       return TransposeReturnType(tmp);
     }
-    
+
     typedef TriangularView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
     /** \sa MatrixBase::transpose() const */
     EIGEN_DEVICE_FUNC
@@ -268,10 +280,10 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
 
     template<typename Other>
     EIGEN_DEVICE_FUNC
-    inline const Solve<TriangularView, Other> 
+    inline const Solve<TriangularView, Other>
     solve(const MatrixBase<Other>& other) const
     { return Solve<TriangularView, Other>(*this, other.derived()); }
-    
+
   // workaround MSVC ICE
   #if EIGEN_COMP_MSVC
     template<int Side, typename Other>
@@ -315,7 +327,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
       else
         return m_matrix.diagonal().prod();
     }
-      
+
   protected:
 
     MatrixTypeNested m_matrix;
@@ -377,7 +389,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
       internal::call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename Other::Scalar>());
       return derived();
     }
-    
+
     /** \sa MatrixBase::operator*=() */
     EIGEN_DEVICE_FUNC
     TriangularViewType&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() * other; }
@@ -435,14 +447,14 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
     TriangularViewType& operator=(const TriangularViewImpl& other)
     { return *this = other.derived().nestedExpression(); }
 
-    /** \deprecated */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    /** \deprecated */
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC
     void lazyAssign(const TriangularBase<OtherDerived>& other);
 
-    /** \deprecated */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    /** \deprecated */
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC
     void lazyAssign(const MatrixBase<OtherDerived>& other);
 #endif
 
@@ -470,7 +482,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
       * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
       * \a Side==OnTheRight.
       *
-      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      * Note that the template parameter \c Side can be omitted, in which case \c Side==OnTheLeft
       *
       * 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
@@ -496,7 +508,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
       * \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.
       *
-      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      * Note that the template parameter \c Side can be omitted, in which case \c Side==OnTheLeft
       *
       * See TriangularView:solve() for the details.
       */
@@ -522,10 +534,10 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
       call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
     }
 
-    /** \deprecated
-      * Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
+    /** Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
     template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
+    /** \deprecated */
+    EIGEN_DEPRECATED EIGEN_DEVICE_FUNC
     void swap(MatrixBase<OtherDerived> const & other)
     {
       EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
@@ -543,6 +555,10 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
     template<typename ProductType>
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE TriangularViewType& _assignProduct(const ProductType& prod, const Scalar& alpha, bool beta);
+  protected:
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(TriangularViewImpl)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(TriangularViewImpl)
+
 };
 
 /***************************************************************************
@@ -699,7 +715,7 @@ bool MatrixBase<Derived>::isLowerTriangular(const RealScalar& prec) const
 
 namespace internal {
 
-  
+
 // TODO currently a triangular expression has the form TriangularView<.,.>
 //      in the future triangular-ness should be defined by the expression traits
 //      such that Transpose<TriangularView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
@@ -716,6 +732,7 @@ struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
 {
   typedef TriangularView<MatrixType,Mode> XprType;
   typedef evaluator<typename internal::remove_all<MatrixType>::type> Base;
+  EIGEN_DEVICE_FUNC
   unary_evaluator(const XprType &xpr) : Base(xpr.nestedExpression()) {}
 };
 
@@ -727,7 +744,7 @@ struct Dense2Triangular         {};
 
 template<typename Kernel, unsigned int Mode, int UnrollCount, bool ClearOpposite> struct triangular_assignment_loop;
 
- 
+
 /** \internal Specialization of the dense assignment kernel for triangular matrices.
   * The main difference is that the triangular, diagonal, and opposite parts are processed through three different functions.
   * \tparam UpLo must be either Lower or Upper
@@ -744,17 +761,17 @@ class triangular_dense_assignment_kernel : public generic_dense_assignment_kerne
   using Base::m_src;
   using Base::m_functor;
 public:
-  
+
   typedef typename Base::DstEvaluatorType DstEvaluatorType;
   typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
   typedef typename Base::Scalar Scalar;
   typedef typename Base::AssignmentTraits AssignmentTraits;
-  
-  
+
+
   EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
     : Base(dst, src, func, dstExpr)
   {}
-  
+
 #ifdef EIGEN_INTERNAL_DEBUGGING
   EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
   {
@@ -764,16 +781,16 @@ class triangular_dense_assignment_kernel : public generic_dense_assignment_kerne
 #else
   using Base::assignCoeff;
 #endif
-  
+
   EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
   {
          if(Mode==UnitDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(1));
     else if(Mode==ZeroDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(0));
     else if(Mode==0)                       Base::assignCoeff(id,id);
   }
-  
+
   EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index row, Index col)
-  { 
+  {
     eigen_internal_assert(row!=col);
     if(SetOpposite)
       m_functor.assignCoeff(m_dst.coeffRef(row,col), Scalar(0));
@@ -794,17 +811,17 @@ void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src, con
   if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
     dst.resize(dstRows, dstCols);
   DstEvaluatorType dstEvaluator(dst);
-    
+
   typedef triangular_dense_assignment_kernel< Mode&(Lower|Upper),Mode&(UnitDiag|ZeroDiag|SelfAdjoint),SetOpposite,
                                               DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
   Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
-  
+
   enum {
       unroll = DstXprType::SizeAtCompileTime != Dynamic
             && SrcEvaluatorType::CoeffReadCost < HugeCost
-            && DstXprType::SizeAtCompileTime * (DstEvaluatorType::CoeffReadCost+SrcEvaluatorType::CoeffReadCost) / 2 <= EIGEN_UNROLLING_LIMIT
+            && DstXprType::SizeAtCompileTime * (int(DstEvaluatorType::CoeffReadCost) + int(SrcEvaluatorType::CoeffReadCost)) / 2 <= EIGEN_UNROLLING_LIMIT
     };
-  
+
   triangular_assignment_loop<Kernel, Mode, unroll ? int(DstXprType::SizeAtCompileTime) : Dynamic, SetOpposite>::run(kernel);
 }
 
@@ -826,8 +843,8 @@ struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Triangular>
   EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
   {
     eigen_assert(int(DstXprType::Mode) == int(SrcXprType::Mode));
-    
-    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);
   }
 };
 
@@ -836,7 +853,7 @@ struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Dense>
 {
   EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
   {
-    call_triangular_assignment_loop<SrcXprType::Mode, (SrcXprType::Mode&SelfAdjoint)==0>(dst, src, func);  
+    call_triangular_assignment_loop<SrcXprType::Mode, (int(SrcXprType::Mode) & int(SelfAdjoint)) == 0>(dst, src, func);
   }
 };
 
@@ -845,7 +862,7 @@ struct Assignment<DstXprType, SrcXprType, Functor, Dense2Triangular>
 {
   EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
   {
-    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);
   }
 };
 
@@ -856,19 +873,19 @@ struct triangular_assignment_loop
   // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
   typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
   typedef typename DstEvaluatorType::XprType DstXprType;
-  
+
   enum {
     col = (UnrollCount-1) / DstXprType::RowsAtCompileTime,
     row = (UnrollCount-1) % DstXprType::RowsAtCompileTime
   };
-  
+
   typedef typename Kernel::Scalar Scalar;
 
   EIGEN_DEVICE_FUNC
   static inline void run(Kernel &kernel)
   {
     triangular_assignment_loop<Kernel, Mode, UnrollCount-1, SetOpposite>::run(kernel);
-    
+
     if(row==col)
       kernel.assignDiagonalCoeff(row);
     else if( ((Mode&Lower) && row>col) || ((Mode&Upper) && row<col) )
@@ -911,10 +928,10 @@ struct triangular_assignment_loop<Kernel, Mode, Dynamic, SetOpposite>
       }
       else
         i = maxi;
-      
+
       if(i<kernel.rows()) // then i==j
         kernel.assignDiagonalCoeff(i++);
-      
+
       if (((Mode&Upper) && SetOpposite) || (Mode&Lower))
       {
         for(; i < kernel.rows(); ++i)
@@ -934,11 +951,11 @@ template<typename DenseDerived>
 EIGEN_DEVICE_FUNC void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
 {
   other.derived().resize(this->rows(), this->cols());
-  internal::call_triangular_assignment_loop<Derived::Mode,(Derived::Mode&SelfAdjoint)==0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
+  internal::call_triangular_assignment_loop<Derived::Mode, (int(Derived::Mode) & int(SelfAdjoint)) == 0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
 }
 
 namespace internal {
-  
+
 // Triangular = Product
 template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
 struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
@@ -951,7 +968,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_
     if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
       dst.resize(dstRows, dstCols);
 
-    dst._assignProduct(src, 1, 0);
+    dst._assignProduct(src, Scalar(1), false);
   }
 };
 
@@ -962,7 +979,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::add_ass
   typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
   static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,typename SrcXprType::Scalar> &)
   {
-    dst._assignProduct(src, 1, 1);
+    dst._assignProduct(src, Scalar(1), true);
   }
 };
 
@@ -973,7 +990,7 @@ struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::sub_ass
   typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
   static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,typename SrcXprType::Scalar> &)
   {
-    dst._assignProduct(src, -1, 1);
+    dst._assignProduct(src, Scalar(-1), true);
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/VectorBlock.h b/examples/ThirdPartyLibs/Eigen/src/Core/VectorBlock.h
index d72fbf7e99..71c5b95eec 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/VectorBlock.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/VectorBlock.h
@@ -35,7 +35,7 @@ struct traits<VectorBlock<VectorType, Size> >
   * 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,
+  * However, if you want to directly manipulate sub-vector expressions,
   * for instance if you want to write a function returning such an expression, you
   * will need to use this class.
   *
@@ -71,8 +71,8 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Dynamic-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline VectorBlock(VectorType& vector, Index start, Index size)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    VectorBlock(VectorType& vector, Index start, Index size)
       : Base(vector,
              IsColVector ? start : 0, IsColVector ? 0 : start,
              IsColVector ? size  : 1, IsColVector ? 1 : size)
@@ -82,8 +82,8 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Fixed-size constructor
       */
-    EIGEN_DEVICE_FUNC
-    inline VectorBlock(VectorType& vector, Index start)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    VectorBlock(VectorType& vector, Index start)
       : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorBlock);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/VectorwiseOp.h b/examples/ThirdPartyLibs/Eigen/src/Core/VectorwiseOp.h
index 893bc796fd..870f4f1e40 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/VectorwiseOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/VectorwiseOp.h
@@ -1,7 +1,7 @@
 // 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) 2008-2019 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -65,10 +65,10 @@ class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<Matri
     explicit PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
       : m_matrix(mat), m_functor(func) {}
 
-    EIGEN_DEVICE_FUNC
-    Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
-    EIGEN_DEVICE_FUNC
-    Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
 
     EIGEN_DEVICE_FUNC
     typename MatrixType::Nested nestedExpression() const { return m_matrix; }
@@ -81,39 +81,46 @@ class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<Matri
     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_DEVICE_FUNC EIGEN_STRONG_INLINE                               \
-    ResultType operator()(const XprType& mat) const                     \
-    { return mat.MEMBER(); } \
+template<typename A,typename B> struct partial_redux_dummy_func;
+
+#define EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(MEMBER,COST,VECTORIZABLE,BINARYOP)                \
+  template <typename ResultType,typename Scalar>                                                            \
+  struct member_##MEMBER {                                                                  \
+    EIGEN_EMPTY_STRUCT_CTOR(member_##MEMBER)                                                \
+    typedef ResultType result_type;                                                         \
+    typedef BINARYOP<Scalar,Scalar> BinaryOp;   \
+    template<int Size> struct Cost { enum { value = COST }; };             \
+    enum { Vectorizable = VECTORIZABLE };                                                   \
+    template<typename XprType>                                                              \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                   \
+    ResultType operator()(const XprType& mat) const                                         \
+    { return mat.MEMBER(); }                                                                \
+    BinaryOp binaryFunc() const { return BinaryOp(); }                                      \
   }
 
+#define EIGEN_MEMBER_FUNCTOR(MEMBER,COST) \
+  EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(MEMBER,COST,0,partial_redux_dummy_func)
+
 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 <int p, typename ResultType>
+EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost, 1, internal::scalar_sum_op);
+EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost, 1, internal::scalar_min_op);
+EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost, 1, internal::scalar_max_op);
+EIGEN_MAKE_PARTIAL_REDUX_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost, 1, internal::scalar_product_op);
+
+template <int p, typename ResultType,typename Scalar>
 struct member_lpnorm {
   typedef ResultType result_type;
-  template<typename Scalar, int Size> struct Cost
+  enum { Vectorizable = 0 };
+  template<int Size> struct Cost
   { enum { value = (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost }; };
   EIGEN_DEVICE_FUNC member_lpnorm() {}
   template<typename XprType>
@@ -121,17 +128,20 @@ struct member_lpnorm {
   { return mat.template lpNorm<p>(); }
 };
 
-template <typename BinaryOp, typename Scalar>
+template <typename BinaryOpT, typename Scalar>
 struct member_redux {
+  typedef BinaryOpT BinaryOp;
   typedef typename result_of<
                      BinaryOp(const Scalar&,const Scalar&)
                    >::type  result_type;
-  template<typename _Scalar, int Size> struct Cost
-  { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
+
+  enum { Vectorizable = functor_traits<BinaryOp>::PacketAccess };
+  template<int Size> struct Cost { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
   EIGEN_DEVICE_FUNC explicit member_redux(const BinaryOp func) : m_functor(func) {}
   template<typename Derived>
   EIGEN_DEVICE_FUNC inline result_type operator()(const DenseBase<Derived>& mat) const
   { return mat.redux(m_functor); }
+  const BinaryOp& binaryFunc() const { return m_functor; }
   const BinaryOp m_functor;
 };
 }
@@ -139,18 +149,38 @@ struct member_redux {
 /** \class VectorwiseOp
   * \ingroup Core_Module
   *
-  * \brief Pseudo expression providing partial reduction operations
+  * \brief Pseudo expression providing broadcasting and partial reduction operations
   *
   * \tparam ExpressionType the type of the object on which to do partial reductions
-  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
+  * \tparam Direction indicates whether to operate on columns (#Vertical) or rows (#Horizontal)
   *
-  * This class represents a pseudo expression with partial reduction features.
+  * This class represents a pseudo expression with broadcasting and 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.
+  * and most of the time this is the only way it is explicitly used.
+  *
+  * To understand the logic of rowwise/colwise expression, let's consider a generic case `A.colwise().foo()`
+  * where `foo` is any method of `VectorwiseOp`. This expression is equivalent to applying `foo()` to each
+  * column of `A` and then re-assemble the outputs in a matrix expression:
+  * \code [A.col(0).foo(), A.col(1).foo(), ..., A.col(A.cols()-1).foo()] \endcode
   *
   * Example: \include MatrixBase_colwise.cpp
   * Output: \verbinclude MatrixBase_colwise.out
   *
+  * The begin() and end() methods are obviously exceptions to the previous rule as they
+  * return STL-compatible begin/end iterators to the rows or columns of the nested expression.
+  * Typical use cases include for-range-loop and calls to STL algorithms:
+  *
+  * Example: \include MatrixBase_colwise_iterator_cxx11.cpp
+  * Output: \verbinclude MatrixBase_colwise_iterator_cxx11.out
+  *
+  * For a partial reduction on an empty input, some rules apply.
+  * For the sake of clarity, let's consider a vertical reduction:
+  *   - If the number of columns is zero, then a 1x0 row-major vector expression is returned.
+  *   - Otherwise, if the number of rows is zero, then
+  *       - a row vector of zeros is returned for sum-like reductions (sum, squaredNorm, norm, etc.)
+  *       - a row vector of ones is returned for a product reduction (e.g., <code>MatrixXd(n,0).colwise().prod()</code>)
+  *       - an assert is triggered for all other reductions (minCoeff,maxCoeff,redux(bin_op))
+  *
   * \sa DenseBase::colwise(), DenseBase::rowwise(), class PartialReduxExpr
   */
 template<typename ExpressionType, int Direction> class VectorwiseOp
@@ -163,11 +193,11 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     typedef typename internal::ref_selector<ExpressionType>::non_const_type ExpressionTypeNested;
     typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
 
-    template<template<typename _Scalar> class Functor,
-                      typename Scalar_=Scalar> struct ReturnType
+    template<template<typename OutScalar,typename InputScalar> class Functor,
+                      typename ReturnScalar=Scalar> struct ReturnType
     {
       typedef PartialReduxExpr<ExpressionType,
-                               Functor<Scalar_>,
+                               Functor<ReturnScalar,Scalar>,
                                Direction
                               > Type;
     };
@@ -187,23 +217,6 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
   protected:
 
-    typedef typename internal::conditional<isVertical,
-                               typename ExpressionType::ColXpr,
-                               typename ExpressionType::RowXpr>::type SubVector;
-    /** \internal
-      * \returns the i-th subvector according to the \c Direction */
-    EIGEN_DEVICE_FUNC
-    SubVector subVector(Index i)
-    {
-      return SubVector(m_matrix.derived(),i);
-    }
-
-    /** \internal
-      * \returns the number of subvectors in the direction \c Direction */
-    EIGEN_DEVICE_FUNC
-    Index subVectors() const
-    { return isVertical?m_matrix.cols():m_matrix.rows(); }
-
     template<typename OtherDerived> struct ExtendedType {
       typedef Replicate<OtherDerived,
                         isVertical   ? 1 : ExpressionType::RowsAtCompileTime,
@@ -258,42 +271,101 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     EIGEN_DEVICE_FUNC
     inline const ExpressionType& _expression() const { return m_matrix; }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
+    /** STL-like <a href="https://en.cppreference.com/w/cpp/named_req/RandomAccessIterator">RandomAccessIterator</a>
+      * iterator type over the columns or rows as returned by the begin() and end() methods.
+      */
+    random_access_iterator_type iterator;
+    /** This is the const version of iterator (aka read-only) */
+    random_access_iterator_type const_iterator;
+    #else
+    typedef internal::subvector_stl_iterator<ExpressionType,               DirectionType(Direction)> iterator;
+    typedef internal::subvector_stl_iterator<const ExpressionType,         DirectionType(Direction)> const_iterator;
+    typedef internal::subvector_stl_reverse_iterator<ExpressionType,       DirectionType(Direction)> reverse_iterator;
+    typedef internal::subvector_stl_reverse_iterator<const ExpressionType, DirectionType(Direction)> const_reverse_iterator;
+    #endif
+
+    /** returns an iterator to the first row (rowwise) or column (colwise) of the nested expression.
+      * \sa end(), cbegin()
+      */
+    iterator                 begin()       { return iterator      (m_matrix, 0); }
+    /** const version of begin() */
+    const_iterator           begin() const { return const_iterator(m_matrix, 0); }
+    /** const version of begin() */
+    const_iterator          cbegin() const { return const_iterator(m_matrix, 0); }
+
+    /** returns a reverse iterator to the last row (rowwise) or column (colwise) of the nested expression.
+      * \sa rend(), crbegin()
+      */
+    reverse_iterator        rbegin()       { return reverse_iterator       (m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()-1); }
+	/** const version of rbegin() */
+    const_reverse_iterator  rbegin() const { return const_reverse_iterator (m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()-1); }
+	/** const version of rbegin() */
+	const_reverse_iterator crbegin() const { return const_reverse_iterator (m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()-1); }
+
+    /** returns an iterator to the row (resp. column) following the last row (resp. column) of the nested expression
+      * \sa begin(), cend()
+      */
+    iterator                 end()         { return iterator      (m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()); }
+    /** const version of end() */
+    const_iterator           end()  const  { return const_iterator(m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()); }
+    /** const version of end() */
+    const_iterator          cend()  const  { return const_iterator(m_matrix, m_matrix.template subVectors<DirectionType(Direction)>()); }
+
+    /** returns a reverse iterator to the row (resp. column) before the first row (resp. column) of the nested expression
+      * \sa begin(), cend()
+      */
+    reverse_iterator        rend()         { return reverse_iterator       (m_matrix, -1); }
+    /** const version of rend() */
+    const_reverse_iterator  rend()  const  { return const_reverse_iterator (m_matrix, -1); }
+    /** const version of rend() */
+    const_reverse_iterator crend()  const  { return const_reverse_iterator (m_matrix, -1); }
+
     /** \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.
       *
+      * \warning the size along the reduction direction must be strictly positive,
+      *          otherwise an assertion is triggered.
+      *
       * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
       */
     template<typename BinaryOp>
     EIGEN_DEVICE_FUNC
     const typename ReduxReturnType<BinaryOp>::Type
     redux(const BinaryOp& func = BinaryOp()) const
-    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func)); }
+    {
+      eigen_assert(redux_length()>0 && "you are using an empty matrix");
+      return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func));
+    }
 
     typedef typename ReturnType<internal::member_minCoeff>::Type MinCoeffReturnType;
     typedef typename ReturnType<internal::member_maxCoeff>::Type MaxCoeffReturnType;
-    typedef typename ReturnType<internal::member_squaredNorm,RealScalar>::Type SquaredNormReturnType;
-    typedef typename ReturnType<internal::member_norm,RealScalar>::Type NormReturnType;
+    typedef PartialReduxExpr<const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const ExpressionTypeNestedCleaned>,internal::member_sum<RealScalar,RealScalar>,Direction> SquaredNormReturnType;
+    typedef CwiseUnaryOp<internal::scalar_sqrt_op<RealScalar>, const SquaredNormReturnType> NormReturnType;
     typedef typename ReturnType<internal::member_blueNorm,RealScalar>::Type BlueNormReturnType;
     typedef typename ReturnType<internal::member_stableNorm,RealScalar>::Type StableNormReturnType;
     typedef typename ReturnType<internal::member_hypotNorm,RealScalar>::Type HypotNormReturnType;
     typedef typename ReturnType<internal::member_sum>::Type SumReturnType;
-    typedef typename ReturnType<internal::member_mean>::Type MeanReturnType;
+    typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(SumReturnType,Scalar,quotient) MeanReturnType;
     typedef typename ReturnType<internal::member_all>::Type AllReturnType;
     typedef typename ReturnType<internal::member_any>::Type AnyReturnType;
-    typedef PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> CountReturnType;
+    typedef PartialReduxExpr<ExpressionType, internal::member_count<Index,Scalar>, Direction> CountReturnType;
     typedef typename ReturnType<internal::member_prod>::Type ProdReturnType;
     typedef Reverse<const ExpressionType, Direction> ConstReverseReturnType;
     typedef Reverse<ExpressionType, Direction> ReverseReturnType;
 
     template<int p> struct LpNormReturnType {
-      typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar>,Direction> Type;
+      typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar,Scalar>,Direction> Type;
     };
 
     /** \returns a row (or column) vector expression of the smallest coefficient
       * of each column (or row) of the referenced expression.
       *
+      * \warning the size along the reduction direction must be strictly positive,
+      *          otherwise an assertion is triggered.
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_minCoeff.cpp
@@ -302,11 +374,17 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa DenseBase::minCoeff() */
     EIGEN_DEVICE_FUNC
     const MinCoeffReturnType minCoeff() const
-    { return MinCoeffReturnType(_expression()); }
+    {
+      eigen_assert(redux_length()>0 && "you are using an empty matrix");
+      return MinCoeffReturnType(_expression());
+    }
 
     /** \returns a row (or column) vector expression of the largest coefficient
       * of each column (or row) of the referenced expression.
       *
+      * \warning the size along the reduction direction must be strictly positive,
+      *          otherwise an assertion is triggered.
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_maxCoeff.cpp
@@ -315,7 +393,10 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa DenseBase::maxCoeff() */
     EIGEN_DEVICE_FUNC
     const MaxCoeffReturnType maxCoeff() const
-    { return MaxCoeffReturnType(_expression()); }
+    {
+      eigen_assert(redux_length()>0 && "you are using an empty matrix");
+      return MaxCoeffReturnType(_expression());
+    }
 
     /** \returns a row (or column) vector expression of the squared norm
       * of each column (or row) of the referenced expression.
@@ -327,7 +408,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa DenseBase::squaredNorm() */
     EIGEN_DEVICE_FUNC
     const SquaredNormReturnType squaredNorm() const
-    { return SquaredNormReturnType(_expression()); }
+    { return SquaredNormReturnType(m_matrix.cwiseAbs2()); }
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression.
@@ -339,7 +420,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa DenseBase::norm() */
     EIGEN_DEVICE_FUNC
     const NormReturnType norm() const
-    { return NormReturnType(_expression()); }
+    { return NormReturnType(squaredNorm()); }
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression.
@@ -404,7 +485,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     * \sa DenseBase::mean() */
     EIGEN_DEVICE_FUNC
     const MeanReturnType mean() const
-    { return MeanReturnType(_expression()); }
+    { return sum() / Scalar(Direction==Vertical?m_matrix.rows():m_matrix.cols()); }
 
     /** \returns a row (or column) vector expression representing
       * whether \b all coefficients of each respective column (or row) are \c true.
@@ -500,7 +581,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
       //eigen_assert((m_matrix.isNull()) == (other.isNull())); FIXME
-      return const_cast<ExpressionType&>(m_matrix = extendedTo(other.derived()));
+      return m_matrix = extendedTo(other.derived());
     }
 
     /** Adds the vector \a other to each subvector of \c *this */
@@ -510,7 +591,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return const_cast<ExpressionType&>(m_matrix += extendedTo(other.derived()));
+      return m_matrix += extendedTo(other.derived());
     }
 
     /** Substracts the vector \a other to each subvector of \c *this */
@@ -520,7 +601,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
-      return const_cast<ExpressionType&>(m_matrix -= extendedTo(other.derived()));
+      return m_matrix -= extendedTo(other.derived());
     }
 
     /** Multiples each subvector of \c *this by the vector \a other */
@@ -532,7 +613,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
       m_matrix *= extendedTo(other.derived());
-      return const_cast<ExpressionType&>(m_matrix);
+      return m_matrix;
     }
 
     /** Divides each subvector of \c *this by the vector \a other */
@@ -544,7 +625,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       EIGEN_STATIC_ASSERT_ARRAYXPR(ExpressionType)
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
       m_matrix /= extendedTo(other.derived());
-      return const_cast<ExpressionType&>(m_matrix);
+      return m_matrix;
     }
 
     /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
@@ -609,7 +690,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
-                  const typename OppositeExtendedType<typename ReturnType<internal::member_norm,RealScalar>::Type>::Type>
+                  const typename OppositeExtendedType<NormReturnType>::Type>
     normalized() const { return m_matrix.cwiseQuotient(extendedToOpposite(this->norm())); }
 
 
@@ -658,7 +739,15 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     EIGEN_DEVICE_FUNC
     const HNormalizedReturnType hnormalized() const;
 
+#   ifdef EIGEN_VECTORWISEOP_PLUGIN
+#     include EIGEN_VECTORWISEOP_PLUGIN
+#   endif
+
   protected:
+    Index redux_length() const
+    {
+      return Direction==Vertical ? m_matrix.rows() : m_matrix.cols();
+    }
     ExpressionTypeNested m_matrix;
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/Visitor.h b/examples/ThirdPartyLibs/Eigen/src/Core/Visitor.h
index 54c1883d98..00bcca8776 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/Visitor.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/Visitor.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_VISITOR_H
 #define EIGEN_VISITOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -40,6 +40,14 @@ struct visitor_impl<Visitor, Derived, 1>
   }
 };
 
+// This specialization enables visitors on empty matrices at compile-time
+template<typename Visitor, typename Derived>
+struct visitor_impl<Visitor, Derived, 0> {
+  EIGEN_DEVICE_FUNC
+  static inline void run(const Derived &/*mat*/, Visitor& /*visitor*/)
+  {}
+};
+
 template<typename Visitor, typename Derived>
 struct visitor_impl<Visitor, Derived, Dynamic>
 {
@@ -62,22 +70,22 @@ class visitor_evaluator
 public:
   EIGEN_DEVICE_FUNC
   explicit visitor_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
-  
+
   typedef typename XprType::Scalar Scalar;
   typedef typename XprType::CoeffReturnType CoeffReturnType;
-  
+
   enum {
     RowsAtCompileTime = XprType::RowsAtCompileTime,
     CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
   };
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
-  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index size() const EIGEN_NOEXCEPT { return m_xpr.size(); }
 
   EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const
   { return m_evaluator.coeff(row, col); }
-  
+
 protected:
   internal::evaluator<XprType> m_evaluator;
   const XprType &m_xpr;
@@ -99,6 +107,8 @@ class visitor_evaluator
   * \note compared to one or two \em for \em loops, visitors offer automatic
   * unrolling for small fixed size matrix.
   *
+  * \note if the matrix is empty, then the visitor is left unchanged.
+  *
   * \sa minCoeff(Index*,Index*), maxCoeff(Index*,Index*), DenseBase::redux()
   */
 template<typename Derived>
@@ -106,12 +116,15 @@ template<typename Visitor>
 EIGEN_DEVICE_FUNC
 void DenseBase<Derived>::visit(Visitor& visitor) const
 {
+  if(size()==0)
+    return;
+
   typedef typename internal::visitor_evaluator<Derived> ThisEvaluator;
   ThisEvaluator thisEval(derived());
-  
+
   enum {
     unroll =  SizeAtCompileTime != Dynamic
-           && SizeAtCompileTime * ThisEvaluator::CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost <= EIGEN_UNROLLING_LIMIT
+           && SizeAtCompileTime * int(ThisEvaluator::CoeffReadCost) + (SizeAtCompileTime-1) * int(internal::functor_traits<Visitor>::Cost) <= EIGEN_UNROLLING_LIMIT
   };
   return internal::visitor_impl<Visitor, ThisEvaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(thisEval, visitor);
 }
@@ -124,6 +137,9 @@ namespace internal {
 template <typename Derived>
 struct coeff_visitor
 {
+  // default initialization to avoid countless invalid maybe-uninitialized warnings by gcc
+  EIGEN_DEVICE_FUNC
+  coeff_visitor() : row(-1), col(-1), res(0) {}
   typedef typename Derived::Scalar Scalar;
   Index row, col;
   Scalar res;
@@ -141,7 +157,7 @@ struct coeff_visitor
   *
   * \sa DenseBase::minCoeff(Index*, Index*)
   */
-template <typename Derived>
+template <typename Derived, int NaNPropagation>
 struct min_coeff_visitor : coeff_visitor<Derived>
 {
   typedef typename Derived::Scalar Scalar;
@@ -157,8 +173,40 @@ struct min_coeff_visitor : coeff_visitor<Derived>
   }
 };
 
-template<typename Scalar>
-struct functor_traits<min_coeff_visitor<Scalar> > {
+template <typename Derived>
+struct min_coeff_visitor<Derived, PropagateNumbers> : coeff_visitor<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if((numext::isnan)(this->res) || (!(numext::isnan)(value) && value < this->res))
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template <typename Derived>
+struct min_coeff_visitor<Derived, PropagateNaN> : coeff_visitor<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if((numext::isnan)(value) || value < this->res)
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template<typename Scalar, int NaNPropagation>
+    struct functor_traits<min_coeff_visitor<Scalar, NaNPropagation> > {
   enum {
     Cost = NumTraits<Scalar>::AddCost
   };
@@ -169,10 +217,10 @@ struct functor_traits<min_coeff_visitor<Scalar> > {
   *
   * \sa DenseBase::maxCoeff(Index*, Index*)
   */
-template <typename Derived>
+template <typename Derived, int NaNPropagation>
 struct max_coeff_visitor : coeff_visitor<Derived>
 {
-  typedef typename Derived::Scalar Scalar; 
+  typedef typename Derived::Scalar Scalar;
   EIGEN_DEVICE_FUNC
   void operator() (const Scalar& value, Index i, Index j)
   {
@@ -185,8 +233,40 @@ struct max_coeff_visitor : coeff_visitor<Derived>
   }
 };
 
-template<typename Scalar>
-struct functor_traits<max_coeff_visitor<Scalar> > {
+template <typename Derived>
+struct max_coeff_visitor<Derived, PropagateNumbers> : coeff_visitor<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if((numext::isnan)(this->res) || (!(numext::isnan)(value) && value > this->res))
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template <typename Derived>
+struct max_coeff_visitor<Derived, PropagateNaN> : coeff_visitor<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  void operator() (const Scalar& value, Index i, Index j)
+  {
+    if((numext::isnan)(value) || value > this->res)
+    {
+      this->res = value;
+      this->row = i;
+      this->col = j;
+    }
+  }
+};
+
+template<typename Scalar, int NaNPropagation>
+struct functor_traits<max_coeff_visitor<Scalar, NaNPropagation> > {
   enum {
     Cost = NumTraits<Scalar>::AddCost
   };
@@ -196,17 +276,24 @@ struct functor_traits<max_coeff_visitor<Scalar> > {
 
 /** \fn DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
   * \returns the minimum of all coefficients of *this and puts in *row and *col its location.
-  * \warning the result is undefined if \c *this contains NaN.
+  *
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is maximum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   *
   * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
-template<typename IndexType>
+template<int NaNPropagation, typename IndexType>
 EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 {
-  internal::min_coeff_visitor<Derived> minVisitor;
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
+  internal::min_coeff_visitor<Derived, NaNPropagation> minVisitor;
   this->visit(minVisitor);
   *rowId = minVisitor.row;
   if (colId) *colId = minVisitor.col;
@@ -214,18 +301,25 @@ DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 }
 
 /** \returns the minimum of all coefficients of *this and puts in *index its location.
-  * \warning the result is undefined if \c *this contains NaN. 
+  *
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is maximum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   *
   * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
-template<typename IndexType>
+template<int NaNPropagation, typename IndexType>
 EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* index) const
 {
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  internal::min_coeff_visitor<Derived> minVisitor;
+      internal::min_coeff_visitor<Derived, NaNPropagation> minVisitor;
   this->visit(minVisitor);
   *index = IndexType((RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row);
   return minVisitor.res;
@@ -233,17 +327,24 @@ DenseBase<Derived>::minCoeff(IndexType* index) const
 
 /** \fn DenseBase<Derived>::maxCoeff(IndexType* rowId, IndexType* colId) const
   * \returns the maximum of all coefficients of *this and puts in *row and *col its location.
-  * \warning the result is undefined if \c *this contains NaN. 
+  *
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is maximum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   *
   * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::maxCoeff()
   */
 template<typename Derived>
-template<typename IndexType>
+template<int NaNPropagation, typename IndexType>
 EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
 {
-  internal::max_coeff_visitor<Derived> maxVisitor;
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
+  internal::max_coeff_visitor<Derived, NaNPropagation> maxVisitor;
   this->visit(maxVisitor);
   *rowPtr = maxVisitor.row;
   if (colPtr) *colPtr = maxVisitor.col;
@@ -251,18 +352,25 @@ DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
 }
 
 /** \returns the maximum of all coefficients of *this and puts in *index its location.
-  * \warning the result is undefined if \c *this contains NaN.
+  *
+  * In case \c *this contains NaN, NaNPropagation determines the behavior:
+  *   NaNPropagation == PropagateFast : undefined
+  *   NaNPropagation == PropagateNaN : result is NaN
+  *   NaNPropagation == PropagateNumbers : result is maximum of elements that are not NaN
+  * \warning the matrix must be not empty, otherwise an assertion is triggered.
   *
   * \sa DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
   */
 template<typename Derived>
-template<typename IndexType>
+template<int NaNPropagation, typename IndexType>
 EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* index) const
 {
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  internal::max_coeff_visitor<Derived> maxVisitor;
+      internal::max_coeff_visitor<Derived, NaNPropagation> maxVisitor;
   this->visit(maxVisitor);
   *index = (RowsAtCompileTime==1) ? maxVisitor.col : maxVisitor.row;
   return maxVisitor.res;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/Complex.h
index 7fa61969dc..e9096c0a1a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/Complex.h
@@ -22,6 +22,7 @@ struct Packet4cf
   __m256  v;
 };
 
+#ifndef EIGEN_VECTORIZE_AVX512
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet4cf type;
@@ -37,6 +38,7 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasMul    = 1,
     HasDiv    = 1,
     HasNegate = 1,
+    HasSqrt   = 1,
     HasAbs    = 0,
     HasAbs2   = 0,
     HasMin    = 0,
@@ -44,8 +46,20 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasSetLinear = 0
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet4cf> { typedef std::complex<float> type; enum {size=4, alignment=Aligned32}; typedef Packet2cf half; };
+template<> struct unpacket_traits<Packet4cf> {
+  typedef std::complex<float> type;
+  typedef Packet2cf half;
+  typedef Packet8f as_real;
+  enum {
+    size=4,
+    alignment=Aligned32,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
 
 template<> EIGEN_STRONG_INLINE Packet4cf padd<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_add_ps(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet4cf psub<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_sub_ps(a.v,b.v)); }
@@ -67,10 +81,17 @@ template<> EIGEN_STRONG_INLINE Packet4cf pmul<Packet4cf>(const Packet4cf& a, con
   return Packet4cf(result);
 }
 
+template <>
+EIGEN_STRONG_INLINE Packet4cf pcmp_eq(const Packet4cf& a, const Packet4cf& b) {
+  __m256 eq = _mm256_cmp_ps(a.v, b.v, _CMP_EQ_OQ);
+  return Packet4cf(_mm256_and_ps(eq, _mm256_permute_ps(eq, 0xb1)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf ptrue<Packet4cf>(const Packet4cf& a) { return Packet4cf(ptrue(Packet8f(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet4cf pand   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_and_ps(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet4cf por    <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_or_ps(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet4cf pxor   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_xor_ps(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(b.v,a.v)); }
 
 template<> EIGEN_STRONG_INLINE Packet4cf pload <Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet4cf(pload<Packet8f>(&numext::real_ref(*from))); }
 template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cf(ploadu<Packet8f>(&numext::real_ref(*from))); }
@@ -78,7 +99,9 @@ template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<fl
 
 template<> EIGEN_STRONG_INLINE Packet4cf pset1<Packet4cf>(const std::complex<float>& from)
 {
-  return Packet4cf(_mm256_castpd_ps(_mm256_broadcast_sd((const double*)(const void*)&from)));
+  const float re = std::real(from);
+  const float im = std::imag(from);
+  return Packet4cf(_mm256_set_ps(im, re, im, re, im, re, im, re));
 }
 
 template<> EIGEN_STRONG_INLINE Packet4cf ploaddup<Packet4cf>(const std::complex<float>* from)
@@ -140,70 +163,12 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet4cf>(const Packe
                      Packet2cf(_mm256_extractf128_ps(a.v,1))));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4cf preduxp<Packet4cf>(const Packet4cf* vecs)
-{
-  Packet8f t0 = _mm256_shuffle_ps(vecs[0].v, vecs[0].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  Packet8f t1 = _mm256_shuffle_ps(vecs[1].v, vecs[1].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  t0 = _mm256_hadd_ps(t0,t1);
-  Packet8f t2 = _mm256_shuffle_ps(vecs[2].v, vecs[2].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  Packet8f t3 = _mm256_shuffle_ps(vecs[3].v, vecs[3].v, _MM_SHUFFLE(3, 1, 2 ,0));
-  t2 = _mm256_hadd_ps(t2,t3);
-  
-  t1 = _mm256_permute2f128_ps(t0,t2, 0 + (2<<4));
-  t3 = _mm256_permute2f128_ps(t0,t2, 1 + (3<<4));
-
-  return Packet4cf(_mm256_add_ps(t1,t3));
-}
-
 template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet4cf>(const Packet4cf& a)
 {
   return predux_mul(pmul(Packet2cf(_mm256_extractf128_ps(a.v, 0)),
                          Packet2cf(_mm256_extractf128_ps(a.v, 1))));
 }
 
-template<int Offset>
-struct palign_impl<Offset,Packet4cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4cf& first, const Packet4cf& second)
-  {
-    if (Offset==0) return;
-    palign_impl<Offset*2,Packet8f>::run(first.v, second.v);
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, false,true>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, true,false>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet4cf, Packet4cf, true,true>
-{
-  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet4cf,Packet8f)
 
 template<> EIGEN_STRONG_INLINE Packet4cf pdiv<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
@@ -228,6 +193,7 @@ struct Packet2cd
   __m256d  v;
 };
 
+#ifndef EIGEN_VECTORIZE_AVX512
 template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 {
   typedef Packet2cd type;
@@ -243,6 +209,7 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
     HasMul    = 1,
     HasDiv    = 1,
     HasNegate = 1,
+    HasSqrt   = 1,
     HasAbs    = 0,
     HasAbs2   = 0,
     HasMin    = 0,
@@ -250,8 +217,20 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
     HasSetLinear = 0
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet2cd> { typedef std::complex<double> type; enum {size=2, alignment=Aligned32}; typedef Packet1cd half; };
+template<> struct unpacket_traits<Packet2cd> {
+  typedef std::complex<double> type;
+  typedef Packet1cd half;
+  typedef Packet4d as_real;
+  enum {
+    size=2,
+    alignment=Aligned32,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
 
 template<> EIGEN_STRONG_INLINE Packet2cd padd<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_add_pd(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cd psub<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_sub_pd(a.v,b.v)); }
@@ -272,10 +251,17 @@ template<> EIGEN_STRONG_INLINE Packet2cd pmul<Packet2cd>(const Packet2cd& a, con
   return Packet2cd(_mm256_addsub_pd(even, odd));
 }
 
+template <>
+EIGEN_STRONG_INLINE Packet2cd pcmp_eq(const Packet2cd& a, const Packet2cd& b) {
+  __m256d eq = _mm256_cmp_pd(a.v, b.v, _CMP_EQ_OQ);
+  return Packet2cd(pand(eq, _mm256_permute_pd(eq, 0x5)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd ptrue<Packet2cd>(const Packet2cd& a) { return Packet2cd(ptrue(Packet4d(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet2cd pand   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_and_pd(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cd por    <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_or_pd(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cd pxor   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_xor_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(b.v,a.v)); }
 
 template<> EIGEN_STRONG_INLINE Packet2cd pload <Packet2cd>(const std::complex<double>* from)
 { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cd(pload<Packet4d>((const double*)from)); }
@@ -327,63 +313,12 @@ template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet2cd>(const Pack
                      Packet1cd(_mm256_extractf128_pd(a.v,1))));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cd preduxp<Packet2cd>(const Packet2cd* vecs)
-{
-  Packet4d t0 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 0 + (2<<4));
-  Packet4d t1 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 1 + (3<<4));
-
-  return Packet2cd(_mm256_add_pd(t0,t1));
-}
-
 template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet2cd>(const Packet2cd& a)
 {
   return predux(pmul(Packet1cd(_mm256_extractf128_pd(a.v,0)),
                      Packet1cd(_mm256_extractf128_pd(a.v,1))));
 }
 
-template<int Offset>
-struct palign_impl<Offset,Packet2cd>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cd& first, const Packet2cd& second)
-  {
-    if (Offset==0) return;
-    palign_impl<Offset*2,Packet4d>::run(first.v, second.v);
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, false,true>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, true,false>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-template<> struct conj_helper<Packet2cd, Packet2cd, true,true>
-{
-  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
-  { return padd(pmul(x,y),c); }
-
-  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cd,Packet4d)
 
 template<> EIGEN_STRONG_INLINE Packet2cd pdiv<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
@@ -424,24 +359,12 @@ ptranspose(PacketBlock<Packet2cd,2>& kernel) {
  kernel.packet[0].v = tmp;
 }
 
-template<> EIGEN_STRONG_INLINE Packet4cf pinsertfirst(const Packet4cf& a, std::complex<float> b)
-{
-  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,1|2));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pinsertfirst(const Packet2cd& a, std::complex<double> b)
-{
-  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,1|2));
+template<> EIGEN_STRONG_INLINE Packet2cd psqrt<Packet2cd>(const Packet2cd& a) {
+  return psqrt_complex<Packet2cd>(a);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4cf pinsertlast(const Packet4cf& a, std::complex<float> b)
-{
-  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,(1<<7)|(1<<6)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2cd pinsertlast(const Packet2cd& a, std::complex<double> b)
-{
-  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,(1<<3)|(1<<2)));
+template<> EIGEN_STRONG_INLINE Packet4cf psqrt<Packet4cf>(const Packet4cf& a) {
+  return psqrt_complex<Packet4cf>(a);
 }
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/MathFunctions.h
index 6af67ce2d6..67041c812c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/MathFunctions.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_MATH_FUNCTIONS_AVX_H
 #define EIGEN_MATH_FUNCTIONS_AVX_H
 
-/* The sin, cos, exp, and log functions of this file are loosely derived from
+/* The sin and cos functions of this file are loosely derived from
  * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
  */
 
@@ -18,187 +18,50 @@ namespace Eigen {
 
 namespace internal {
 
-inline Packet8i pshiftleft(Packet8i v, int n)
-{
-#ifdef EIGEN_VECTORIZE_AVX2
-  return _mm256_slli_epi32(v, n);
-#else
-  __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(v, 0), n);
-  __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(v, 1), n);
-  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
-#endif
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psin<Packet8f>(const Packet8f& _x) {
+  return psin_float(_x);
 }
 
-inline Packet8f pshiftright(Packet8f v, int n)
-{
-#ifdef EIGEN_VECTORIZE_AVX2
-  return _mm256_cvtepi32_ps(_mm256_srli_epi32(_mm256_castps_si256(v), n));
-#else
-  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 0), n);
-  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 1), n);
-  return _mm256_cvtepi32_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1));
-#endif
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+pcos<Packet8f>(const Packet8f& _x) {
+  return pcos_float(_x);
 }
 
-// Sine function
-// Computes sin(x) by wrapping x to the interval [-Pi/4,3*Pi/4] and
-// evaluating interpolants in [-Pi/4,Pi/4] or [Pi/4,3*Pi/4]. The interpolants
-// are (anti-)symmetric and thus have only odd/even coefficients
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-psin<Packet8f>(const Packet8f& _x) {
-  Packet8f x = _x;
+plog<Packet8f>(const Packet8f& _x) {
+  return plog_float(_x);
+}
 
-  // Some useful values.
-  _EIGEN_DECLARE_CONST_Packet8i(one, 1);
-  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(two, 2.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(one_over_four, 0.25f);
-  _EIGEN_DECLARE_CONST_Packet8f(one_over_pi, 3.183098861837907e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_first, -3.140625000000000e+00f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_second, -9.670257568359375e-04f);
-  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_third, -6.278329571784980e-07f);
-  _EIGEN_DECLARE_CONST_Packet8f(four_over_pi, 1.273239544735163e+00f);
-
-  // Map x from [-Pi/4,3*Pi/4] to z in [-1,3] and subtract the shifted period.
-  Packet8f z = pmul(x, p8f_one_over_pi);
-  Packet8f shift = _mm256_floor_ps(padd(z, p8f_one_over_four));
-  x = pmadd(shift, p8f_neg_pi_first, x);
-  x = pmadd(shift, p8f_neg_pi_second, x);
-  x = pmadd(shift, p8f_neg_pi_third, x);
-  z = pmul(x, p8f_four_over_pi);
-
-  // Make a mask for the entries that need flipping, i.e. wherever the shift
-  // is odd.
-  Packet8i shift_ints = _mm256_cvtps_epi32(shift);
-  Packet8i shift_isodd = _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(shift_ints), _mm256_castsi256_ps(p8i_one)));
-  Packet8i sign_flip_mask = pshiftleft(shift_isodd, 31);
-
-  // Create a mask for which interpolant to use, i.e. if z > 1, then the mask
-  // is set to ones for that entry.
-  Packet8f ival_mask = _mm256_cmp_ps(z, p8f_one, _CMP_GT_OQ);
-
-  // Evaluate the polynomial for the interval [1,3] in z.
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_0, 9.999999724233232e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_2, -3.084242535619928e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_4, 1.584991525700324e-02f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_6, -3.188805084631342e-04f);
-  Packet8f z_minus_two = psub(z, p8f_two);
-  Packet8f z_minus_two2 = pmul(z_minus_two, z_minus_two);
-  Packet8f right = pmadd(p8f_coeff_right_6, z_minus_two2, p8f_coeff_right_4);
-  right = pmadd(right, z_minus_two2, p8f_coeff_right_2);
-  right = pmadd(right, z_minus_two2, p8f_coeff_right_0);
-
-  // Evaluate the polynomial for the interval [-1,1] in z.
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_1, 7.853981525427295e-01f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_3, -8.074536727092352e-02f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_5, 2.489871967827018e-03f);
-  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_7, -3.587725841214251e-05f);
-  Packet8f z2 = pmul(z, z);
-  Packet8f left = pmadd(p8f_coeff_left_7, z2, p8f_coeff_left_5);
-  left = pmadd(left, z2, p8f_coeff_left_3);
-  left = pmadd(left, z2, p8f_coeff_left_1);
-  left = pmul(left, z);
-
-  // Assemble the results, i.e. select the left and right polynomials.
-  left = _mm256_andnot_ps(ival_mask, left);
-  right = _mm256_and_ps(ival_mask, right);
-  Packet8f res = _mm256_or_ps(left, right);
-
-  // Flip the sign on the odd intervals and return the result.
-  res = _mm256_xor_ps(res, _mm256_castsi256_ps(sign_flip_mask));
-  return res;
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
+plog<Packet4d>(const Packet4d& _x) {
+  return plog_double(_x);
 }
 
-// Natural logarithm
-// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
-// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
-// be easily approximated by a polynomial centered on m=1 for stability.
-// TODO(gonnet): Further reduce the interval allowing for lower-degree
-//               polynomial interpolants -> ... -> profit!
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-plog<Packet8f>(const Packet8f& _x) {
-  Packet8f x = _x;
-  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet8f(126f, 126.0f);
-
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-  // The smallest non denormalized float number.
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(min_norm_pos, 0x00800000);
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(minus_inf, 0xff800000);
-
-  // Polynomial coefficients.
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_SQRTHF, 0.707106781186547524f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p0, 7.0376836292E-2f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p1, -1.1514610310E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p2, 1.1676998740E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p3, -1.2420140846E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p4, +1.4249322787E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p5, -1.6668057665E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p6, +2.0000714765E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p7, -2.4999993993E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p8, +3.3333331174E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q1, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q2, 0.693359375f);
-
-  Packet8f invalid_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_NGE_UQ); // not greater equal is true if x is NaN
-  Packet8f iszero_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_EQ_OQ);
-
-  // Truncate input values to the minimum positive normal.
-  x = pmax(x, p8f_min_norm_pos);
-
-  Packet8f emm0 = pshiftright(x,23);
-  Packet8f e = _mm256_sub_ps(emm0, p8f_126f);
-
-  // Set the exponents to -1, i.e. x are in the range [0.5,1).
-  x = _mm256_and_ps(x, p8f_inv_mant_mask);
-  x = _mm256_or_ps(x, p8f_half);
-
-  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
-  // and shift by -1. The values are then centered around 0, which improves
-  // the stability of the polynomial evaluation.
-  //   if( x < SQRTHF ) {
-  //     e -= 1;
-  //     x = x + x - 1.0;
-  //   } else { x = x - 1.0; }
-  Packet8f mask = _mm256_cmp_ps(x, p8f_cephes_SQRTHF, _CMP_LT_OQ);
-  Packet8f tmp = _mm256_and_ps(x, mask);
-  x = psub(x, p8f_1);
-  e = psub(e, _mm256_and_ps(p8f_1, mask));
-  x = padd(x, tmp);
-
-  Packet8f x2 = pmul(x, x);
-  Packet8f x3 = pmul(x2, x);
-
-  // Evaluate the polynomial approximant of degree 8 in three parts, probably
-  // to improve instruction-level parallelism.
-  Packet8f y, y1, y2;
-  y = pmadd(p8f_cephes_log_p0, x, p8f_cephes_log_p1);
-  y1 = pmadd(p8f_cephes_log_p3, x, p8f_cephes_log_p4);
-  y2 = pmadd(p8f_cephes_log_p6, x, p8f_cephes_log_p7);
-  y = pmadd(y, x, p8f_cephes_log_p2);
-  y1 = pmadd(y1, x, p8f_cephes_log_p5);
-  y2 = pmadd(y2, x, p8f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  // Add the logarithm of the exponent back to the result of the interpolation.
-  y1 = pmul(e, p8f_cephes_log_q1);
-  tmp = pmul(x2, p8f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p8f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-
-  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
-  return _mm256_or_ps(
-      _mm256_andnot_ps(iszero_mask, _mm256_or_ps(x, invalid_mask)),
-      _mm256_and_ps(iszero_mask, p8f_minus_inf));
+plog2<Packet8f>(const Packet8f& _x) {
+  return plog2_float(_x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
+plog2<Packet4d>(const Packet4d& _x) {
+  return plog2_double(_x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f plog1p<Packet8f>(const Packet8f& _x) {
+  return generic_plog1p(_x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f pexpm1<Packet8f>(const Packet8f& _x) {
+  return generic_expm1(_x);
 }
 
 // Exponential function. Works by writing "x = m*log(2) + r" where
@@ -207,149 +70,21 @@ plog<Packet8f>(const Packet8f& _x) {
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
 pexp<Packet8f>(const Packet8f& _x) {
-  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet8f(127, 127.0f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(exp_hi, 88.3762626647950f);
-  _EIGEN_DECLARE_CONST_Packet8f(exp_lo, -88.3762626647949f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_LOG2EF, 1.44269504088896341f);
-
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p0, 1.9875691500E-4f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p1, 1.3981999507E-3f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p2, 8.3334519073E-3f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p3, 4.1665795894E-2f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p4, 1.6666665459E-1f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p5, 5.0000001201E-1f);
-
-  // Clamp x.
-  Packet8f x = pmax(pmin(_x, p8f_exp_hi), p8f_exp_lo);
-
-  // Express exp(x) as exp(m*ln(2) + r), start by extracting
-  // m = floor(x/ln(2) + 0.5).
-  Packet8f m = _mm256_floor_ps(pmadd(x, p8f_cephes_LOG2EF, p8f_half));
-
-// Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
-// subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
-// truncation errors. Note that we don't use the "pmadd" function here to
-// ensure that a precision-preserving FMA instruction is used.
-#ifdef EIGEN_VECTORIZE_FMA
-  _EIGEN_DECLARE_CONST_Packet8f(nln2, -0.6931471805599453f);
-  Packet8f r = _mm256_fmadd_ps(m, p8f_nln2, x);
-#else
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C1, 0.693359375f);
-  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C2, -2.12194440e-4f);
-  Packet8f r = psub(x, pmul(m, p8f_cephes_exp_C1));
-  r = psub(r, pmul(m, p8f_cephes_exp_C2));
-#endif
-
-  Packet8f r2 = pmul(r, r);
-
-  // TODO(gonnet): Split into odd/even polynomials and try to exploit
-  //               instruction-level parallelism.
-  Packet8f y = p8f_cephes_exp_p0;
-  y = pmadd(y, r, p8f_cephes_exp_p1);
-  y = pmadd(y, r, p8f_cephes_exp_p2);
-  y = pmadd(y, r, p8f_cephes_exp_p3);
-  y = pmadd(y, r, p8f_cephes_exp_p4);
-  y = pmadd(y, r, p8f_cephes_exp_p5);
-  y = pmadd(y, r2, r);
-  y = padd(y, p8f_1);
-
-  // Build emm0 = 2^m.
-  Packet8i emm0 = _mm256_cvttps_epi32(padd(m, p8f_127));
-  emm0 = pshiftleft(emm0, 23);
-
-  // Return 2^m * exp(r).
-  return pmax(pmul(y, _mm256_castsi256_ps(emm0)), _x);
+  return pexp_float(_x);
 }
 
 // Hyperbolic Tangent function.
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-ptanh<Packet8f>(const Packet8f& x) {
-  return internal::generic_fast_tanh_float(x);
+ptanh<Packet8f>(const Packet8f& _x) {
+  return internal::generic_fast_tanh_float(_x);
 }
 
+// Exponential function for doubles.
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
 pexp<Packet4d>(const Packet4d& _x) {
-  Packet4d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet4d(1, 1.0);
-  _EIGEN_DECLARE_CONST_Packet4d(2, 2.0);
-  _EIGEN_DECLARE_CONST_Packet4d(half, 0.5);
-
-  _EIGEN_DECLARE_CONST_Packet4d(exp_hi, 709.437);
-  _EIGEN_DECLARE_CONST_Packet4d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C2, 1.42860682030941723212e-6);
-  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
-
-  Packet4d tmp, fx;
-
-  // clamp x
-  x = pmax(pmin(x, p4d_exp_hi), p4d_exp_lo);
-  // Express exp(x) as exp(g + n*log(2)).
-  fx = pmadd(p4d_cephes_LOG2EF, x, p4d_half);
-
-  // Get the integer modulus of log(2), i.e. the "n" described above.
-  fx = _mm256_floor_pd(fx);
-
-  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
-  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
-  // digits right.
-  tmp = pmul(fx, p4d_cephes_exp_C1);
-  Packet4d z = pmul(fx, p4d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet4d x2 = pmul(x, x);
-
-  // Evaluate the numerator polynomial of the rational interpolant.
-  Packet4d px = p4d_cephes_exp_p0;
-  px = pmadd(px, x2, p4d_cephes_exp_p1);
-  px = pmadd(px, x2, p4d_cephes_exp_p2);
-  px = pmul(px, x);
-
-  // Evaluate the denominator polynomial of the rational interpolant.
-  Packet4d qx = p4d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p4d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p4d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p4d_cephes_exp_q3);
-
-  // I don't really get this bit, copied from the SSE2 routines, so...
-  // TODO(gonnet): Figure out what is going on here, perhaps find a better
-  // rational interpolant?
-  x = _mm256_div_pd(px, psub(qx, px));
-  x = pmadd(p4d_2, x, p4d_1);
-
-  // Build e=2^n by constructing the exponents in a 128-bit vector and
-  // shifting them to where they belong in double-precision values.
-  __m128i emm0 = _mm256_cvtpd_epi32(fx);
-  emm0 = _mm_add_epi32(emm0, p4i_1023);
-  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(3, 1, 2, 0));
-  __m128i lo = _mm_slli_epi64(emm0, 52);
-  __m128i hi = _mm_slli_epi64(_mm_srli_epi64(emm0, 32), 52);
-  __m256i e = _mm256_insertf128_si256(_mm256_setzero_si256(), lo, 0);
-  e = _mm256_insertf128_si256(e, hi, 1);
-
-  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
-  // non-finite values in the input.
-  return pmax(pmul(x, _mm256_castsi256_pd(e)), _x);
+  return pexp_double(_x);
 }
 
 // Functions for sqrt.
@@ -362,37 +97,39 @@ pexp<Packet4d>(const Packet4d& _x) {
 // For detail see here: http://www.beyond3d.com/content/articles/8/
 #if EIGEN_FAST_MATH
 template <>
-EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
-psqrt<Packet8f>(const Packet8f& _x) {
-  Packet8f half = pmul(_x, pset1<Packet8f>(.5f));
-  Packet8f denormal_mask = _mm256_and_ps(
-      _mm256_cmp_ps(_x, pset1<Packet8f>((std::numeric_limits<float>::min)()),
-                    _CMP_LT_OQ),
-      _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_GE_OQ));
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f psqrt<Packet8f>(const Packet8f& _x) {
+  Packet8f minus_half_x = pmul(_x, pset1<Packet8f>(-0.5f));
+  Packet8f denormal_mask = pandnot(
+      pcmp_lt(_x, pset1<Packet8f>((std::numeric_limits<float>::min)())),
+      pcmp_lt(_x, pzero(_x)));
 
   // Compute approximate reciprocal sqrt.
   Packet8f x = _mm256_rsqrt_ps(_x);
   // Do a single step of Newton's iteration.
-  x = pmul(x, psub(pset1<Packet8f>(1.5f), pmul(half, pmul(x,x))));
+  x = pmul(x, pmadd(minus_half_x, pmul(x,x), pset1<Packet8f>(1.5f)));
   // Flush results for denormals to zero.
-  return _mm256_andnot_ps(denormal_mask, pmul(_x,x));
+  return pandnot(pmul(_x,x), denormal_mask);
 }
+
 #else
+
 template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet8f psqrt<Packet8f>(const Packet8f& x) {
-  return _mm256_sqrt_ps(x);
+Packet8f psqrt<Packet8f>(const Packet8f& _x) {
+  return _mm256_sqrt_ps(_x);
 }
+
 #endif
+
 template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4d psqrt<Packet4d>(const Packet4d& x) {
-  return _mm256_sqrt_pd(x);
+Packet4d psqrt<Packet4d>(const Packet4d& _x) {
+  return _mm256_sqrt_pd(_x);
 }
-#if EIGEN_FAST_MATH
 
+#if EIGEN_FAST_MATH
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
   _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(nan, 0x7fc00000);
   _EIGEN_DECLARE_CONST_Packet8f(one_point_five, 1.5f);
   _EIGEN_DECLARE_CONST_Packet8f(minus_half, -0.5f);
   _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(flt_min, 0x00800000);
@@ -401,36 +138,88 @@ Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
 
   // select only the inverse sqrt of positive normal inputs (denormals are
   // flushed to zero and cause infs as well).
-  Packet8f le_zero_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
-  Packet8f x = _mm256_andnot_ps(le_zero_mask, _mm256_rsqrt_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  Packet8f neg_mask = _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_LT_OQ);
-  Packet8f zero_mask = _mm256_andnot_ps(neg_mask, le_zero_mask);
-  Packet8f infs_and_nans = _mm256_or_ps(_mm256_and_ps(neg_mask, p8f_nan),
-                                        _mm256_and_ps(zero_mask, p8f_inf));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8f_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm256_or_ps(x, infs_and_nans);
+  Packet8f lt_min_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
+  Packet8f inf_mask =  _mm256_cmp_ps(_x, p8f_inf, _CMP_EQ_OQ);
+  Packet8f not_normal_finite_mask = _mm256_or_ps(lt_min_mask, inf_mask);
+
+  // Compute an approximate result using the rsqrt intrinsic.
+  Packet8f y_approx = _mm256_rsqrt_ps(_x);
+
+  // Do a single step of Newton-Raphson iteration to improve the approximation.
+  // This uses the formula y_{n+1} = y_n * (1.5 - y_n * (0.5 * x) * y_n).
+  // It is essential to evaluate the inner term like this because forming
+  // y_n^2 may over- or underflow.
+  Packet8f y_newton = pmul(y_approx, pmadd(y_approx, pmul(neg_half, y_approx), p8f_one_point_five));
+
+  // Select the result of the Newton-Raphson step for positive normal arguments.
+  // For other arguments, choose the output of the intrinsic. This will
+  // return rsqrt(+inf) = 0, rsqrt(x) = NaN if x < 0, and rsqrt(x) = +inf if
+  // x is zero or a positive denormalized float (equivalent to flushing positive
+  // denormalized inputs to zero).
+  return pselect<Packet8f>(not_normal_finite_mask, y_approx, y_newton);
 }
 
 #else
 template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet8f prsqrt<Packet8f>(const Packet8f& x) {
+Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
   _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
-  return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(x));
+  return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(_x));
 }
 #endif
 
 template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4d prsqrt<Packet4d>(const Packet4d& x) {
+Packet4d prsqrt<Packet4d>(const Packet4d& _x) {
   _EIGEN_DECLARE_CONST_Packet4d(one, 1.0);
-  return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(x));
+  return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(_x));
 }
 
+F16_PACKET_FUNCTION(Packet8f, Packet8h, psin)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, pcos)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, plog)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, plog2)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, plog1p)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, pexpm1)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, pexp)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, ptanh)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, psqrt)
+F16_PACKET_FUNCTION(Packet8f, Packet8h, prsqrt)
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pfrexp(const Packet8h& a, Packet8h& exponent) {
+  Packet8f fexponent;
+  const Packet8h out = float2half(pfrexp<Packet8f>(half2float(a), fexponent));
+  exponent = float2half(fexponent);
+  return out;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pldexp(const Packet8h& a, const Packet8h& exponent) {
+  return float2half(pldexp<Packet8f>(half2float(a), half2float(exponent)));
+}
+
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, psin)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, pcos)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, plog)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, plog2)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, plog1p)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, pexpm1)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, pexp)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, ptanh)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, psqrt)
+BF16_PACKET_FUNCTION(Packet8f, Packet8bf, prsqrt)
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf pfrexp(const Packet8bf& a, Packet8bf& exponent) {
+  Packet8f fexponent;
+  const Packet8bf out = F32ToBf16(pfrexp<Packet8f>(Bf16ToF32(a), fexponent));
+  exponent = F32ToBf16(fexponent);
+  return out;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf pldexp(const Packet8bf& a, const Packet8bf& exponent) {
+  return F32ToBf16(pldexp<Packet8f>(Bf16ToF32(a), Bf16ToF32(exponent)));
+}
 
 }  // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/PacketMath.h
index 6362309443..7fc32fd719 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/PacketMath.h
@@ -18,11 +18,11 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
 #endif
 
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#if !defined(EIGEN_VECTORIZE_AVX512) && !defined(EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS)
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
 #endif
 
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 #ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
@@ -31,10 +31,14 @@ namespace internal {
 typedef __m256  Packet8f;
 typedef __m256i Packet8i;
 typedef __m256d Packet4d;
+typedef eigen_packet_wrapper<__m128i, 2> Packet8h;
+typedef eigen_packet_wrapper<__m128i, 3> Packet8bf;
 
 template<> struct is_arithmetic<__m256>  { enum { value = true }; };
 template<> struct is_arithmetic<__m256i> { enum { value = true }; };
 template<> struct is_arithmetic<__m256d> { enum { value = true }; };
+template<> struct is_arithmetic<Packet8h> { enum { value = true }; };
+template<> struct is_arithmetic<Packet8bf> { enum { value = true }; };
 
 #define _EIGEN_DECLARE_CONST_Packet8f(NAME,X) \
   const Packet8f p8f_##NAME = pset1<Packet8f>(X)
@@ -58,21 +62,28 @@ template<> struct packet_traits<float>  : default_packet_traits
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=8,
+    size = 8,
     HasHalfPacket = 1,
 
-    HasDiv  = 1,
-    HasSin  = EIGEN_FAST_MATH,
-    HasCos  = 0,
-    HasLog  = 1,
-    HasExp  = 1,
+    HasCmp  = 1,
+    HasDiv = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasLog1p = 1,
+    HasExpm1 = 1,
+    HasExp = 1,
+    HasNdtri = 1,
+    HasBessel = 1,
     HasSqrt = 1,
     HasRsqrt = 1,
-    HasTanh  = EIGEN_FAST_MATH,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
     HasBlend = 1,
     HasRound = 1,
     HasFloor = 1,
-    HasCeil = 1
+    HasCeil = 1,
+    HasRint = 1
   };
 };
 template<> struct packet_traits<double> : default_packet_traits
@@ -85,14 +96,104 @@ template<> struct packet_traits<double> : default_packet_traits
     size=4,
     HasHalfPacket = 1,
 
+    HasCmp  = 1,
     HasDiv  = 1,
+    HasLog  = 1,
     HasExp  = 1,
     HasSqrt = 1,
     HasRsqrt = 1,
     HasBlend = 1,
     HasRound = 1,
     HasFloor = 1,
-    HasCeil = 1
+    HasCeil = 1,
+    HasRint = 1
+  };
+};
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet8h type;
+  // There is no half-size packet for Packet8h.
+  typedef Packet8h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+
+    HasCmp    = 1,
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasSin    = EIGEN_FAST_MATH,
+    HasCos    = EIGEN_FAST_MATH,
+    HasNegate = 1,
+    HasAbs    = 1,
+    HasAbs2   = 0,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasSetLinear = 0,
+    HasLog    = 1,
+    HasLog1p  = 1,
+    HasExpm1  = 1,
+    HasExp    = 1,
+    HasSqrt   = 1,
+    HasRsqrt  = 1,
+    HasTanh   = EIGEN_FAST_MATH,
+    HasErf    = EIGEN_FAST_MATH,
+    HasBlend  = 0,
+    HasRound  = 1,
+    HasFloor  = 1,
+    HasCeil   = 1,
+    HasRint   = 1,
+    HasBessel = 1,
+    HasNdtri  = 1
+  };
+};
+
+template <>
+struct packet_traits<bfloat16> : default_packet_traits {
+  typedef Packet8bf type;
+  // There is no half-size packet for current Packet8bf.
+  // TODO: support as SSE path.
+  typedef Packet8bf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+
+    HasCmp = 1,
+    HasAdd = 1,
+    HasSub = 1,
+    HasMul = 1,
+    HasDiv = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasNegate = 1,
+    HasAbs    = 1,
+    HasAbs2   = 0,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasSetLinear = 0,
+    HasLog = 1,
+    HasLog1p  = 1,
+    HasExpm1  = 1,
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
+    HasBlend = 0,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1,
+    HasBessel = 1,
+    HasNdtri  = 1
   };
 };
 #endif
@@ -113,14 +214,45 @@ template<> struct packet_traits<int>    : default_packet_traits
 };
 */
 
-template<> struct unpacket_traits<Packet8f> { typedef float  type; typedef Packet4f half; enum {size=8, alignment=Aligned32}; };
-template<> struct unpacket_traits<Packet4d> { typedef double type; typedef Packet2d half; enum {size=4, alignment=Aligned32}; };
-template<> struct unpacket_traits<Packet8i> { typedef int    type; typedef Packet4i half; enum {size=8, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet8f> {
+  typedef float     type;
+  typedef Packet4f  half;
+  typedef Packet8i  integer_packet;
+  typedef uint8_t   mask_t;
+  enum {size=8, alignment=Aligned32, vectorizable=true, masked_load_available=true, masked_store_available=true};
+};
+template<> struct unpacket_traits<Packet4d> {
+  typedef double type;
+  typedef Packet2d half;
+  enum {size=4, alignment=Aligned32, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet8i> { typedef int    type; typedef Packet4i half; enum {size=8, alignment=Aligned32, vectorizable=false, masked_load_available=false, masked_store_available=false}; };
+template<> struct unpacket_traits<Packet8bf> { typedef bfloat16 type; typedef Packet8bf half; enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; };
+
+// Helper function for bit packing snippet of low precision comparison.
+// It packs the flags from 16x16 to 8x16.
+EIGEN_STRONG_INLINE __m128i Pack16To8(Packet8f rf) {
+  return _mm_packs_epi32(_mm256_extractf128_si256(_mm256_castps_si256(rf), 0),
+                         _mm256_extractf128_si256(_mm256_castps_si256(rf), 1));
+}
+
 
 template<> EIGEN_STRONG_INLINE Packet8f pset1<Packet8f>(const float&  from) { return _mm256_set1_ps(from); }
 template<> EIGEN_STRONG_INLINE Packet4d pset1<Packet4d>(const double& from) { return _mm256_set1_pd(from); }
 template<> EIGEN_STRONG_INLINE Packet8i pset1<Packet8i>(const int&    from) { return _mm256_set1_epi32(from); }
 
+template<> EIGEN_STRONG_INLINE Packet8f pset1frombits<Packet8f>(unsigned int from) { return _mm256_castsi256_ps(pset1<Packet8i>(from)); }
+template<> EIGEN_STRONG_INLINE Packet4d pset1frombits<Packet4d>(uint64_t from) { return _mm256_castsi256_pd(_mm256_set1_epi64x(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pzero(const Packet8f& /*a*/) { return _mm256_setzero_ps(); }
+template<> EIGEN_STRONG_INLINE Packet4d pzero(const Packet4d& /*a*/) { return _mm256_setzero_pd(); }
+template<> EIGEN_STRONG_INLINE Packet8i pzero(const Packet8i& /*a*/) { return _mm256_setzero_si256(); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8f peven_mask(const Packet8f& /*a*/) { return _mm256_castsi256_ps(_mm256_set_epi32(0, -1, 0, -1, 0, -1, 0, -1)); }
+template<> EIGEN_STRONG_INLINE Packet8i peven_mask(const Packet8i& /*a*/) { return _mm256_set_epi32(0, -1, 0, -1, 0, -1, 0, -1); }
+template<> EIGEN_STRONG_INLINE Packet4d peven_mask(const Packet4d& /*a*/) { return _mm256_castsi256_pd(_mm256_set_epi32(0, 0, -1, -1, 0, 0, -1, -1)); }
+
 template<> EIGEN_STRONG_INLINE Packet8f pload1<Packet8f>(const float*  from) { return _mm256_broadcast_ss(from); }
 template<> EIGEN_STRONG_INLINE Packet4d pload1<Packet4d>(const double* from) { return _mm256_broadcast_sd(from); }
 
@@ -129,9 +261,27 @@ template<> EIGEN_STRONG_INLINE Packet4d plset<Packet4d>(const double& a) { retur
 
 template<> EIGEN_STRONG_INLINE Packet8f padd<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_add_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d padd<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_add_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i padd<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_add_epi32(a,b);
+#else
+  __m128i lo = _mm_add_epi32(_mm256_extractf128_si256(a, 0), _mm256_extractf128_si256(b, 0));
+  __m128i hi = _mm_add_epi32(_mm256_extractf128_si256(a, 1), _mm256_extractf128_si256(b, 1));
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f psub<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_sub_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d psub<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_sub_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i psub<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_sub_epi32(a,b);
+#else
+  __m128i lo = _mm_sub_epi32(_mm256_extractf128_si256(a, 0), _mm256_extractf128_si256(b, 0));
+  __m128i hi = _mm_sub_epi32(_mm256_extractf128_si256(a, 1), _mm256_extractf128_si256(b, 1));
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f pnegate(const Packet8f& a)
 {
@@ -148,7 +298,15 @@ template<> EIGEN_STRONG_INLINE Packet8i pconj(const Packet8i& a) { return a; }
 
 template<> EIGEN_STRONG_INLINE Packet8f pmul<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_mul_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d pmul<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_mul_pd(a,b); }
-
+template<> EIGEN_STRONG_INLINE Packet8i pmul<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_mullo_epi32(a,b);
+#else
+  const __m128i lo = _mm_mullo_epi32(_mm256_extractf128_si256(a, 0), _mm256_extractf128_si256(b, 0));
+  const __m128i hi = _mm_mullo_epi32(_mm256_extractf128_si256(a, 1), _mm256_extractf128_si256(b, 1));
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f pdiv<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_div_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d pdiv<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_div_pd(a,b); }
@@ -157,13 +315,14 @@ template<> EIGEN_STRONG_INLINE Packet8i pdiv<Packet8i>(const Packet8i& /*a*/, co
   return pset1<Packet8i>(0);
 }
 
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f& b, const Packet8f& c) {
-#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
-  // clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
-  // and gcc stupidly generates a vfmadd132ps instruction,
-  // so let's enforce it to generate a vfmadd231ps instruction since the most common use case is to accumulate
-  // the result of the product.
+#if ( (EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<80) || (EIGEN_COMP_CLANG) )
+  // Clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
+  //  and even register spilling with clang>=6.0 (bug 1637).
+  // Gcc stupidly generates a vfmadd132ps instruction.
+  // So let's enforce it to generate a vfmadd231ps instruction since the most common use
+  //  case is to accumulate the result of the product.
   Packet8f res = c;
   __asm__("vfmadd231ps %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
   return res;
@@ -172,7 +331,7 @@ template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f&
 #endif
 }
 template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d& b, const Packet4d& c) {
-#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
+#if ( (EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<80) || (EIGEN_COMP_CLANG) )
   // see above
   Packet4d res = c;
   __asm__("vfmadd231pd %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
@@ -183,24 +342,112 @@ template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d&
 }
 #endif
 
+template<> EIGEN_STRONG_INLINE Packet8f pcmp_le(const Packet8f& a, const Packet8f& b) { return _mm256_cmp_ps(a,b,_CMP_LE_OQ); }
+template<> EIGEN_STRONG_INLINE Packet8f pcmp_lt(const Packet8f& a, const Packet8f& b) { return _mm256_cmp_ps(a,b,_CMP_LT_OQ); }
+template<> EIGEN_STRONG_INLINE Packet8f pcmp_lt_or_nan(const Packet8f& a, const Packet8f& b) { return _mm256_cmp_ps(a, b, _CMP_NGE_UQ); }
+template<> EIGEN_STRONG_INLINE Packet8f pcmp_eq(const Packet8f& a, const Packet8f& b) { return _mm256_cmp_ps(a,b,_CMP_EQ_OQ); }
+
+template<> EIGEN_STRONG_INLINE Packet4d pcmp_le(const Packet4d& a, const Packet4d& b) { return _mm256_cmp_pd(a,b,_CMP_LE_OQ); }
+template<> EIGEN_STRONG_INLINE Packet4d pcmp_lt(const Packet4d& a, const Packet4d& b) { return _mm256_cmp_pd(a,b,_CMP_LT_OQ); }
+template<> EIGEN_STRONG_INLINE Packet4d pcmp_lt_or_nan(const Packet4d& a, const Packet4d& b) { return _mm256_cmp_pd(a, b, _CMP_NGE_UQ); }
+template<> EIGEN_STRONG_INLINE Packet4d pcmp_eq(const Packet4d& a, const Packet4d& b) { return _mm256_cmp_pd(a,b,_CMP_EQ_OQ); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8i pcmp_eq(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_cmpeq_epi32(a,b);
+#else
+  __m128i lo = _mm_cmpeq_epi32(_mm256_extractf128_si256(a, 0), _mm256_extractf128_si256(b, 0));
+  __m128i hi = _mm_cmpeq_epi32(_mm256_extractf128_si256(a, 1), _mm256_extractf128_si256(b, 1));
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
 template<> EIGEN_STRONG_INLINE Packet8f pmin<Packet8f>(const Packet8f& a, const Packet8f& b) {
+#if EIGEN_COMP_GNUC && EIGEN_COMP_GNUC < 63
+  // There appears to be a bug in GCC, by which the optimizer may flip
+  // the argument order in calls to _mm_min_ps/_mm_max_ps, so we have to
+  // resort to inline ASM here. This is supposed to be fixed in gcc6.3,
+  // see also: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  Packet8f res;
+  asm("vminps %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
   // Arguments are swapped to match NaN propagation behavior of std::min.
   return _mm256_min_ps(b,a);
+#endif
 }
 template<> EIGEN_STRONG_INLINE Packet4d pmin<Packet4d>(const Packet4d& a, const Packet4d& b) {
+#if EIGEN_COMP_GNUC && EIGEN_COMP_GNUC < 63
+  // See pmin above
+  Packet4d res;
+  asm("vminpd %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
   // Arguments are swapped to match NaN propagation behavior of std::min.
   return _mm256_min_pd(b,a);
+#endif
 }
+
 template<> EIGEN_STRONG_INLINE Packet8f pmax<Packet8f>(const Packet8f& a, const Packet8f& b) {
+#if EIGEN_COMP_GNUC && EIGEN_COMP_GNUC < 63
+  // See pmin above
+  Packet8f res;
+  asm("vmaxps %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
   // Arguments are swapped to match NaN propagation behavior of std::max.
   return _mm256_max_ps(b,a);
+#endif
 }
 template<> EIGEN_STRONG_INLINE Packet4d pmax<Packet4d>(const Packet4d& a, const Packet4d& b) {
+#if EIGEN_COMP_GNUC && EIGEN_COMP_GNUC < 63
+  // See pmin above
+  Packet4d res;
+  asm("vmaxpd %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
   // Arguments are swapped to match NaN propagation behavior of std::max.
   return _mm256_max_pd(b,a);
+#endif
+}
+
+// Add specializations for min/max with prescribed NaN progation.
+template<>
+EIGEN_STRONG_INLINE Packet8f pmin<PropagateNumbers, Packet8f>(const Packet8f& a, const Packet8f& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet8f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4d pmin<PropagateNumbers, Packet4d>(const Packet4d& a, const Packet4d& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet4d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8f pmax<PropagateNumbers, Packet8f>(const Packet8f& a, const Packet8f& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet8f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4d pmax<PropagateNumbers, Packet4d>(const Packet4d& a, const Packet4d& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet4d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8f pmin<PropagateNaN, Packet8f>(const Packet8f& a, const Packet8f& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet8f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4d pmin<PropagateNaN, Packet4d>(const Packet4d& a, const Packet4d& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet4d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8f pmax<PropagateNaN, Packet8f>(const Packet8f& a, const Packet8f& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet8f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4d pmax<PropagateNaN, Packet4d>(const Packet4d& a, const Packet4d& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet4d>);
 }
-template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
-template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
+
+template<> EIGEN_STRONG_INLINE Packet8f print<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet4d print<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
 
 template<> EIGEN_STRONG_INLINE Packet8f pceil<Packet8f>(const Packet8f& a) { return _mm256_ceil_ps(a); }
 template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { return _mm256_ceil_pd(a); }
@@ -208,17 +455,124 @@ template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { ret
 template<> EIGEN_STRONG_INLINE Packet8f pfloor<Packet8f>(const Packet8f& a) { return _mm256_floor_ps(a); }
 template<> EIGEN_STRONG_INLINE Packet4d pfloor<Packet4d>(const Packet4d& a) { return _mm256_floor_pd(a); }
 
+
+template<> EIGEN_STRONG_INLINE Packet8i ptrue<Packet8i>(const Packet8i& a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  // vpcmpeqd has lower latency than the more general vcmpps
+  return _mm256_cmpeq_epi32(a,a);
+#else
+  const __m256 b = _mm256_castsi256_ps(a);
+  return _mm256_castps_si256(_mm256_cmp_ps(b,b,_CMP_TRUE_UQ));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f ptrue<Packet8f>(const Packet8f& a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  // vpcmpeqd has lower latency than the more general vcmpps
+  const __m256i b = _mm256_castps_si256(a);
+  return _mm256_castsi256_ps(_mm256_cmpeq_epi32(b,b));
+#else
+  return _mm256_cmp_ps(a,a,_CMP_TRUE_UQ);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d ptrue<Packet4d>(const Packet4d& a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  // vpcmpeqq has lower latency than the more general vcmppd
+  const __m256i b = _mm256_castpd_si256(a);
+  return _mm256_castsi256_pd(_mm256_cmpeq_epi64(b,b));
+#else
+  return _mm256_cmp_pd(a,a,_CMP_TRUE_UQ);
+#endif
+}
+
 template<> EIGEN_STRONG_INLINE Packet8f pand<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_and_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d pand<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_and_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i pand<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_and_si256(a,b);
+#else
+  return _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(a),_mm256_castsi256_ps(b)));
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f por<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_or_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d por<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_or_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i por<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_or_si256(a,b);
+#else
+  return _mm256_castps_si256(_mm256_or_ps(_mm256_castsi256_ps(a),_mm256_castsi256_ps(b)));
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f pxor<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_xor_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4d pxor<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_xor_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i pxor<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_xor_si256(a,b);
+#else
+  return _mm256_castps_si256(_mm256_xor_ps(_mm256_castsi256_ps(a),_mm256_castsi256_ps(b)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(b,a); }
+template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(b,a); }
+template<> EIGEN_STRONG_INLINE Packet8i pandnot<Packet8i>(const Packet8i& a, const Packet8i& b) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_andnot_si256(b,a);
+#else
+  return _mm256_castps_si256(_mm256_andnot_ps(_mm256_castsi256_ps(b),_mm256_castsi256_ps(a)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a)
+{
+  const Packet8f mask = pset1frombits<Packet8f>(static_cast<numext::uint32_t>(0x80000000u));
+  const Packet8f prev0dot5 = pset1frombits<Packet8f>(static_cast<numext::uint32_t>(0x3EFFFFFFu));
+  return _mm256_round_ps(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a)
+{
+  const Packet4d mask = pset1frombits<Packet4d>(static_cast<numext::uint64_t>(0x8000000000000000ull));
+  const Packet4d prev0dot5 = pset1frombits<Packet4d>(static_cast<numext::uint64_t>(0x3FDFFFFFFFFFFFFFull));
+  return _mm256_round_pd(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
 
-template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8f pselect<Packet8f>(const Packet8f& mask, const Packet8f& a, const Packet8f& b)
+{ return _mm256_blendv_ps(b,a,mask); }
+template<> EIGEN_STRONG_INLINE Packet4d pselect<Packet4d>(const Packet4d& mask, const Packet4d& a, const Packet4d& b)
+{ return _mm256_blendv_pd(b,a,mask); }
+
+template<int N> EIGEN_STRONG_INLINE Packet8i parithmetic_shift_right(Packet8i a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_srai_epi32(a, N);
+#else
+  __m128i lo = _mm_srai_epi32(_mm256_extractf128_si256(a, 0), N);
+  __m128i hi = _mm_srai_epi32(_mm256_extractf128_si256(a, 1), N);
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet8i plogical_shift_right(Packet8i a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_srli_epi32(a, N);
+#else
+  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(a, 0), N);
+  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(a, 1), N);
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet8i plogical_shift_left(Packet8i a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_slli_epi32(a, N);
+#else
+  __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(a, 0), N);
+  __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(a, 1), N);
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet8f pload<Packet8f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_ps(from); }
 template<> EIGEN_STRONG_INLINE Packet4d pload<Packet4d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_pd(from); }
@@ -228,6 +582,14 @@ template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from) { EI
 template<> EIGEN_STRONG_INLINE Packet4d ploadu<Packet4d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_pd(from); }
 template<> EIGEN_STRONG_INLINE Packet8i ploadu<Packet8i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from)); }
 
+template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from, uint8_t umask) {
+  Packet8i mask = _mm256_set1_epi8(static_cast<char>(umask));
+  const Packet8i bit_mask = _mm256_set_epi32(0xffffff7f, 0xffffffbf, 0xffffffdf, 0xffffffef, 0xfffffff7, 0xfffffffb, 0xfffffffd, 0xfffffffe);
+  mask = por<Packet8i>(mask, bit_mask);
+  mask = pcmp_eq<Packet8i>(mask, _mm256_set1_epi32(0xffffffff));
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_maskload_ps(from, mask);
+}
+
 // Loads 4 floats from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3, a3}
 template<> EIGEN_STRONG_INLINE Packet8f ploaddup<Packet8f>(const float* from)
 {
@@ -265,6 +627,14 @@ template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet8f&
 template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_pd(to, from); }
 template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
 
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet8f& from, uint8_t umask) {
+  Packet8i mask = _mm256_set1_epi8(static_cast<char>(umask));
+  const Packet8i bit_mask = _mm256_set_epi32(0xffffff7f, 0xffffffbf, 0xffffffdf, 0xffffffef, 0xfffffff7, 0xfffffffb, 0xfffffffd, 0xfffffffe);
+  mask = por<Packet8i>(mask, bit_mask);
+  mask = pcmp_eq<Packet8i>(mask, _mm256_set1_epi32(0xffffffff));
+  EIGEN_DEBUG_UNALIGNED_STORE return _mm256_maskstore_ps(to, mask, from);
+}
+
 // NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available
 // NOTE: for the record the following seems to be slower: return _mm256_i32gather_ps(from, _mm256_set1_epi32(stride), 4);
 template<> EIGEN_DEVICE_FUNC inline Packet8f pgather<float, Packet8f>(const float* from, Index stride)
@@ -318,9 +688,9 @@ template<> EIGEN_STRONG_INLINE void pstore1<Packet8i>(int* to, const int& a)
 }
 
 #ifndef EIGEN_VECTORIZE_AVX512
-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); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
 #endif
 
 template<> EIGEN_STRONG_INLINE float  pfirst<Packet8f>(const Packet8f& a) {
@@ -343,9 +713,12 @@ template<> EIGEN_STRONG_INLINE Packet4d preverse(const Packet4d& a)
 {
    __m256d tmp = _mm256_shuffle_pd(a,a,5);
   return _mm256_permute2f128_pd(tmp, tmp, 1);
-
+  #if 0
+  // This version is unlikely to be faster as _mm256_shuffle_ps and _mm256_permute_pd
+  // exhibit the same latency/throughput, but it is here for future reference/benchmarking...
   __m256d swap_halves = _mm256_permute2f128_pd(a,a,1);
     return _mm256_permute_pd(swap_halves,5);
+  #endif
 }
 
 // pabs should be ok
@@ -360,47 +733,66 @@ template<> EIGEN_STRONG_INLINE Packet4d pabs(const Packet4d& a)
   return _mm256_and_pd(a,mask);
 }
 
-// preduxp should be ok
-// FIXME: why is this ok? why isn't the simply implementation working as expected?
-template<> EIGEN_STRONG_INLINE Packet8f preduxp<Packet8f>(const Packet8f* vecs)
-{
-    __m256 hsum1 = _mm256_hadd_ps(vecs[0], vecs[1]);
-    __m256 hsum2 = _mm256_hadd_ps(vecs[2], vecs[3]);
-    __m256 hsum3 = _mm256_hadd_ps(vecs[4], vecs[5]);
-    __m256 hsum4 = _mm256_hadd_ps(vecs[6], vecs[7]);
-
-    __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-    __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-    __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-    __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-    __m256 perm1 =  _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-    __m256 perm2 =  _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-    __m256 perm3 =  _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-    __m256 perm4 =  _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+template<> EIGEN_STRONG_INLINE Packet8f pfrexp<Packet8f>(const Packet8f& a, Packet8f& exponent) {
+  return pfrexp_generic(a,exponent);
+}
 
-    __m256 sum1 = _mm256_add_ps(perm1, hsum5);
-    __m256 sum2 = _mm256_add_ps(perm2, hsum6);
-    __m256 sum3 = _mm256_add_ps(perm3, hsum7);
-    __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+// Extract exponent without existence of Packet4l.
+template<>
+EIGEN_STRONG_INLINE  
+Packet4d pfrexp_generic_get_biased_exponent(const Packet4d& a) {
+  const Packet4d cst_exp_mask  = pset1frombits<Packet4d>(static_cast<uint64_t>(0x7ff0000000000000ull));
+  __m256i a_expo = _mm256_castpd_si256(pand(a, cst_exp_mask));
+#ifdef EIGEN_VECTORIZE_AVX2
+  a_expo = _mm256_srli_epi64(a_expo, 52);
+  __m128i lo = _mm256_extractf128_si256(a_expo, 0);
+  __m128i hi = _mm256_extractf128_si256(a_expo, 1);
+#else
+  __m128i lo = _mm256_extractf128_si256(a_expo, 0);
+  __m128i hi = _mm256_extractf128_si256(a_expo, 1);
+  lo = _mm_srli_epi64(lo, 52);
+  hi = _mm_srli_epi64(hi, 52);
+#endif
+  Packet2d exponent_lo = _mm_cvtepi32_pd(vec4i_swizzle1(lo, 0, 2, 1, 3));
+  Packet2d exponent_hi = _mm_cvtepi32_pd(vec4i_swizzle1(hi, 0, 2, 1, 3));
+  Packet4d exponent = _mm256_insertf128_pd(_mm256_setzero_pd(), exponent_lo, 0);
+  exponent = _mm256_insertf128_pd(exponent, exponent_hi, 1);
+  return exponent;
+}
 
-    __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-    __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
 
-    __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
-    return final;
+template<> EIGEN_STRONG_INLINE Packet4d pfrexp<Packet4d>(const Packet4d& a, Packet4d& exponent) {
+  return pfrexp_generic(a, exponent);
 }
-template<> EIGEN_STRONG_INLINE Packet4d preduxp<Packet4d>(const Packet4d* vecs)
-{
- Packet4d tmp0, tmp1;
 
-  tmp0 = _mm256_hadd_pd(vecs[0], vecs[1]);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs[2], vecs[3]);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+template<> EIGEN_STRONG_INLINE Packet8f pldexp<Packet8f>(const Packet8f& a, const Packet8f& exponent) {
+  return pldexp_generic(a, exponent);
+}
 
-  return _mm256_blend_pd(tmp0, tmp1, 0xC);
+template<> EIGEN_STRONG_INLINE Packet4d pldexp<Packet4d>(const Packet4d& a, const Packet4d& exponent) {
+  // Clamp exponent to [-2099, 2099]
+  const Packet4d max_exponent = pset1<Packet4d>(2099.0);
+  const Packet4i e = _mm256_cvtpd_epi32(pmin(pmax(exponent, pnegate(max_exponent)), max_exponent));
+  
+  // Split 2^e into four factors and multiply.
+  const Packet4i bias = pset1<Packet4i>(1023);
+  Packet4i b = parithmetic_shift_right<2>(e);  // floor(e/4)
+  
+  // 2^b
+  Packet4i hi = vec4i_swizzle1(padd(b, bias), 0, 2, 1, 3);
+  Packet4i lo = _mm_slli_epi64(hi, 52);
+  hi = _mm_slli_epi64(_mm_srli_epi64(hi, 32), 52);
+  Packet4d c = _mm256_castsi256_pd(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), hi, 1));
+  Packet4d out = pmul(pmul(pmul(a, c), c), c);  // a * 2^(3b)
+  
+  // 2^(e - 3b)
+  b = psub(psub(psub(e, b), b), b);  // e - 3b
+  hi = vec4i_swizzle1(padd(b, bias), 0, 2, 1, 3);
+  lo = _mm_slli_epi64(hi, 52);
+  hi = _mm_slli_epi64(_mm_srli_epi64(hi, 32), 52);
+  c = _mm256_castsi256_pd(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), hi, 1));
+  out = pmul(out, c); // a * 2^e
+  return out;
 }
 
 template<> EIGEN_STRONG_INLINE float predux<Packet8f>(const Packet8f& a)
@@ -412,7 +804,7 @@ template<> EIGEN_STRONG_INLINE double predux<Packet4d>(const Packet4d& a)
   return predux(Packet2d(_mm_add_pd(_mm256_castpd256_pd128(a),_mm256_extractf128_pd(a,1))));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f predux_downto4<Packet8f>(const Packet8f& a)
+template<> EIGEN_STRONG_INLINE Packet4f predux_half_dowto4<Packet8f>(const Packet8f& a)
 {
   return _mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1));
 }
@@ -456,93 +848,16 @@ template<> EIGEN_STRONG_INLINE double predux_max<Packet4d>(const Packet4d& a)
   return pfirst(_mm256_max_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
 }
 
+// not needed yet
+// template<> EIGEN_STRONG_INLINE bool predux_all(const Packet8f& x)
+// {
+//   return _mm256_movemask_ps(x)==0xFF;
+// }
 
-template<int Offset>
-struct palign_impl<Offset,Packet8f>
+template<> EIGEN_STRONG_INLINE bool predux_any(const Packet8f& x)
 {
-  static EIGEN_STRONG_INLINE void run(Packet8f& first, const Packet8f& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm256_blend_ps(first, second, 1);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0x88);
-    }
-    else if (Offset==2)
-    {
-      first = _mm256_blend_ps(first, second, 3);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0xcc);
-    }
-    else if (Offset==3)
-    {
-      first = _mm256_blend_ps(first, second, 7);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_blend_ps(tmp1, tmp2, 0xee);
-    }
-    else if (Offset==4)
-    {
-      first = _mm256_blend_ps(first, second, 15);
-      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(3,2,1,0));
-      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
-      first = _mm256_permute_ps(tmp2, _MM_SHUFFLE(3,2,1,0));
-    }
-    else if (Offset==5)
-    {
-      first = _mm256_blend_ps(first, second, 31);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0x88);
-    }
-    else if (Offset==6)
-    {
-      first = _mm256_blend_ps(first, second, 63);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0xcc);
-    }
-    else if (Offset==7)
-    {
-      first = _mm256_blend_ps(first, second, 127);
-      first = _mm256_permute2f128_ps(first, first, 1);
-      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
-      first = _mm256_permute2f128_ps(tmp, tmp, 1);
-      first = _mm256_blend_ps(tmp, first, 0xee);
-    }
-  }
-};
-
-template<int Offset>
-struct palign_impl<Offset,Packet4d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4d& first, const Packet4d& second)
-  {
-    if (Offset==1)
-    {
-      first = _mm256_blend_pd(first, second, 1);
-      __m256d tmp = _mm256_permute_pd(first, 5);
-      first = _mm256_permute2f128_pd(tmp, tmp, 1);
-      first = _mm256_blend_pd(tmp, first, 0xA);
-    }
-    else if (Offset==2)
-    {
-      first = _mm256_blend_pd(first, second, 3);
-      first = _mm256_permute2f128_pd(first, first, 1);
-    }
-    else if (Offset==3)
-    {
-      first = _mm256_blend_pd(first, second, 7);
-      __m256d tmp = _mm256_permute_pd(first, 5);
-      first = _mm256_permute2f128_pd(tmp, tmp, 1);
-      first = _mm256_blend_pd(tmp, first, 5);
-    }
-  }
-};
+  return _mm256_movemask_ps(x)!=0;
+}
 
 EIGEN_DEVICE_FUNC inline void
 ptranspose(PacketBlock<Packet8f,8>& kernel) {
@@ -616,24 +931,640 @@ template<> EIGEN_STRONG_INLINE Packet4d pblend(const Selector<4>& ifPacket, cons
   return _mm256_blendv_pd(thenPacket, elsePacket, false_mask);
 }
 
-template<> EIGEN_STRONG_INLINE Packet8f pinsertfirst(const Packet8f& a, float b)
+// Packet math for Eigen::half
+
+template<> struct unpacket_traits<Packet8h> { typedef Eigen::half type; enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet8h half; };
+
+template<> EIGEN_STRONG_INLINE Packet8h pset1<Packet8h>(const Eigen::half& from) {
+  return _mm_set1_epi16(numext::bit_cast<numext::uint16_t>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8h>(const Packet8h& from) {
+  return numext::bit_cast<Eigen::half>(static_cast<numext::uint16_t>(_mm_extract_epi16(from, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pload<Packet8h>(const Eigen::half* from) {
+  return _mm_load_si128(reinterpret_cast<const __m128i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h ploadu<Packet8h>(const Eigen::half* from) {
+  return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_store_si128(reinterpret_cast<__m128i*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h
+ploaddup<Packet8h>(const Eigen::half*  from) {
+  const numext::uint16_t a = numext::bit_cast<numext::uint16_t>(from[0]);
+  const numext::uint16_t b = numext::bit_cast<numext::uint16_t>(from[1]);
+  const numext::uint16_t c = numext::bit_cast<numext::uint16_t>(from[2]);
+  const numext::uint16_t d = numext::bit_cast<numext::uint16_t>(from[3]);
+  return _mm_set_epi16(d, d, c, c, b, b, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h
+ploadquad<Packet8h>(const Eigen::half* from) {
+  const numext::uint16_t a = numext::bit_cast<numext::uint16_t>(from[0]);
+  const numext::uint16_t b = numext::bit_cast<numext::uint16_t>(from[1]);
+  return _mm_set_epi16(b, b, b, b, a, a, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h ptrue(const Packet8h& a) {
+ return _mm_cmpeq_epi32(a, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pabs(const Packet8h& a) {
+  const __m128i sign_mask = _mm_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm_andnot_si128(sign_mask, a);
+}
+
+EIGEN_STRONG_INLINE Packet8f half2float(const Packet8h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm256_cvtph_ps(a);
+#else
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+
+  return _mm256_set_ps(f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet8h float2half(const Packet8f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm256_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+#else
+  EIGEN_ALIGN32 float aux[8];
+  pstore(aux, a);
+  const numext::uint16_t s0 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[0]));
+  const numext::uint16_t s1 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[1]));
+  const numext::uint16_t s2 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[2]));
+  const numext::uint16_t s3 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[3]));
+  const numext::uint16_t s4 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[4]));
+  const numext::uint16_t s5 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[5]));
+  const numext::uint16_t s6 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[6]));
+  const numext::uint16_t s7 = numext::bit_cast<numext::uint16_t>(Eigen::half(aux[7]));
+  return _mm_set_epi16(s7, s6, s5, s4, s3, s2, s1, s0);
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pmin<Packet8h>(const Packet8h& a,
+                                            const Packet8h& b) {
+  return float2half(pmin<Packet8f>(half2float(a), half2float(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pmax<Packet8h>(const Packet8h& a,
+                                            const Packet8h& b) {
+  return float2half(pmax<Packet8f>(half2float(a), half2float(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h plset<Packet8h>(const half& a) {
+  return float2half(plset<Packet8f>(static_cast<float>(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h por(const Packet8h& a,const Packet8h& b) {
+  // in some cases Packet4i is a wrapper around __m128i, so we either need to
+  // cast to Packet4i to directly call the intrinsics as below:
+  return _mm_or_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8h pxor(const Packet8h& a,const Packet8h& b) {
+  return _mm_xor_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8h pand(const Packet8h& a,const Packet8h& b) {
+  return _mm_and_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8h pandnot(const Packet8h& a,const Packet8h& b) {
+  return _mm_andnot_si128(b,a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pselect(const Packet8h& mask, const Packet8h& a, const Packet8h& b) {
+  return _mm_blendv_epi8(b, a, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pround<Packet8h>(const Packet8h& a) {
+  return float2half(pround<Packet8f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h print<Packet8h>(const Packet8h& a) {
+  return float2half(print<Packet8f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pceil<Packet8h>(const Packet8h& a) {
+  return float2half(pceil<Packet8f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pfloor<Packet8h>(const Packet8h& a) {
+  return float2half(pfloor<Packet8f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pcmp_eq(const Packet8h& a,const Packet8h& b) {
+  return Pack16To8(pcmp_eq(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pcmp_le(const Packet8h& a,const Packet8h& b) {
+  return Pack16To8(pcmp_le(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pcmp_lt(const Packet8h& a,const Packet8h& b) {
+  return Pack16To8(pcmp_lt(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pcmp_lt_or_nan(const Packet8h& a,const Packet8h& b) {
+  return Pack16To8(pcmp_lt_or_nan(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pconj(const Packet8h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8h pnegate(const Packet8h& a) {
+  Packet8h sign_mask = _mm_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm_xor_si128(a, sign_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h psub<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = psub(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pdiv<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = pdiv(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pgather<Eigen::half, Packet8h>(const Eigen::half* from, Index stride)
+{
+  const numext::uint16_t s0 = numext::bit_cast<numext::uint16_t>(from[0*stride]);
+  const numext::uint16_t s1 = numext::bit_cast<numext::uint16_t>(from[1*stride]);
+  const numext::uint16_t s2 = numext::bit_cast<numext::uint16_t>(from[2*stride]);
+  const numext::uint16_t s3 = numext::bit_cast<numext::uint16_t>(from[3*stride]);
+  const numext::uint16_t s4 = numext::bit_cast<numext::uint16_t>(from[4*stride]);
+  const numext::uint16_t s5 = numext::bit_cast<numext::uint16_t>(from[5*stride]);
+  const numext::uint16_t s6 = numext::bit_cast<numext::uint16_t>(from[6*stride]);
+  const numext::uint16_t s7 = numext::bit_cast<numext::uint16_t>(from[7*stride]);
+  return _mm_set_epi16(s7, s6, s5, s4, s3, s2, s1, s0);
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8h>(Eigen::half* to, const Packet8h& from, Index stride)
+{
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, from);
+  to[stride*0] = aux[0];
+  to[stride*1] = aux[1];
+  to[stride*2] = aux[2];
+  to[stride*3] = aux[3];
+  to[stride*4] = aux[4];
+  to[stride*5] = aux[5];
+  to[stride*6] = aux[6];
+  to[stride*7] = aux[7];
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_max<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_min<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_mul<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h preverse(const Packet8h& a)
+{
+  __m128i m = _mm_setr_epi8(14,15,12,13,10,11,8,9,6,7,4,5,2,3,0,1);
+  return _mm_shuffle_epi8(a,m);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,8>& kernel) {
+  __m128i a = kernel.packet[0];
+  __m128i b = kernel.packet[1];
+  __m128i c = kernel.packet[2];
+  __m128i d = kernel.packet[3];
+  __m128i e = kernel.packet[4];
+  __m128i f = kernel.packet[5];
+  __m128i g = kernel.packet[6];
+  __m128i h = kernel.packet[7];
+
+  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
+  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
+  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
+  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
+  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
+  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
+  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
+  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
+
+  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
+  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
+  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
+  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
+  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
+  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
+  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
+  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
+
+  __m128i a0b0c0d0e0f0g0h0 = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a1b1c1d1e1f1g1h1 = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a2b2c2d2e2f2g2h2 = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a3b3c3d3e3f3g3h3 = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a4b4c4d4e4f4g4h4 = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a5b5c5d5e5f5g5h5 = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a6b6c6d6e6f6g6h6 = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
+  __m128i a7b7c7d7e7f7g7h7 = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
+
+  kernel.packet[0] = a0b0c0d0e0f0g0h0;
+  kernel.packet[1] = a1b1c1d1e1f1g1h1;
+  kernel.packet[2] = a2b2c2d2e2f2g2h2;
+  kernel.packet[3] = a3b3c3d3e3f3g3h3;
+  kernel.packet[4] = a4b4c4d4e4f4g4h4;
+  kernel.packet[5] = a5b5c5d5e5f5g5h5;
+  kernel.packet[6] = a6b6c6d6e6f6g6h6;
+  kernel.packet[7] = a7b7c7d7e7f7g7h7;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,4>& kernel) {
+  EIGEN_ALIGN32 Eigen::half in[4][8];
+  pstore<Eigen::half>(in[0], kernel.packet[0]);
+  pstore<Eigen::half>(in[1], kernel.packet[1]);
+  pstore<Eigen::half>(in[2], kernel.packet[2]);
+  pstore<Eigen::half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN32 Eigen::half out[4][8];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet8h>(out[0]);
+  kernel.packet[1] = pload<Packet8h>(out[1]);
+  kernel.packet[2] = pload<Packet8h>(out[2]);
+  kernel.packet[3] = pload<Packet8h>(out[3]);
+}
+
+// BFloat16 implementation.
+
+EIGEN_STRONG_INLINE Packet8f Bf16ToF32(const Packet8bf& a) {
+#ifdef EIGEN_VECTORIZE_AVX2
+  __m256i extend = _mm256_cvtepu16_epi32(a);
+  return _mm256_castsi256_ps(_mm256_slli_epi32(extend, 16));
+#else
+  __m128i lo = _mm_cvtepu16_epi32(a);
+  __m128i hi = _mm_cvtepu16_epi32(_mm_srli_si128(a, 8));
+  __m128i lo_shift = _mm_slli_epi32(lo, 16);
+  __m128i hi_shift = _mm_slli_epi32(hi, 16);
+  return _mm256_castsi256_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo_shift), hi_shift, 1));
+#endif
+}
+
+// Convert float to bfloat16 according to round-to-nearest-even/denormals algorithm.
+EIGEN_STRONG_INLINE Packet8bf F32ToBf16(const Packet8f& a) {
+  Packet8bf r;
+
+  __m256i input = _mm256_castps_si256(a);
+
+#ifdef EIGEN_VECTORIZE_AVX2
+  // uint32_t lsb = (input >> 16);
+  __m256i t = _mm256_srli_epi32(input, 16);
+  // uint32_t lsb = lsb & 1;
+  t = _mm256_and_si256(t, _mm256_set1_epi32(1));
+  // uint32_t rounding_bias = 0x7fff + lsb;
+  t = _mm256_add_epi32(t, _mm256_set1_epi32(0x7fff));
+  // input += rounding_bias;
+  t = _mm256_add_epi32(t, input);
+  // input = input >> 16;
+  t = _mm256_srli_epi32(t, 16);
+  // Check NaN before converting back to bf16
+  __m256 mask = _mm256_cmp_ps(a, a, _CMP_ORD_Q);
+  __m256i nan = _mm256_set1_epi32(0x7fc0);
+  t = _mm256_blendv_epi8(nan, t, _mm256_castps_si256(mask));
+  // output = numext::bit_cast<uint16_t>(input);
+  return _mm_packus_epi32(_mm256_extractf128_si256(t, 0),
+                         _mm256_extractf128_si256(t, 1));
+#else
+  // uint32_t lsb = (input >> 16);
+  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(input, 0), 16);
+  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(input, 1), 16);
+  // uint32_t lsb = lsb & 1;
+  lo = _mm_and_si128(lo, _mm_set1_epi32(1));
+  hi = _mm_and_si128(hi, _mm_set1_epi32(1));
+  // uint32_t rounding_bias = 0x7fff + lsb;
+  lo = _mm_add_epi32(lo, _mm_set1_epi32(0x7fff));
+  hi = _mm_add_epi32(hi, _mm_set1_epi32(0x7fff));
+  // input += rounding_bias;
+  lo = _mm_add_epi32(lo, _mm256_extractf128_si256(input, 0));
+  hi = _mm_add_epi32(hi, _mm256_extractf128_si256(input, 1));
+  // input = input >> 16;
+  lo = _mm_srli_epi32(lo, 16);
+  hi = _mm_srli_epi32(hi, 16);
+  // Check NaN before converting back to bf16
+  __m256 mask = _mm256_cmp_ps(a, a, _CMP_ORD_Q);
+  __m128i nan = _mm_set1_epi32(0x7fc0);
+  lo = _mm_blendv_epi8(nan, lo, _mm_castps_si128(_mm256_castps256_ps128(mask)));
+  hi = _mm_blendv_epi8(nan, hi, _mm_castps_si128(_mm256_extractf128_ps(mask, 1)));
+  // output = numext::bit_cast<uint16_t>(input);
+  return _mm_packus_epi32(lo, hi);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pset1<Packet8bf>(const bfloat16& from) {
+  return _mm_set1_epi16(numext::bit_cast<numext::uint16_t>(from));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 pfirst<Packet8bf>(const Packet8bf& from) {
+  return numext::bit_cast<bfloat16>(static_cast<numext::uint16_t>(_mm_extract_epi16(from, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pload<Packet8bf>(const bfloat16* from) {
+  return _mm_load_si128(reinterpret_cast<const __m128i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf ploadu<Packet8bf>(const bfloat16* from) {
+  return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<bfloat16>(bfloat16* to, const Packet8bf& from) {
+  _mm_store_si128(reinterpret_cast<__m128i*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<bfloat16>(bfloat16* to, const Packet8bf& from) {
+  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf
+ploaddup<Packet8bf>(const bfloat16* from) {
+  const numext::uint16_t a = numext::bit_cast<numext::uint16_t>(from[0]);
+  const numext::uint16_t b = numext::bit_cast<numext::uint16_t>(from[1]);
+  const numext::uint16_t c = numext::bit_cast<numext::uint16_t>(from[2]);
+  const numext::uint16_t d = numext::bit_cast<numext::uint16_t>(from[3]);
+  return _mm_set_epi16(d, d, c, c, b, b, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf
+ploadquad<Packet8bf>(const bfloat16* from) {
+  const numext::uint16_t a = numext::bit_cast<numext::uint16_t>(from[0]);
+  const numext::uint16_t b = numext::bit_cast<numext::uint16_t>(from[1]);
+  return _mm_set_epi16(b, b, b, b, a, a, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf ptrue(const Packet8bf& a) {
+ return _mm_cmpeq_epi32(a, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf pabs(const Packet8bf& a) {
+  const __m128i sign_mask = _mm_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm_andnot_si128(sign_mask, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf pmin<Packet8bf>(const Packet8bf& a,
+                                                const Packet8bf& b) {
+  return F32ToBf16(pmin<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf pmax<Packet8bf>(const Packet8bf& a,
+                                                const Packet8bf& b) {
+  return F32ToBf16(pmax<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf plset<Packet8bf>(const bfloat16& a) {
+  return F32ToBf16(plset<Packet8f>(static_cast<float>(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf por(const Packet8bf& a,const Packet8bf& b) {
+  return _mm_or_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pxor(const Packet8bf& a,const Packet8bf& b) {
+  return _mm_xor_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pand(const Packet8bf& a,const Packet8bf& b) {
+  return _mm_and_si128(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pandnot(const Packet8bf& a,const Packet8bf& b) {
+  return _mm_andnot_si128(b,a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pselect(const Packet8bf& mask, const Packet8bf& a, const Packet8bf& b) {
+  return _mm_blendv_epi8(b, a, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pround<Packet8bf>(const Packet8bf& a)
 {
-  return _mm256_blend_ps(a,pset1<Packet8f>(b),1);
+  return F32ToBf16(pround<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf print<Packet8bf>(const Packet8bf& a) {
+  return F32ToBf16(print<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pceil<Packet8bf>(const Packet8bf& a) {
+  return F32ToBf16(pceil<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pfloor<Packet8bf>(const Packet8bf& a) {
+  return F32ToBf16(pfloor<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_eq(const Packet8bf& a,const Packet8bf& b) {
+  return Pack16To8(pcmp_eq(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_le(const Packet8bf& a,const Packet8bf& b) {
+  return Pack16To8(pcmp_le(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_lt(const Packet8bf& a,const Packet8bf& b) {
+  return Pack16To8(pcmp_lt(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_lt_or_nan(const Packet8bf& a,const Packet8bf& b) {
+  return Pack16To8(pcmp_lt_or_nan(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pconj(const Packet8bf& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8bf pnegate(const Packet8bf& a) {
+  Packet8bf sign_mask = _mm_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm_xor_si128(a, sign_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf padd<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return F32ToBf16(padd<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf psub<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return F32ToBf16(psub<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pmul<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return F32ToBf16(pmul<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4d pinsertfirst(const Packet4d& a, double b)
+template<> EIGEN_STRONG_INLINE Packet8bf pdiv<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return F32ToBf16(pdiv<Packet8f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet8bf pgather<bfloat16, Packet8bf>(const bfloat16* from, Index stride)
 {
-  return _mm256_blend_pd(a,pset1<Packet4d>(b),1);
+  const numext::uint16_t s0 = numext::bit_cast<numext::uint16_t>(from[0*stride]);
+  const numext::uint16_t s1 = numext::bit_cast<numext::uint16_t>(from[1*stride]);
+  const numext::uint16_t s2 = numext::bit_cast<numext::uint16_t>(from[2*stride]);
+  const numext::uint16_t s3 = numext::bit_cast<numext::uint16_t>(from[3*stride]);
+  const numext::uint16_t s4 = numext::bit_cast<numext::uint16_t>(from[4*stride]);
+  const numext::uint16_t s5 = numext::bit_cast<numext::uint16_t>(from[5*stride]);
+  const numext::uint16_t s6 = numext::bit_cast<numext::uint16_t>(from[6*stride]);
+  const numext::uint16_t s7 = numext::bit_cast<numext::uint16_t>(from[7*stride]);
+  return _mm_set_epi16(s7, s6, s5, s4, s3, s2, s1, s0);
 }
 
-template<> EIGEN_STRONG_INLINE Packet8f pinsertlast(const Packet8f& a, float b)
+template<> EIGEN_STRONG_INLINE void pscatter<bfloat16, Packet8bf>(bfloat16* to, const Packet8bf& from, Index stride)
 {
-  return _mm256_blend_ps(a,pset1<Packet8f>(b),(1<<7));
+  EIGEN_ALIGN32 bfloat16 aux[8];
+  pstore(aux, from);
+  to[stride*0] = aux[0];
+  to[stride*1] = aux[1];
+  to[stride*2] = aux[2];
+  to[stride*3] = aux[3];
+  to[stride*4] = aux[4];
+  to[stride*5] = aux[5];
+  to[stride*6] = aux[6];
+  to[stride*7] = aux[7];
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux<Packet8bf>(const Packet8bf& a) {
+  return static_cast<bfloat16>(predux<Packet8f>(Bf16ToF32(a)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4d pinsertlast(const Packet4d& a, double b)
+template<> EIGEN_STRONG_INLINE bfloat16 predux_max<Packet8bf>(const Packet8bf& a) {
+  return static_cast<bfloat16>(predux_max<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_min<Packet8bf>(const Packet8bf& a) {
+  return static_cast<bfloat16>(predux_min<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_mul<Packet8bf>(const Packet8bf& a) {
+  return static_cast<bfloat16>(predux_mul<Packet8f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf preverse(const Packet8bf& a)
 {
-  return _mm256_blend_pd(a,pset1<Packet4d>(b),(1<<3));
+  __m128i m = _mm_setr_epi8(14,15,12,13,10,11,8,9,6,7,4,5,2,3,0,1);
+  return _mm_shuffle_epi8(a,m);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8bf,8>& kernel) {
+  __m128i a = kernel.packet[0];
+  __m128i b = kernel.packet[1];
+  __m128i c = kernel.packet[2];
+  __m128i d = kernel.packet[3];
+  __m128i e = kernel.packet[4];
+  __m128i f = kernel.packet[5];
+  __m128i g = kernel.packet[6];
+  __m128i h = kernel.packet[7];
+
+  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
+  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
+  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
+  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
+  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
+  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
+  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
+  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
+
+  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
+  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
+  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
+  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
+  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
+  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
+  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
+  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
+
+  kernel.packet[0] = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
+  kernel.packet[1] = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
+  kernel.packet[2] = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
+  kernel.packet[3] = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
+  kernel.packet[4] = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
+  kernel.packet[5] = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
+  kernel.packet[6] = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
+  kernel.packet[7] = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8bf,4>& kernel) {
+  __m128i a = kernel.packet[0];
+  __m128i b = kernel.packet[1];
+  __m128i c = kernel.packet[2];
+  __m128i d = kernel.packet[3];
+
+  __m128i ab_03 = _mm_unpacklo_epi16(a, b);
+  __m128i cd_03 = _mm_unpacklo_epi16(c, d);
+  __m128i ab_47 = _mm_unpackhi_epi16(a, b);
+  __m128i cd_47 = _mm_unpackhi_epi16(c, d);
+
+  kernel.packet[0] = _mm_unpacklo_epi32(ab_03, cd_03);
+  kernel.packet[1] = _mm_unpackhi_epi32(ab_03, cd_03);
+  kernel.packet[2] = _mm_unpacklo_epi32(ab_47, cd_47);
+  kernel.packet[3] = _mm_unpackhi_epi32(ab_47, cd_47);
 }
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/TypeCasting.h
index 83bfdc604b..d507fb67b2 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/TypeCasting.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX/TypeCasting.h
@@ -35,15 +35,79 @@ struct type_casting_traits<int, float> {
 };
 
 
+#ifndef EIGEN_VECTORIZE_AVX512
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<bfloat16, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<float, bfloat16> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+#endif  // EIGEN_VECTORIZE_AVX512
 
 template<> EIGEN_STRONG_INLINE Packet8i pcast<Packet8f, Packet8i>(const Packet8f& a) {
-  return _mm256_cvtps_epi32(a);
+  return _mm256_cvttps_epi32(a);
 }
 
 template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8i, Packet8f>(const Packet8i& a) {
   return _mm256_cvtepi32_ps(a);
 }
 
+template<> EIGEN_STRONG_INLINE Packet8i preinterpret<Packet8i,Packet8f>(const Packet8f& a) {
+  return _mm256_castps_si256(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f preinterpret<Packet8f,Packet8i>(const Packet8i& a) {
+  return _mm256_castsi256_ps(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8h, Packet8f>(const Packet8h& a) {
+  return half2float(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8bf, Packet8f>(const Packet8bf& a) {
+  return Bf16ToF32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pcast<Packet8f, Packet8h>(const Packet8f& a) {
+  return float2half(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcast<Packet8f, Packet8bf>(const Packet8f& a) {
+  return F32ToBf16(a);
+}
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/Complex.h
new file mode 100644
index 0000000000..0742538593
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/Complex.h
@@ -0,0 +1,424 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2018 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_AVX512_H
+#define EIGEN_COMPLEX_AVX512_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet8cf
+{
+  EIGEN_STRONG_INLINE Packet8cf() {}
+  EIGEN_STRONG_INLINE explicit Packet8cf(const __m512& a) : v(a) {}
+  __m512  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet8cf type;
+  typedef Packet4cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasSqrt   = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet8cf> {
+  typedef std::complex<float> type;
+  typedef Packet4cf half;
+  typedef Packet16f as_real;
+  enum {
+    size = 8,
+    alignment=unpacket_traits<Packet16f>::alignment,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet8cf ptrue<Packet8cf>(const Packet8cf& a) { return Packet8cf(ptrue(Packet16f(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet8cf padd<Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(_mm512_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet8cf psub<Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(_mm512_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet8cf pnegate(const Packet8cf& a)
+{
+  return Packet8cf(pnegate(a.v));
+}
+template<> EIGEN_STRONG_INLINE Packet8cf pconj(const Packet8cf& a)
+{
+  const __m512 mask = _mm512_castsi512_ps(_mm512_setr_epi32(
+    0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,
+    0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000));
+  return Packet8cf(pxor(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf pmul<Packet8cf>(const Packet8cf& a, const Packet8cf& b)
+{
+  __m512 tmp2 = _mm512_mul_ps(_mm512_movehdup_ps(a.v), _mm512_permute_ps(b.v, _MM_SHUFFLE(2,3,0,1)));
+  return Packet8cf(_mm512_fmaddsub_ps(_mm512_moveldup_ps(a.v), b.v, tmp2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf pand   <Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(pand(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet8cf por    <Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(por(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet8cf pxor   <Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(pxor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet8cf pandnot<Packet8cf>(const Packet8cf& a, const Packet8cf& b) { return Packet8cf(pandnot(a.v,b.v)); }
+
+template <>
+EIGEN_STRONG_INLINE Packet8cf pcmp_eq(const Packet8cf& a, const Packet8cf& b) {
+  __m512 eq = pcmp_eq<Packet16f>(a.v, b.v);
+  return Packet8cf(pand(eq, _mm512_permute_ps(eq, 0xB1)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf pload <Packet8cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet8cf(pload<Packet16f>(&numext::real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet8cf ploadu<Packet8cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet8cf(ploadu<Packet16f>(&numext::real_ref(*from))); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8cf pset1<Packet8cf>(const std::complex<float>& from)
+{
+  const float re = std::real(from);
+  const float im = std::imag(from);
+  return Packet8cf(_mm512_set_ps(im, re, im, re, im, re, im, re, im, re, im, re, im, re, im, re));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf ploaddup<Packet8cf>(const std::complex<float>* from)
+{
+  return Packet8cf( _mm512_castpd_ps( ploaddup<Packet8d>((const double*)(const void*)from )) );
+}
+template<> EIGEN_STRONG_INLINE Packet8cf ploadquad<Packet8cf>(const std::complex<float>* from)
+{
+  return Packet8cf( _mm512_castpd_ps( ploadquad<Packet8d>((const double*)(const void*)from )) );
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float>* to, const Packet8cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet8cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet8cf pgather<std::complex<float>, Packet8cf>(const std::complex<float>* from, Index stride)
+{
+  return Packet8cf(_mm512_castpd_ps(pgather<double,Packet8d>((const double*)(const void*)from, stride)));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet8cf>(std::complex<float>* to, const Packet8cf& from, Index stride)
+{
+  pscatter((double*)(void*)to, _mm512_castps_pd(from.v), stride);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet8cf>(const Packet8cf& a)
+{
+  return pfirst(Packet2cf(_mm512_castps512_ps128(a.v)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf preverse(const Packet8cf& a) {
+  return Packet8cf(_mm512_castsi512_ps(
+            _mm512_permutexvar_epi64( _mm512_set_epi32(0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0, 5, 0, 6, 0, 7),
+                                      _mm512_castps_si512(a.v))));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet8cf>(const Packet8cf& a)
+{
+  return predux(padd(Packet4cf(extract256<0>(a.v)),
+                     Packet4cf(extract256<1>(a.v))));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet8cf>(const Packet8cf& a)
+{
+  return predux_mul(pmul(Packet4cf(extract256<0>(a.v)),
+                         Packet4cf(extract256<1>(a.v))));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4cf predux_half_dowto4<Packet8cf>(const Packet8cf& a) {
+  __m256 lane0 = extract256<0>(a.v);
+  __m256 lane1 = extract256<1>(a.v);
+  __m256 res = _mm256_add_ps(lane0, lane1);
+  return Packet4cf(res);
+}
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet8cf,Packet16f)
+
+template<> EIGEN_STRONG_INLINE Packet8cf pdiv<Packet8cf>(const Packet8cf& a, const Packet8cf& b)
+{
+  Packet8cf num = pmul(a, pconj(b));
+  __m512 tmp = _mm512_mul_ps(b.v, b.v);
+  __m512 tmp2    = _mm512_shuffle_ps(tmp,tmp,0xB1);
+  __m512 denom = _mm512_add_ps(tmp, tmp2);
+  return Packet8cf(_mm512_div_ps(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf pcplxflip<Packet8cf>(const Packet8cf& x)
+{
+  return Packet8cf(_mm512_shuffle_ps(x.v, x.v, _MM_SHUFFLE(2, 3, 0 ,1)));
+}
+
+//---------- double ----------
+struct Packet4cd
+{
+  EIGEN_STRONG_INLINE Packet4cd() {}
+  EIGEN_STRONG_INLINE explicit Packet4cd(const __m512d& a) : v(a) {}
+  __m512d  v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet4cd type;
+  typedef Packet2cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasSqrt   = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet4cd> {
+  typedef std::complex<double> type;
+  typedef Packet2cd half;
+  typedef Packet8d as_real;
+  enum {
+    size = 4,
+    alignment = unpacket_traits<Packet8d>::alignment,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4cd padd<Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(_mm512_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd psub<Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(_mm512_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd pnegate(const Packet4cd& a) { return Packet4cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd pconj(const Packet4cd& a)
+{
+  const __m512d mask = _mm512_castsi512_pd(
+          _mm512_set_epi32(0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0,
+                           0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0));
+  return Packet4cd(pxor(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd pmul<Packet4cd>(const Packet4cd& a, const Packet4cd& b)
+{
+  __m512d tmp1 = _mm512_shuffle_pd(a.v,a.v,0x0);
+  __m512d tmp2 = _mm512_shuffle_pd(a.v,a.v,0xFF);
+  __m512d tmp3 = _mm512_shuffle_pd(b.v,b.v,0x55);
+  __m512d odd  = _mm512_mul_pd(tmp2, tmp3);
+  return Packet4cd(_mm512_fmaddsub_pd(tmp1, b.v, odd));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd ptrue<Packet4cd>(const Packet4cd& a) { return Packet4cd(ptrue(Packet8d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet4cd pand   <Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(pand(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd por    <Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(por(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd pxor   <Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(pxor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cd pandnot<Packet4cd>(const Packet4cd& a, const Packet4cd& b) { return Packet4cd(pandnot(a.v,b.v)); }
+
+template <>
+EIGEN_STRONG_INLINE Packet4cd pcmp_eq(const Packet4cd& a, const Packet4cd& b) {
+  __m512d eq = pcmp_eq<Packet8d>(a.v, b.v);
+  return Packet4cd(pand(eq, _mm512_permute_pd(eq, 0x55)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd pload <Packet4cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet4cd(pload<Packet8d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet4cd ploadu<Packet4cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cd(ploadu<Packet8d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet4cd pset1<Packet4cd>(const std::complex<double>& from)
+{
+  #ifdef EIGEN_VECTORIZE_AVX512DQ
+  return Packet4cd(_mm512_broadcast_f64x2(pset1<Packet1cd>(from).v));
+  #else
+  return Packet4cd(_mm512_castps_pd(_mm512_broadcast_f32x4( _mm_castpd_ps(pset1<Packet1cd>(from).v))));
+  #endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd ploaddup<Packet4cd>(const std::complex<double>* from) {
+  return Packet4cd(_mm512_insertf64x4(
+          _mm512_castpd256_pd512(ploaddup<Packet2cd>(from).v), ploaddup<Packet2cd>(from+1).v, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet4cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet4cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4cd pgather<std::complex<double>, Packet4cd>(const std::complex<double>* from, Index stride)
+{
+  return Packet4cd(_mm512_insertf64x4(_mm512_castpd256_pd512(
+            _mm256_insertf128_pd(_mm256_castpd128_pd256(ploadu<Packet1cd>(from+0*stride).v), ploadu<Packet1cd>(from+1*stride).v,1)),
+            _mm256_insertf128_pd(_mm256_castpd128_pd256(ploadu<Packet1cd>(from+2*stride).v), ploadu<Packet1cd>(from+3*stride).v,1), 1));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet4cd>(std::complex<double>* to, const Packet4cd& from, Index stride)
+{
+  __m512i fromi = _mm512_castpd_si512(from.v);
+  double* tod = (double*)(void*)to;
+  _mm_storeu_pd(tod+0*stride, _mm_castsi128_pd(_mm512_extracti32x4_epi32(fromi,0)) );
+  _mm_storeu_pd(tod+2*stride, _mm_castsi128_pd(_mm512_extracti32x4_epi32(fromi,1)) );
+  _mm_storeu_pd(tod+4*stride, _mm_castsi128_pd(_mm512_extracti32x4_epi32(fromi,2)) );
+  _mm_storeu_pd(tod+6*stride, _mm_castsi128_pd(_mm512_extracti32x4_epi32(fromi,3)) );
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet4cd>(const Packet4cd& a)
+{
+  __m128d low = extract128<0>(a.v);
+  EIGEN_ALIGN16 double res[2];
+  _mm_store_pd(res, low);
+  return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd preverse(const Packet4cd& a) {
+  return Packet4cd(_mm512_shuffle_f64x2(a.v, a.v, (shuffle_mask<3,2,1,0>::mask)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet4cd>(const Packet4cd& a)
+{
+  return predux(padd(Packet2cd(_mm512_extractf64x4_pd(a.v,0)),
+                     Packet2cd(_mm512_extractf64x4_pd(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet4cd>(const Packet4cd& a)
+{
+  return predux_mul(pmul(Packet2cd(_mm512_extractf64x4_pd(a.v,0)),
+                         Packet2cd(_mm512_extractf64x4_pd(a.v,1))));
+}
+
+template<> struct conj_helper<Packet4cd, Packet4cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet4cd pmadd(const Packet4cd& x, const Packet4cd& y, const Packet4cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cd pmul(const Packet4cd& a, const Packet4cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet4cd, Packet4cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet4cd pmadd(const Packet4cd& x, const Packet4cd& y, const Packet4cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cd pmul(const Packet4cd& a, const Packet4cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet4cd, Packet4cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet4cd pmadd(const Packet4cd& x, const Packet4cd& y, const Packet4cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cd pmul(const Packet4cd& a, const Packet4cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet4cd,Packet8d)
+
+template<> EIGEN_STRONG_INLINE Packet4cd pdiv<Packet4cd>(const Packet4cd& a, const Packet4cd& b)
+{
+  Packet4cd num = pmul(a, pconj(b));
+  __m512d tmp = _mm512_mul_pd(b.v, b.v);
+  __m512d denom =  padd(_mm512_permute_pd(tmp,0x55), tmp);
+  return Packet4cd(_mm512_div_pd(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd pcplxflip<Packet4cd>(const Packet4cd& x)
+{
+  return Packet4cd(_mm512_permute_pd(x.v,0x55));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8cf,4>& kernel) {
+  PacketBlock<Packet8d,4> pb;
+  
+  pb.packet[0] = _mm512_castps_pd(kernel.packet[0].v);
+  pb.packet[1] = _mm512_castps_pd(kernel.packet[1].v);
+  pb.packet[2] = _mm512_castps_pd(kernel.packet[2].v);
+  pb.packet[3] = _mm512_castps_pd(kernel.packet[3].v);
+  ptranspose(pb);
+  kernel.packet[0].v = _mm512_castpd_ps(pb.packet[0]);
+  kernel.packet[1].v = _mm512_castpd_ps(pb.packet[1]);
+  kernel.packet[2].v = _mm512_castpd_ps(pb.packet[2]);
+  kernel.packet[3].v = _mm512_castpd_ps(pb.packet[3]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8cf,8>& kernel) {
+  PacketBlock<Packet8d,8> pb;
+  
+  pb.packet[0] = _mm512_castps_pd(kernel.packet[0].v);
+  pb.packet[1] = _mm512_castps_pd(kernel.packet[1].v);
+  pb.packet[2] = _mm512_castps_pd(kernel.packet[2].v);
+  pb.packet[3] = _mm512_castps_pd(kernel.packet[3].v);
+  pb.packet[4] = _mm512_castps_pd(kernel.packet[4].v);
+  pb.packet[5] = _mm512_castps_pd(kernel.packet[5].v);
+  pb.packet[6] = _mm512_castps_pd(kernel.packet[6].v);
+  pb.packet[7] = _mm512_castps_pd(kernel.packet[7].v);
+  ptranspose(pb);
+  kernel.packet[0].v = _mm512_castpd_ps(pb.packet[0]);
+  kernel.packet[1].v = _mm512_castpd_ps(pb.packet[1]);
+  kernel.packet[2].v = _mm512_castpd_ps(pb.packet[2]);
+  kernel.packet[3].v = _mm512_castpd_ps(pb.packet[3]);
+  kernel.packet[4].v = _mm512_castpd_ps(pb.packet[4]);
+  kernel.packet[5].v = _mm512_castpd_ps(pb.packet[5]);
+  kernel.packet[6].v = _mm512_castpd_ps(pb.packet[6]);
+  kernel.packet[7].v = _mm512_castpd_ps(pb.packet[7]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4cd,4>& kernel) {
+  __m512d T0 = _mm512_shuffle_f64x2(kernel.packet[0].v, kernel.packet[1].v, (shuffle_mask<0,1,0,1>::mask)); // [a0 a1 b0 b1]
+  __m512d T1 = _mm512_shuffle_f64x2(kernel.packet[0].v, kernel.packet[1].v, (shuffle_mask<2,3,2,3>::mask)); // [a2 a3 b2 b3]
+  __m512d T2 = _mm512_shuffle_f64x2(kernel.packet[2].v, kernel.packet[3].v, (shuffle_mask<0,1,0,1>::mask)); // [c0 c1 d0 d1]
+  __m512d T3 = _mm512_shuffle_f64x2(kernel.packet[2].v, kernel.packet[3].v, (shuffle_mask<2,3,2,3>::mask)); // [c2 c3 d2 d3]
+
+  kernel.packet[3] = Packet4cd(_mm512_shuffle_f64x2(T1, T3, (shuffle_mask<1,3,1,3>::mask))); // [a3 b3 c3 d3]
+  kernel.packet[2] = Packet4cd(_mm512_shuffle_f64x2(T1, T3, (shuffle_mask<0,2,0,2>::mask))); // [a2 b2 c2 d2]
+  kernel.packet[1] = Packet4cd(_mm512_shuffle_f64x2(T0, T2, (shuffle_mask<1,3,1,3>::mask))); // [a1 b1 c1 d1]
+  kernel.packet[0] = Packet4cd(_mm512_shuffle_f64x2(T0, T2, (shuffle_mask<0,2,0,2>::mask))); // [a0 b0 c0 d0]
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cd psqrt<Packet4cd>(const Packet4cd& a) {
+  return psqrt_complex<Packet4cd>(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8cf psqrt<Packet8cf>(const Packet8cf& a) {
+  return psqrt_complex<Packet8cf>(a);
+}
+
+} // end namespace internal
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_AVX512_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/MathFunctions.h
index 399be0ee4b..6fd726d29c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/MathFunctions.h
@@ -15,13 +15,13 @@ namespace Eigen {
 namespace internal {
 
 // Disable the code for older versions of gcc that don't support many of the required avx512 instrinsics.
-#if EIGEN_GNUC_AT_LEAST(5, 3)
+#if EIGEN_GNUC_AT_LEAST(5, 3) || EIGEN_COMP_CLANG  || EIGEN_COMP_MSVC >= 1923
 
 #define _EIGEN_DECLARE_CONST_Packet16f(NAME, X) \
   const Packet16f p16f_##NAME = pset1<Packet16f>(X)
 
 #define _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(NAME, X) \
-  const Packet16f p16f_##NAME = (__m512)pset1<Packet16i>(X)
+  const Packet16f p16f_##NAME =  preinterpret<Packet16f,Packet16i>(pset1<Packet16i>(X))
 
 #define _EIGEN_DECLARE_CONST_Packet8d(NAME, X) \
   const Packet8d p8d_##NAME = pset1<Packet8d>(X)
@@ -29,100 +29,41 @@ namespace internal {
 #define _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(NAME, X) \
   const Packet8d p8d_##NAME = _mm512_castsi512_pd(_mm512_set1_epi64(X))
 
-// Natural logarithm
-// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
-// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
-// be easily approximated by a polynomial centered on m=1 for stability.
-#if defined(EIGEN_VECTORIZE_AVX512DQ)
+#define _EIGEN_DECLARE_CONST_Packet16bf(NAME, X) \
+  const Packet16bf p16bf_##NAME = pset1<Packet16bf>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet16bf_FROM_INT(NAME, X) \
+  const Packet16bf p16bf_##NAME =  preinterpret<Packet16bf,Packet16i>(pset1<Packet16i>(X))
+
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
 plog<Packet16f>(const Packet16f& _x) {
-  Packet16f x = _x;
-  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
-  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(126f, 126.0f);
-
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-  // The smallest non denormalized float number.
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(min_norm_pos, 0x00800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(minus_inf, 0xff800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
-
-  // Polynomial coefficients.
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_SQRTHF, 0.707106781186547524f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p0, 7.0376836292E-2f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p1, -1.1514610310E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p2, 1.1676998740E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p3, -1.2420140846E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p4, +1.4249322787E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p5, -1.6668057665E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p6, +2.0000714765E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p7, -2.4999993993E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p8, +3.3333331174E-1f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q1, -2.12194440e-4f);
-  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q2, 0.693359375f);
-
-  // invalid_mask is set to true when x is NaN
-  __mmask16 invalid_mask =
-      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_NGE_UQ);
-  __mmask16 iszero_mask =
-      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_EQ_UQ);
-
-  // Truncate input values to the minimum positive normal.
-  x = pmax(x, p16f_min_norm_pos);
-
-  // Extract the shifted exponents.
-  Packet16f emm0 = _mm512_cvtepi32_ps(_mm512_srli_epi32((__m512i)x, 23));
-  Packet16f e = _mm512_sub_ps(emm0, p16f_126f);
-
-  // Set the exponents to -1, i.e. x are in the range [0.5,1).
-  x = _mm512_and_ps(x, p16f_inv_mant_mask);
-  x = _mm512_or_ps(x, p16f_half);
-
-  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
-  // and shift by -1. The values are then centered around 0, which improves
-  // the stability of the polynomial evaluation.
-  //   if( x < SQRTHF ) {
-  //     e -= 1;
-  //     x = x + x - 1.0;
-  //   } else { x = x - 1.0; }
-  __mmask16 mask = _mm512_cmp_ps_mask(x, p16f_cephes_SQRTHF, _CMP_LT_OQ);
-  Packet16f tmp = _mm512_mask_blend_ps(mask, x, _mm512_setzero_ps());
-  x = psub(x, p16f_1);
-  e = psub(e, _mm512_mask_blend_ps(mask, p16f_1, _mm512_setzero_ps()));
-  x = padd(x, tmp);
-
-  Packet16f x2 = pmul(x, x);
-  Packet16f x3 = pmul(x2, x);
-
-  // Evaluate the polynomial approximant of degree 8 in three parts, probably
-  // to improve instruction-level parallelism.
-  Packet16f y, y1, y2;
-  y = pmadd(p16f_cephes_log_p0, x, p16f_cephes_log_p1);
-  y1 = pmadd(p16f_cephes_log_p3, x, p16f_cephes_log_p4);
-  y2 = pmadd(p16f_cephes_log_p6, x, p16f_cephes_log_p7);
-  y = pmadd(y, x, p16f_cephes_log_p2);
-  y1 = pmadd(y1, x, p16f_cephes_log_p5);
-  y2 = pmadd(y2, x, p16f_cephes_log_p8);
-  y = pmadd(y, x3, y1);
-  y = pmadd(y, x3, y2);
-  y = pmul(y, x3);
-
-  // Add the logarithm of the exponent back to the result of the interpolation.
-  y1 = pmul(e, p16f_cephes_log_q1);
-  tmp = pmul(x2, p16f_half);
-  y = padd(y, y1);
-  x = psub(x, tmp);
-  y2 = pmul(e, p16f_cephes_log_q2);
-  x = padd(x, y);
-  x = padd(x, y2);
-
-  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
-  return _mm512_mask_blend_ps(iszero_mask, p16f_minus_inf,
-                              _mm512_mask_blend_ps(invalid_mask, p16f_nan, x));
+  return plog_float(_x);
 }
-#endif
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+plog<Packet8d>(const Packet8d& _x) {
+  return plog_double(_x);
+}
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, plog)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, plog)
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+plog2<Packet16f>(const Packet16f& _x) {
+  return plog2_float(_x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+plog2<Packet8d>(const Packet8d& _x) {
+  return plog2_double(_x);
+}
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, plog2)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, plog2)
 
 // Exponential function. Works by writing "x = m*log(2) + r" where
 // "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
@@ -158,17 +99,17 @@ pexp<Packet16f>(const Packet16f& _x) {
   _EIGEN_DECLARE_CONST_Packet16f(nln2, -0.6931471805599453f);
   Packet16f r = _mm512_fmadd_ps(m, p16f_nln2, x);
   Packet16f r2 = pmul(r, r);
+  Packet16f r3 = pmul(r2, r);
 
-  // TODO(gonnet): Split into odd/even polynomials and try to exploit
-  //               instruction-level parallelism.
-  Packet16f y = p16f_cephes_exp_p0;
-  y = pmadd(y, r, p16f_cephes_exp_p1);
-  y = pmadd(y, r, p16f_cephes_exp_p2);
-  y = pmadd(y, r, p16f_cephes_exp_p3);
-  y = pmadd(y, r, p16f_cephes_exp_p4);
-  y = pmadd(y, r, p16f_cephes_exp_p5);
-  y = pmadd(y, r2, r);
-  y = padd(y, p16f_1);
+  // Evaluate the polynomial approximant,improved by instruction-level parallelism.
+  Packet16f y, y1, y2;
+  y  = pmadd(p16f_cephes_exp_p0, r, p16f_cephes_exp_p1);
+  y1 = pmadd(p16f_cephes_exp_p3, r, p16f_cephes_exp_p4);
+  y2 = padd(r, p16f_1);
+  y  = pmadd(y, r, p16f_cephes_exp_p2);
+  y1 = pmadd(y1, r, p16f_cephes_exp_p5);
+  y  = pmadd(y, r3, y1);
+  y  = pmadd(y, r2, y2);
 
   // Build emm0 = 2^m.
   Packet16i emm0 = _mm512_cvttps_epi32(padd(m, p16f_127));
@@ -178,74 +119,40 @@ pexp<Packet16f>(const Packet16f& _x) {
   return pmax(pmul(y, _mm512_castsi512_ps(emm0)), _x);
 }
 
-/*template <>
+template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
 pexp<Packet8d>(const Packet8d& _x) {
-  Packet8d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet8d(1, 1.0);
-  _EIGEN_DECLARE_CONST_Packet8d(2, 2.0);
-
-  _EIGEN_DECLARE_CONST_Packet8d(exp_hi, 709.437);
-  _EIGEN_DECLARE_CONST_Packet8d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C2, 1.42860682030941723212e-6);
-
-  // clamp x
-  x = pmax(pmin(x, p8d_exp_hi), p8d_exp_lo);
-
-  // Express exp(x) as exp(g + n*log(2)).
-  const Packet8d n =
-      _mm512_mul_round_pd(p8d_cephes_LOG2EF, x, _MM_FROUND_TO_NEAREST_INT);
-
-  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
-  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
-  // digits right.
-  const Packet8d nC1 = pmul(n, p8d_cephes_exp_C1);
-  const Packet8d nC2 = pmul(n, p8d_cephes_exp_C2);
-  x = psub(x, nC1);
-  x = psub(x, nC2);
-
-  const Packet8d x2 = pmul(x, x);
+  return pexp_double(_x);
+}
 
-  // Evaluate the numerator polynomial of the rational interpolant.
-  Packet8d px = p8d_cephes_exp_p0;
-  px = pmadd(px, x2, p8d_cephes_exp_p1);
-  px = pmadd(px, x2, p8d_cephes_exp_p2);
-  px = pmul(px, x);
+F16_PACKET_FUNCTION(Packet16f, Packet16h, pexp)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, pexp)
 
-  // Evaluate the denominator polynomial of the rational interpolant.
-  Packet8d qx = p8d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p8d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p8d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p8d_cephes_exp_q3);
+template <>
+EIGEN_STRONG_INLINE Packet16h pfrexp(const Packet16h& a, Packet16h& exponent) {
+  Packet16f fexponent;
+  const Packet16h out = float2half(pfrexp<Packet16f>(half2float(a), fexponent));
+  exponent = float2half(fexponent);
+  return out;
+}
 
-  // I don't really get this bit, copied from the SSE2 routines, so...
-  // TODO(gonnet): Figure out what is going on here, perhaps find a better
-  // rational interpolant?
-  x = _mm512_div_pd(px, psub(qx, px));
-  x = pmadd(p8d_2, x, p8d_1);
+template <>
+EIGEN_STRONG_INLINE Packet16h pldexp(const Packet16h& a, const Packet16h& exponent) {
+  return float2half(pldexp<Packet16f>(half2float(a), half2float(exponent)));
+}
 
-  // Build e=2^n.
-  const Packet8d e = _mm512_castsi512_pd(_mm512_slli_epi64(
-      _mm512_add_epi64(_mm512_cvtpd_epi64(n), _mm512_set1_epi64(1023)), 52));
+template <>
+EIGEN_STRONG_INLINE Packet16bf pfrexp(const Packet16bf& a, Packet16bf& exponent) {
+  Packet16f fexponent;
+  const Packet16bf out = F32ToBf16(pfrexp<Packet16f>(Bf16ToF32(a), fexponent));
+  exponent = F32ToBf16(fexponent);
+  return out;
+}
 
-  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
-  // non-finite values in the input.
-  return pmax(pmul(x, e), _x);
-  }*/
+template <>
+EIGEN_STRONG_INLINE Packet16bf pldexp(const Packet16bf& a, const Packet16bf& exponent) {
+  return F32ToBf16(pldexp<Packet16f>(Bf16ToF32(a), Bf16ToF32(exponent)));
+}
 
 // Functions for sqrt.
 // The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
@@ -257,138 +164,197 @@ pexp<Packet8d>(const Packet8d& _x) {
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
 psqrt<Packet16f>(const Packet16f& _x) {
-  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
-  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
-
-  Packet16f neg_half = pmul(_x, p16f_minus_half);
+  Packet16f neg_half = pmul(_x, pset1<Packet16f>(-.5f));
+  __mmask16 denormal_mask = _mm512_kand(
+      _mm512_cmp_ps_mask(_x, pset1<Packet16f>((std::numeric_limits<float>::min)()),
+                        _CMP_LT_OQ),
+      _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_GE_OQ));
 
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask16 non_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_GE_OQ);
-  Packet16f x = _mm512_mask_blend_ps(non_zero_mask, _mm512_rsqrt14_ps(_x),
-                                     _mm512_setzero_ps());
+  Packet16f x = _mm512_rsqrt14_ps(_x);
 
   // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+  x = pmul(x, pmadd(neg_half, pmul(x, x), pset1<Packet16f>(1.5f)));
 
-  // Multiply the original _x by it's reciprocal square root to extract the
-  // square root.
-  return pmul(_x, x);
+  // Flush results for denormals to zero.
+  return _mm512_mask_blend_ps(denormal_mask, pmul(_x,x), _mm512_setzero_ps());
 }
 
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
 psqrt<Packet8d>(const Packet8d& _x) {
-  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
-  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
-
-  Packet8d neg_half = pmul(_x, p8d_minus_half);
+  Packet8d neg_half = pmul(_x, pset1<Packet8d>(-.5));
+  __mmask16 denormal_mask = _mm512_kand(
+      _mm512_cmp_pd_mask(_x, pset1<Packet8d>((std::numeric_limits<double>::min)()),
+                        _CMP_LT_OQ),
+      _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_GE_OQ));
 
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask8 non_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_GE_OQ);
-  Packet8d x = _mm512_mask_blend_pd(non_zero_mask, _mm512_rsqrt14_pd(_x),
-                                    _mm512_setzero_pd());
+  Packet8d x = _mm512_rsqrt14_pd(_x);
 
-  // Do a first step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), pset1<Packet8d>(1.5)));
 
   // Do a second step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+  x = pmul(x, pmadd(neg_half, pmul(x, x), pset1<Packet8d>(1.5)));
 
-  // Multiply the original _x by it's reciprocal square root to extract the
-  // square root.
-  return pmul(_x, x);
+  return _mm512_mask_blend_pd(denormal_mask, pmul(_x,x), _mm512_setzero_pd());
 }
 #else
 template <>
 EIGEN_STRONG_INLINE Packet16f psqrt<Packet16f>(const Packet16f& x) {
   return _mm512_sqrt_ps(x);
 }
+
 template <>
 EIGEN_STRONG_INLINE Packet8d psqrt<Packet8d>(const Packet8d& x) {
   return _mm512_sqrt_pd(x);
 }
 #endif
 
-// Functions for rsqrt.
-// Almost identical to the sqrt routine, just leave out the last multiplication
-// and fill in NaN/Inf where needed. Note that this function only exists as an
-// iterative version for doubles since there is no instruction for diretly
-// computing the reciprocal square root in AVX-512.
-#ifdef EIGEN_FAST_MATH
+F16_PACKET_FUNCTION(Packet16f, Packet16h, psqrt)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, psqrt)
+
+// prsqrt for float.
+#if defined(EIGEN_VECTORIZE_AVX512ER)
+
+template <>
+EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
+  return _mm512_rsqrt28_ps(x);
+}
+#elif EIGEN_FAST_MATH
+
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
 prsqrt<Packet16f>(const Packet16f& _x) {
   _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
   _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
   _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
 
   Packet16f neg_half = pmul(_x, p16f_minus_half);
 
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask16 le_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_LT_OQ);
-  Packet16f x = _mm512_mask_blend_ps(le_zero_mask, _mm512_setzero_ps(),
-                                     _mm512_rsqrt14_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  __mmask16 neg_mask = _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_LT_OQ);
-  Packet16f infs_and_nans = _mm512_mask_blend_ps(
-      neg_mask, p16f_nan,
-      _mm512_mask_blend_ps(le_zero_mask, p16f_inf, _mm512_setzero_ps()));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+  // Identity infinite, negative and denormal arguments.
+  __mmask16 inf_mask = _mm512_cmp_ps_mask(_x, p16f_inf, _CMP_EQ_OQ);
+  __mmask16 not_pos_mask = _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_LE_OQ);
+  __mmask16 not_finite_pos_mask = not_pos_mask | inf_mask;
+
+  // Compute an approximate result using the rsqrt intrinsic, forcing +inf
+  // for denormals for consistency with AVX and SSE implementations.
+  Packet16f y_approx = _mm512_rsqrt14_ps(_x);
+
+  // Do a single step of Newton-Raphson iteration to improve the approximation.
+  // This uses the formula y_{n+1} = y_n * (1.5 - y_n * (0.5 * x) * y_n).
+  // It is essential to evaluate the inner term like this because forming
+  // y_n^2 may over- or underflow.
+  Packet16f y_newton = pmul(y_approx, pmadd(y_approx, pmul(neg_half, y_approx), p16f_one_point_five));
+
+  // Select the result of the Newton-Raphson step for positive finite arguments.
+  // For other arguments, choose the output of the intrinsic. This will
+  // return rsqrt(+inf) = 0, rsqrt(x) = NaN if x < 0, and rsqrt(0) = +inf.
+  return _mm512_mask_blend_ps(not_finite_pos_mask, y_newton, y_approx);
+}
+#else
 
-  // Insert NaNs and Infs in all the right places.
-  return _mm512_mask_blend_ps(le_zero_mask, infs_and_nans, x);
+template <>
+EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
+  _EIGEN_DECLARE_CONST_Packet16f(one, 1.0f);
+  return _mm512_div_ps(p16f_one, _mm512_sqrt_ps(x));
 }
+#endif
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, prsqrt)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, prsqrt)
 
+// prsqrt for double.
+#if EIGEN_FAST_MATH
 template <>
 EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
 prsqrt<Packet8d>(const Packet8d& _x) {
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(inf, 0x7ff0000000000000LL);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(nan, 0x7ff1000000000000LL);
   _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
   _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(inf, 0x7ff0000000000000LL);
 
   Packet8d neg_half = pmul(_x, p8d_minus_half);
 
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  __mmask8 le_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_LT_OQ);
-  Packet8d x = _mm512_mask_blend_pd(le_zero_mask, _mm512_setzero_pd(),
-                                    _mm512_rsqrt14_pd(_x));
+  // Identity infinite, negative and denormal arguments.
+  __mmask8 inf_mask = _mm512_cmp_pd_mask(_x, p8d_inf, _CMP_EQ_OQ);
+  __mmask8 not_pos_mask = _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_LE_OQ);
+  __mmask8 not_finite_pos_mask = not_pos_mask | inf_mask;
 
-  // Fill in NaNs and Infs for the negative/zero entries.
-  __mmask8 neg_mask = _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_LT_OQ);
-  Packet8d infs_and_nans = _mm512_mask_blend_pd(
-      neg_mask, p8d_nan,
-      _mm512_mask_blend_pd(le_zero_mask, p8d_inf, _mm512_setzero_pd()));
-
-  // Do a first step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Do a second step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm512_mask_blend_pd(le_zero_mask, infs_and_nans, x);
+  // Compute an approximate result using the rsqrt intrinsic, forcing +inf
+  // for denormals for consistency with AVX and SSE implementations.
+#if defined(EIGEN_VECTORIZE_AVX512ER)
+  Packet8d y_approx = _mm512_rsqrt28_pd(_x);
+#else
+  Packet8d y_approx = _mm512_rsqrt14_pd(_x);
+#endif
+  // Do one or two steps of Newton-Raphson's to improve the approximation, depending on the
+  // starting accuracy (either 2^-14 or 2^-28, depending on whether AVX512ER is available).
+  // The Newton-Raphson algorithm has quadratic convergence and roughly doubles the number
+  // of correct digits for each step.
+  // This uses the formula y_{n+1} = y_n * (1.5 - y_n * (0.5 * x) * y_n).
+  // It is essential to evaluate the inner term like this because forming
+  // y_n^2 may over- or underflow.
+  Packet8d y_newton = pmul(y_approx, pmadd(neg_half, pmul(y_approx, y_approx), p8d_one_point_five));
+#if !defined(EIGEN_VECTORIZE_AVX512ER)
+  y_newton = pmul(y_newton, pmadd(y_newton, pmul(neg_half, y_newton), p8d_one_point_five));
+#endif
+  // Select the result of the Newton-Raphson step for positive finite arguments.
+  // For other arguments, choose the output of the intrinsic. This will
+  // return rsqrt(+inf) = 0, rsqrt(x) = NaN if x < 0, and rsqrt(0) = +inf.
+  return _mm512_mask_blend_pd(not_finite_pos_mask, y_newton, y_approx);
 }
 #else
 template <>
-EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
-  return _mm512_rsqrt28_ps(x);
+EIGEN_STRONG_INLINE Packet8d prsqrt<Packet8d>(const Packet8d& x) {
+  _EIGEN_DECLARE_CONST_Packet8d(one, 1.0f);
+  return _mm512_div_pd(p8d_one, _mm512_sqrt_pd(x));
 }
 #endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet16f plog1p<Packet16f>(const Packet16f& _x) {
+  return generic_plog1p(_x);
+}
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, plog1p)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, plog1p)
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet16f pexpm1<Packet16f>(const Packet16f& _x) {
+  return generic_expm1(_x);
+}
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, pexpm1)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, pexpm1)
+
 #endif
 
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+psin<Packet16f>(const Packet16f& _x) {
+  return psin_float(_x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+pcos<Packet16f>(const Packet16f& _x) {
+  return pcos_float(_x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+ptanh<Packet16f>(const Packet16f& _x) {
+  return internal::generic_fast_tanh_float(_x);
+}
+
+F16_PACKET_FUNCTION(Packet16f, Packet16h, psin)
+F16_PACKET_FUNCTION(Packet16f, Packet16h, pcos)
+F16_PACKET_FUNCTION(Packet16f, Packet16h, ptanh)
+
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, psin)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, pcos)
+BF16_PACKET_FUNCTION(Packet16f, Packet16bf, ptanh)
+
 }  // end namespace internal
 
 }  // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/PacketMath.h
index 12b8975725..34d49ab660 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/PacketMath.h
@@ -19,10 +19,10 @@ namespace internal {
 #endif
 
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
 #endif
 
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 #ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
@@ -31,6 +31,8 @@ namespace internal {
 typedef __m512 Packet16f;
 typedef __m512i Packet16i;
 typedef __m512d Packet8d;
+typedef eigen_packet_wrapper<__m256i, 1> Packet16h;
+typedef eigen_packet_wrapper<__m256i, 2> Packet16bf;
 
 template <>
 struct is_arithmetic<__m512> {
@@ -45,6 +47,51 @@ struct is_arithmetic<__m512d> {
   enum { value = true };
 };
 
+template<> struct is_arithmetic<Packet16h> { enum { value = true }; };
+
+template <>
+struct packet_traits<half> : default_packet_traits {
+  typedef Packet16h type;
+  // There is no half-size packet for Packet16h.
+  typedef Packet16h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+
+    HasCmp    = 1,
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 1,
+    HasAbs2   = 0,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasSetLinear = 0,
+    HasLog    = 1,
+    HasLog1p  = 1,
+    HasExpm1  = 1,
+    HasExp    = 1,
+    HasSqrt   = 1,
+    HasRsqrt  = 1,
+    HasSin    = EIGEN_FAST_MATH,
+    HasCos    = EIGEN_FAST_MATH,
+    HasTanh   = EIGEN_FAST_MATH,
+    HasErf    = EIGEN_FAST_MATH,
+    HasBlend = 0,
+    HasRound  = 1,
+    HasFloor  = 1,
+    HasCeil   = 1,
+    HasRint   = 1,
+    HasBessel = 1,
+    HasNdtri  = 1
+  };
+};
+
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet16f type;
@@ -54,15 +101,32 @@ template<> struct packet_traits<float>  : default_packet_traits
     AlignedOnScalar = 1,
     size = 16,
     HasHalfPacket = 1,
-#if EIGEN_GNUC_AT_LEAST(5, 3)
-#ifdef EIGEN_VECTORIZE_AVX512DQ
+
+    HasAbs = 1,
+    HasMin    = 1,
+    HasMax    = 1,
+    HasConj   = 1,
+    HasBlend = 0,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+#if EIGEN_GNUC_AT_LEAST(5, 3) || (!EIGEN_COMP_GNUC_STRICT)
     HasLog = 1,
-#endif
+    HasLog1p  = 1,
+    HasExpm1  = 1,
+    HasNdtri = 1,
+    HasBessel  = 1,
     HasExp = 1,
     HasSqrt = EIGEN_FAST_MATH,
     HasRsqrt = EIGEN_FAST_MATH,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
 #endif
-    HasDiv = 1
+    HasCmp  = 1,
+    HasDiv = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1
   };
  };
 template<> struct packet_traits<double> : default_packet_traits
@@ -74,11 +138,18 @@ template<> struct packet_traits<double> : default_packet_traits
     AlignedOnScalar = 1,
     size = 8,
     HasHalfPacket = 1,
-#if EIGEN_GNUC_AT_LEAST(5, 3)
+#if EIGEN_GNUC_AT_LEAST(5, 3) || (!EIGEN_COMP_GNUC_STRICT)
+    HasLog  = 1,
+    HasExp = 1,
     HasSqrt = EIGEN_FAST_MATH,
     HasRsqrt = EIGEN_FAST_MATH,
 #endif
-    HasDiv = 1
+    HasCmp  = 1,
+    HasDiv = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1
   };
 };
 
@@ -98,19 +169,28 @@ template <>
 struct unpacket_traits<Packet16f> {
   typedef float type;
   typedef Packet8f half;
-  enum { size = 16, alignment=Aligned64 };
+  typedef Packet16i integer_packet;
+  typedef uint16_t mask_t;
+  enum { size = 16, alignment=Aligned64, vectorizable=true, masked_load_available=true, masked_store_available=true };
 };
 template <>
 struct unpacket_traits<Packet8d> {
   typedef double type;
   typedef Packet4d half;
-  enum { size = 8, alignment=Aligned64 };
+  enum { size = 8, alignment=Aligned64, vectorizable=true, masked_load_available=false, masked_store_available=false };
 };
 template <>
 struct unpacket_traits<Packet16i> {
   typedef int type;
   typedef Packet8i half;
-  enum { size = 16, alignment=Aligned64 };
+  enum { size = 16, alignment=Aligned64, vectorizable=false, masked_load_available=false, masked_store_available=false };
+};
+
+template<>
+struct unpacket_traits<Packet16h> {
+  typedef Eigen::half type;
+  typedef Packet8h half;
+  enum {size=16, alignment=Aligned32, vectorizable=true, masked_load_available=false, masked_store_available=false};
 };
 
 template <>
@@ -126,13 +206,40 @@ EIGEN_STRONG_INLINE Packet16i pset1<Packet16i>(const int& from) {
   return _mm512_set1_epi32(from);
 }
 
+template <>
+EIGEN_STRONG_INLINE Packet16f pset1frombits<Packet16f>(unsigned int from) {
+  return _mm512_castsi512_ps(_mm512_set1_epi32(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8d pset1frombits<Packet8d>(const numext::uint64_t from) {
+  return _mm512_castsi512_pd(_mm512_set1_epi64(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pzero(const Packet16f& /*a*/) { return _mm512_setzero_ps(); }
+template<> EIGEN_STRONG_INLINE Packet8d pzero(const Packet8d& /*a*/) { return _mm512_setzero_pd(); }
+template<> EIGEN_STRONG_INLINE Packet16i pzero(const Packet16i& /*a*/) { return _mm512_setzero_si512(); }
+
+template<> EIGEN_STRONG_INLINE Packet16f peven_mask(const Packet16f& /*a*/) {
+  return _mm512_castsi512_ps(_mm512_set_epi32(0, -1, 0, -1, 0, -1, 0, -1,
+                                              0, -1, 0, -1, 0, -1, 0, -1));
+}
+template<> EIGEN_STRONG_INLINE Packet16i peven_mask(const Packet16i& /*a*/) {
+  return _mm512_set_epi32(0, -1, 0, -1, 0, -1, 0, -1,
+                          0, -1, 0, -1, 0, -1, 0, -1);
+}
+template<> EIGEN_STRONG_INLINE Packet8d peven_mask(const Packet8d& /*a*/) {
+  return _mm512_castsi512_pd(_mm512_set_epi32(0, 0, -1, -1, 0, 0, -1, -1,
+                                              0, 0, -1, -1, 0, 0, -1, -1));
+}
+
 template <>
 EIGEN_STRONG_INLINE Packet16f pload1<Packet16f>(const float* from) {
   return _mm512_broadcastss_ps(_mm_load_ps1(from));
 }
 template <>
 EIGEN_STRONG_INLINE Packet8d pload1<Packet8d>(const double* from) {
-  return _mm512_broadcastsd_pd(_mm_load_pd1(from));
+  return _mm512_set1_pd(*from);
 }
 
 template <>
@@ -158,6 +265,11 @@ EIGEN_STRONG_INLINE Packet8d padd<Packet8d>(const Packet8d& a,
                                             const Packet8d& b) {
   return _mm512_add_pd(a, b);
 }
+template <>
+EIGEN_STRONG_INLINE Packet16i padd<Packet16i>(const Packet16i& a,
+                                              const Packet16i& b) {
+  return _mm512_add_epi32(a, b);
+}
 
 template <>
 EIGEN_STRONG_INLINE Packet16f psub<Packet16f>(const Packet16f& a,
@@ -169,6 +281,11 @@ EIGEN_STRONG_INLINE Packet8d psub<Packet8d>(const Packet8d& a,
                                             const Packet8d& b) {
   return _mm512_sub_pd(a, b);
 }
+template <>
+EIGEN_STRONG_INLINE Packet16i psub<Packet16i>(const Packet16i& a,
+                                              const Packet16i& b) {
+  return _mm512_sub_epi32(a, b);
+}
 
 template <>
 EIGEN_STRONG_INLINE Packet16f pnegate(const Packet16f& a) {
@@ -202,6 +319,11 @@ EIGEN_STRONG_INLINE Packet8d pmul<Packet8d>(const Packet8d& a,
                                             const Packet8d& b) {
   return _mm512_mul_pd(a, b);
 }
+template <>
+EIGEN_STRONG_INLINE Packet16i pmul<Packet16i>(const Packet16i& a,
+                                              const Packet16i& b) {
+  return _mm512_mullo_epi32(a, b);
+}
 
 template <>
 EIGEN_STRONG_INLINE Packet16f pdiv<Packet16f>(const Packet16f& a,
@@ -214,7 +336,7 @@ EIGEN_STRONG_INLINE Packet8d pdiv<Packet8d>(const Packet8d& a,
   return _mm512_div_pd(a, b);
 }
 
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 template <>
 EIGEN_STRONG_INLINE Packet16f pmadd(const Packet16f& a, const Packet16f& b,
                                     const Packet16f& c) {
@@ -227,6 +349,24 @@ EIGEN_STRONG_INLINE Packet8d pmadd(const Packet8d& a, const Packet8d& b,
 }
 #endif
 
+template <>
+EIGEN_DEVICE_FUNC inline Packet16f pselect(const Packet16f& mask,
+                                           const Packet16f& a,
+                                           const Packet16f& b) {
+  __mmask16 mask16 = _mm512_cmp_epi32_mask(
+      _mm512_castps_si512(mask), _mm512_setzero_epi32(), _MM_CMPINT_EQ);
+  return _mm512_mask_blend_ps(mask16, a, b);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet8d pselect(const Packet8d& mask,
+                                          const Packet8d& a,
+                                          const Packet8d& b) {
+  __mmask8 mask8 = _mm512_cmp_epi64_mask(_mm512_castpd_si512(mask),
+                                         _mm512_setzero_epi32(), _MM_CMPINT_EQ);
+  return _mm512_mask_blend_pd(mask8, a, b);
+}
+
 template <>
 EIGEN_STRONG_INLINE Packet16f pmin<Packet16f>(const Packet16f& a,
                                               const Packet16f& b) {
@@ -253,30 +393,173 @@ EIGEN_STRONG_INLINE Packet8d pmax<Packet8d>(const Packet8d& a,
   return _mm512_max_pd(b, a);
 }
 
-template <>
-EIGEN_STRONG_INLINE Packet16f pand<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
+// Add specializations for min/max with prescribed NaN progation.
+template<>
+EIGEN_STRONG_INLINE Packet16f pmin<PropagateNumbers, Packet16f>(const Packet16f& a, const Packet16f& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet16f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8d pmin<PropagateNumbers, Packet8d>(const Packet8d& a, const Packet8d& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet8d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet16f pmax<PropagateNumbers, Packet16f>(const Packet16f& a, const Packet16f& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet16f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8d pmax<PropagateNumbers, Packet8d>(const Packet8d& a, const Packet8d& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet8d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet16f pmin<PropagateNaN, Packet16f>(const Packet16f& a, const Packet16f& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet16f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8d pmin<PropagateNaN, Packet8d>(const Packet8d& a, const Packet8d& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet8d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet16f pmax<PropagateNaN, Packet16f>(const Packet16f& a, const Packet16f& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet16f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet8d pmax<PropagateNaN, Packet8d>(const Packet8d& a, const Packet8d& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet8d>);
+}
+
+
 #ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_and_ps(a, b);
+template<int I_> EIGEN_STRONG_INLINE Packet8f extract256(Packet16f x) { return _mm512_extractf32x8_ps(x,I_); }
+template<int I_> EIGEN_STRONG_INLINE Packet2d extract128(Packet8d x) { return _mm512_extractf64x2_pd(x,I_); }
+EIGEN_STRONG_INLINE Packet16f cat256(Packet8f a, Packet8f b) { return _mm512_insertf32x8(_mm512_castps256_ps512(a),b,1); }
 #else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane0_a, lane0_b), 0);
+// AVX512F does not define _mm512_extractf32x8_ps to extract _m256 from _m512
+template<int I_> EIGEN_STRONG_INLINE Packet8f extract256(Packet16f x) {
+  return  _mm256_castsi256_ps(_mm512_extracti64x4_epi64( _mm512_castps_si512(x),I_));
+}
 
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane1_a, lane1_b), 1);
+// AVX512F does not define _mm512_extractf64x2_pd to extract _m128 from _m512
+template<int I_> EIGEN_STRONG_INLINE Packet2d extract128(Packet8d x) {
+  return _mm_castsi128_pd(_mm512_extracti32x4_epi32( _mm512_castpd_si512(x),I_));
+}
+
+EIGEN_STRONG_INLINE Packet16f cat256(Packet8f a, Packet8f b) {
+  return _mm512_castsi512_ps(_mm512_inserti64x4(_mm512_castsi256_si512(_mm256_castps_si256(a)),
+                                                _mm256_castps_si256(b),1));
+}
+#endif
+
+// Helper function for bit packing snippet of low precision comparison.
+// It packs the flags from 32x16 to 16x16.
+EIGEN_STRONG_INLINE __m256i Pack32To16(Packet16f rf) {
+  // Split data into small pieces and handle with AVX instructions
+  // to guarantee internal order of vector.
+  // Operation:
+  //   dst[15:0]    := Saturate16(rf[31:0])
+  //   dst[31:16]   := Saturate16(rf[63:32])
+  //   ...
+  //   dst[255:240] := Saturate16(rf[255:224])
+  __m256i lo = _mm256_castps_si256(extract256<0>(rf));
+  __m256i hi = _mm256_castps_si256(extract256<1>(rf));
+  __m128i result_lo = _mm_packs_epi32(_mm256_extractf128_si256(lo, 0),
+                                      _mm256_extractf128_si256(lo, 1));
+  __m128i result_hi = _mm_packs_epi32(_mm256_extractf128_si256(hi, 0),
+                                      _mm256_extractf128_si256(hi, 1));
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(result_lo), result_hi, 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pcmp_eq(const Packet16f& a, const Packet16f& b) {
+  __mmask16 mask = _mm512_cmp_ps_mask(a, b, _CMP_EQ_OQ);
+  return _mm512_castsi512_ps(
+      _mm512_mask_set1_epi32(_mm512_set1_epi32(0), mask, 0xffffffffu));
+}
+template<> EIGEN_STRONG_INLINE Packet16f pcmp_le(const Packet16f& a, const Packet16f& b) {
+  __mmask16 mask = _mm512_cmp_ps_mask(a, b, _CMP_LE_OQ);
+  return _mm512_castsi512_ps(
+      _mm512_mask_set1_epi32(_mm512_set1_epi32(0), mask, 0xffffffffu));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pcmp_lt(const Packet16f& a, const Packet16f& b) {
+  __mmask16 mask = _mm512_cmp_ps_mask(a, b, _CMP_LT_OQ);
+  return _mm512_castsi512_ps(
+      _mm512_mask_set1_epi32(_mm512_set1_epi32(0), mask, 0xffffffffu));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pcmp_lt_or_nan(const Packet16f& a, const Packet16f& b) {
+  __mmask16 mask = _mm512_cmp_ps_mask(a, b, _CMP_NGE_UQ);
+  return _mm512_castsi512_ps(
+      _mm512_mask_set1_epi32(_mm512_set1_epi32(0), mask, 0xffffffffu));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16i pcmp_eq(const Packet16i& a, const Packet16i& b) {
+  __mmask16 mask = _mm512_cmp_epi32_mask(a, b, _CMP_EQ_OQ);
+  return _mm512_mask_set1_epi32(_mm512_set1_epi32(0), mask, 0xffffffffu);
+}
+
+
+template <>
+EIGEN_STRONG_INLINE Packet8d pcmp_eq(const Packet8d& a, const Packet8d& b) {
+  __mmask8 mask = _mm512_cmp_pd_mask(a, b, _CMP_EQ_OQ);
+  return _mm512_castsi512_pd(
+      _mm512_mask_set1_epi64(_mm512_set1_epi64(0), mask, 0xffffffffffffffffu));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pcmp_le(const Packet8d& a, const Packet8d& b) {
+  __mmask8 mask = _mm512_cmp_pd_mask(a, b, _CMP_LE_OQ);
+  return _mm512_castsi512_pd(
+      _mm512_mask_set1_epi64(_mm512_set1_epi64(0), mask, 0xffffffffffffffffu));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pcmp_lt(const Packet8d& a, const Packet8d& b) {
+  __mmask8 mask = _mm512_cmp_pd_mask(a, b, _CMP_LT_OQ);
+  return _mm512_castsi512_pd(
+      _mm512_mask_set1_epi64(_mm512_set1_epi64(0), mask, 0xffffffffffffffffu));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pcmp_lt_or_nan(const Packet8d& a, const Packet8d& b) {
+  __mmask8 mask = _mm512_cmp_pd_mask(a, b, _CMP_NGE_UQ);
+  return _mm512_castsi512_pd(
+      _mm512_mask_set1_epi64(_mm512_set1_epi64(0), mask, 0xffffffffffffffffu));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f print<Packet16f>(const Packet16f& a) { return _mm512_roundscale_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet8d print<Packet8d>(const Packet8d& a) { return _mm512_roundscale_pd(a, _MM_FROUND_CUR_DIRECTION); }
+
+template<> EIGEN_STRONG_INLINE Packet16f pceil<Packet16f>(const Packet16f& a) { return _mm512_roundscale_ps(a, _MM_FROUND_TO_POS_INF); }
+template<> EIGEN_STRONG_INLINE Packet8d pceil<Packet8d>(const Packet8d& a) { return _mm512_roundscale_pd(a, _MM_FROUND_TO_POS_INF); }
+
+template<> EIGEN_STRONG_INLINE Packet16f pfloor<Packet16f>(const Packet16f& a) { return _mm512_roundscale_ps(a, _MM_FROUND_TO_NEG_INF); }
+template<> EIGEN_STRONG_INLINE Packet8d pfloor<Packet8d>(const Packet8d& a) { return _mm512_roundscale_pd(a, _MM_FROUND_TO_NEG_INF); }
 
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane2_a, lane2_b), 2);
+template <>
+EIGEN_STRONG_INLINE Packet16i ptrue<Packet16i>(const Packet16i& /*a*/) {
+  return _mm512_set1_epi32(0xffffffffu);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f ptrue<Packet16f>(const Packet16f& a) {
+  return _mm512_castsi512_ps(ptrue<Packet16i>(_mm512_castps_si512(a)));
+}
 
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_and_ps(lane3_a, lane3_b), 3);
+template <>
+EIGEN_STRONG_INLINE Packet8d ptrue<Packet8d>(const Packet8d& a) {
+  return _mm512_castsi512_pd(ptrue<Packet16i>(_mm512_castpd_si512(a)));
+}
 
-  return res;
+template <>
+EIGEN_STRONG_INLINE Packet16i pand<Packet16i>(const Packet16i& a,
+                                              const Packet16i& b) {
+  return _mm512_and_si512(a,b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pand<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_and_ps(a, b);
+#else
+  return _mm512_castsi512_ps(pand(_mm512_castps_si512(a),_mm512_castps_si512(b)));
 #endif
 }
 template <>
@@ -292,35 +575,21 @@ EIGEN_STRONG_INLINE Packet8d pand<Packet8d>(const Packet8d& a,
 
   Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
   Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_and_pd(lane1_a, lane1_b), 1);
-
-  return res;
+  return _mm512_insertf64x4(res, _mm256_and_pd(lane1_a, lane1_b), 1);
 #endif
 }
+
 template <>
-EIGEN_STRONG_INLINE Packet16f por<Packet16f>(const Packet16f& a,
-                                             const Packet16f& b) {
+EIGEN_STRONG_INLINE Packet16i por<Packet16i>(const Packet16i& a, const Packet16i& b) {
+  return _mm512_or_si512(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f por<Packet16f>(const Packet16f& a, const Packet16f& b) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
   return _mm512_or_ps(a, b);
 #else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_or_ps(lane3_a, lane3_b), 3);
-
-  return res;
+  return _mm512_castsi512_ps(por(_mm512_castps_si512(a),_mm512_castps_si512(b)));
 #endif
 }
 
@@ -330,107 +599,80 @@ EIGEN_STRONG_INLINE Packet8d por<Packet8d>(const Packet8d& a,
 #ifdef EIGEN_VECTORIZE_AVX512DQ
   return _mm512_or_pd(a, b);
 #else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_or_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_or_pd(lane1_a, lane1_b), 1);
-
-  return res;
+  return _mm512_castsi512_pd(por(_mm512_castpd_si512(a),_mm512_castpd_si512(b)));
 #endif
 }
 
 template <>
-EIGEN_STRONG_INLINE Packet16f pxor<Packet16f>(const Packet16f& a,
-                                              const Packet16f& b) {
+EIGEN_STRONG_INLINE Packet16i pxor<Packet16i>(const Packet16i& a, const Packet16i& b) {
+  return _mm512_xor_si512(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pxor<Packet16f>(const Packet16f& a, const Packet16f& b) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
   return _mm512_xor_ps(a, b);
 #else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_xor_ps(lane3_a, lane3_b), 3);
-
-  return res;
+  return _mm512_castsi512_ps(pxor(_mm512_castps_si512(a),_mm512_castps_si512(b)));
 #endif
 }
+
 template <>
-EIGEN_STRONG_INLINE Packet8d pxor<Packet8d>(const Packet8d& a,
-                                            const Packet8d& b) {
+EIGEN_STRONG_INLINE Packet8d pxor<Packet8d>(const Packet8d& a, const Packet8d& b) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
   return _mm512_xor_pd(a, b);
 #else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane0_a, lane0_b), 0);
-
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane1_a, lane1_b), 1);
-
-  return res;
+  return _mm512_castsi512_pd(pxor(_mm512_castpd_si512(a),_mm512_castpd_si512(b)));
 #endif
 }
 
 template <>
-EIGEN_STRONG_INLINE Packet16f pandnot<Packet16f>(const Packet16f& a,
-                                                 const Packet16f& b) {
+EIGEN_STRONG_INLINE Packet16i pandnot<Packet16i>(const Packet16i& a, const Packet16i& b) {
+  return _mm512_andnot_si512(b, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pandnot<Packet16f>(const Packet16f& a, const Packet16f& b) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_andnot_ps(a, b);
+  return _mm512_andnot_ps(b, a);
 #else
-  Packet16f res = _mm512_undefined_ps();
-  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
-  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane0_a, lane0_b), 0);
-
-  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
-  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane1_a, lane1_b), 1);
-
-  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
-  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane2_a, lane2_b), 2);
-
-  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
-  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
-  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane3_a, lane3_b), 3);
-
-  return res;
+  return _mm512_castsi512_ps(pandnot(_mm512_castps_si512(a),_mm512_castps_si512(b)));
 #endif
 }
 template <>
-EIGEN_STRONG_INLINE Packet8d pandnot<Packet8d>(const Packet8d& a,
-                                               const Packet8d& b) {
+EIGEN_STRONG_INLINE Packet8d pandnot<Packet8d>(const Packet8d& a,const Packet8d& b) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
-  return _mm512_andnot_pd(a, b);
+  return _mm512_andnot_pd(b, a);
 #else
-  Packet8d res = _mm512_undefined_pd();
-  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
-  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
-  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane0_a, lane0_b), 0);
+  return _mm512_castsi512_pd(pandnot(_mm512_castpd_si512(a),_mm512_castpd_si512(b)));
+#endif
+}
 
-  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
-  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
-  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane1_a, lane1_b), 1);
+template<> EIGEN_STRONG_INLINE Packet16f pround<Packet16f>(const Packet16f& a)
+{
+  // Work-around for default std::round rounding mode.
+  const Packet16f mask = pset1frombits<Packet16f>(static_cast<numext::uint32_t>(0x80000000u));
+  const Packet16f prev0dot5 = pset1frombits<Packet16f>(static_cast<numext::uint32_t>(0x3EFFFFFFu));
+  return _mm512_roundscale_ps(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
+template<> EIGEN_STRONG_INLINE Packet8d pround<Packet8d>(const Packet8d& a)
+{
+  // Work-around for default std::round rounding mode.
+  const Packet8d mask = pset1frombits<Packet8d>(static_cast<numext::uint64_t>(0x8000000000000000ull));
+  const Packet8d prev0dot5 = pset1frombits<Packet8d>(static_cast<numext::uint64_t>(0x3FDFFFFFFFFFFFFFull));
+  return _mm512_roundscale_pd(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
 
-  return res;
-#endif
+template<int N> EIGEN_STRONG_INLINE Packet16i parithmetic_shift_right(Packet16i a) {
+  return _mm512_srai_epi32(a, N);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet16i plogical_shift_right(Packet16i a) {
+  return _mm512_srli_epi32(a, N);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet16i plogical_shift_left(Packet16i a) {
+  return _mm512_slli_epi32(a, N);
 }
 
 template <>
@@ -461,15 +703,26 @@ EIGEN_STRONG_INLINE Packet16i ploadu<Packet16i>(const int* from) {
       reinterpret_cast<const __m512i*>(from));
 }
 
+template <>
+EIGEN_STRONG_INLINE Packet16f ploadu<Packet16f>(const float* from, uint16_t umask) {
+  __mmask16 mask = static_cast<__mmask16>(umask);
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_maskz_loadu_ps(mask, from);
+}
+
 // Loads 8 floats from memory a returns the packet
 // {a0, a0  a1, a1, a2, a2, a3, a3, a4, a4, a5, a5, a6, a6, a7, a7}
 template <>
 EIGEN_STRONG_INLINE Packet16f ploaddup<Packet16f>(const float* from) {
-  __m256i low_half = _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
+  // an unaligned load is required here as there is no requirement
+  // on the alignment of input pointer 'from'
+  __m256i low_half = _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
   __m512 even_elements = _mm512_castsi512_ps(_mm512_cvtepu32_epi64(low_half));
   __m512 pairs = _mm512_permute_ps(even_elements, _MM_SHUFFLE(2, 2, 0, 0));
   return pairs;
 }
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+// FIXME: this does not look optimal, better load a Packet4d and shuffle...
 // Loads 4 doubles from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3,
 // a3}
 template <>
@@ -481,26 +734,33 @@ EIGEN_STRONG_INLINE Packet8d ploaddup<Packet8d>(const double* from) {
   x = _mm512_insertf64x2(x, _mm_loaddup_pd(&from[3]), 3);
   return x;
 }
+#else
+template <>
+EIGEN_STRONG_INLINE Packet8d ploaddup<Packet8d>(const double* from) {
+  __m512d x = _mm512_setzero_pd();
+  x = _mm512_mask_broadcastsd_pd(x, 0x3<<0, _mm_load_sd(from+0));
+  x = _mm512_mask_broadcastsd_pd(x, 0x3<<2, _mm_load_sd(from+1));
+  x = _mm512_mask_broadcastsd_pd(x, 0x3<<4, _mm_load_sd(from+2));
+  x = _mm512_mask_broadcastsd_pd(x, 0x3<<6, _mm_load_sd(from+3));
+  return x;
+}
+#endif
 
 // Loads 4 floats from memory a returns the packet
 // {a0, a0  a0, a0, a1, a1, a1, a1, a2, a2, a2, a2, a3, a3, a3, a3}
 template <>
 EIGEN_STRONG_INLINE Packet16f ploadquad<Packet16f>(const float* from) {
-  Packet16f tmp = _mm512_undefined_ps();
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from), 0);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 1), 1);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 2), 2);
-  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 3), 3);
-  return tmp;
+  Packet16f tmp = _mm512_castps128_ps512(ploadu<Packet4f>(from));
+  const Packet16i scatter_mask = _mm512_set_epi32(3,3,3,3, 2,2,2,2, 1,1,1,1, 0,0,0,0);
+  return _mm512_permutexvar_ps(scatter_mask, tmp);
 }
+
 // Loads 2 doubles from memory a returns the packet
 // {a0, a0  a0, a0, a1, a1, a1, a1}
 template <>
 EIGEN_STRONG_INLINE Packet8d ploadquad<Packet8d>(const double* from) {
-  __m128d tmp0 = _mm_load_pd1(from);
-  __m256d lane0 = _mm256_broadcastsd_pd(tmp0);
-  __m128d tmp1 = _mm_load_pd1(from + 1);
-  __m256d lane1 = _mm256_broadcastsd_pd(tmp1);
+  __m256d lane0 = _mm256_set1_pd(*from);
+  __m256d lane1 = _mm256_set1_pd(*(from+1));
   __m512d tmp = _mm512_undefined_pd();
   tmp = _mm512_insertf64x4(tmp, lane0, 0);
   return _mm512_insertf64x4(tmp, lane1, 1);
@@ -533,11 +793,16 @@ EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet16i& from) {
   EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_si512(
       reinterpret_cast<__m512i*>(to), from);
 }
+template <>
+EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet16f& from, uint16_t umask) {
+  __mmask16 mask = static_cast<__mmask16>(umask);
+  EIGEN_DEBUG_UNALIGNED_STORE return _mm512_mask_storeu_ps(to, mask, from);
+}
 
 template <>
 EIGEN_DEVICE_FUNC inline Packet16f pgather<float, Packet16f>(const float* from,
                                                              Index stride) {
-  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_vector = _mm512_set1_epi32(convert_index<int>(stride));
   Packet16i stride_multiplier =
       _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
   Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
@@ -547,7 +812,7 @@ EIGEN_DEVICE_FUNC inline Packet16f pgather<float, Packet16f>(const float* from,
 template <>
 EIGEN_DEVICE_FUNC inline Packet8d pgather<double, Packet8d>(const double* from,
                                                             Index stride) {
-  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_vector = _mm256_set1_epi32(convert_index<int>(stride));
   Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
   Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
 
@@ -558,7 +823,7 @@ template <>
 EIGEN_DEVICE_FUNC inline void pscatter<float, Packet16f>(float* to,
                                                          const Packet16f& from,
                                                          Index stride) {
-  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_vector = _mm512_set1_epi32(convert_index<int>(stride));
   Packet16i stride_multiplier =
       _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
   Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
@@ -568,7 +833,7 @@ template <>
 EIGEN_DEVICE_FUNC inline void pscatter<double, Packet8d>(double* to,
                                                          const Packet8d& from,
                                                          Index stride) {
-  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_vector = _mm256_set1_epi32(convert_index<int>(stride));
   Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
   Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
   _mm512_i32scatter_pd(to, indices, from, 8);
@@ -590,9 +855,9 @@ EIGEN_STRONG_INLINE void pstore1<Packet16i>(int* to, const int& a) {
   pstore(to, pa);
 }
 
-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); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
 
 template <>
 EIGEN_STRONG_INLINE float pfirst<Packet16f>(const Packet16f& a) {
@@ -620,13 +885,66 @@ template<> EIGEN_STRONG_INLINE Packet8d preverse(const Packet8d& a)
 template<> EIGEN_STRONG_INLINE Packet16f pabs(const Packet16f& a)
 {
   // _mm512_abs_ps intrinsic not found, so hack around it
-  return (__m512)_mm512_and_si512((__m512i)a, _mm512_set1_epi32(0x7fffffff));
+  return _mm512_castsi512_ps(_mm512_and_si512(_mm512_castps_si512(a), _mm512_set1_epi32(0x7fffffff)));
 }
 template <>
 EIGEN_STRONG_INLINE Packet8d pabs(const Packet8d& a) {
   // _mm512_abs_ps intrinsic not found, so hack around it
-  return (__m512d)_mm512_and_si512((__m512i)a,
-                                   _mm512_set1_epi64(0x7fffffffffffffff));
+  return _mm512_castsi512_pd(_mm512_and_si512(_mm512_castpd_si512(a),
+                                   _mm512_set1_epi64(0x7fffffffffffffff)));
+}
+
+template<>
+EIGEN_STRONG_INLINE Packet16f pfrexp<Packet16f>(const Packet16f& a, Packet16f& exponent){
+  return pfrexp_generic(a, exponent);
+}
+
+// Extract exponent without existence of Packet8l.
+template<>
+EIGEN_STRONG_INLINE  
+Packet8d pfrexp_generic_get_biased_exponent(const Packet8d& a) {
+  const Packet8d cst_exp_mask  = pset1frombits<Packet8d>(static_cast<uint64_t>(0x7ff0000000000000ull));
+  #ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_cvtepi64_pd(_mm512_srli_epi64(_mm512_castpd_si512(pand(a, cst_exp_mask)), 52));
+  #else
+  return _mm512_cvtepi32_pd(_mm512_cvtepi64_epi32(_mm512_srli_epi64(_mm512_castpd_si512(pand(a, cst_exp_mask)), 52)));
+  #endif
+}
+
+template<>
+EIGEN_STRONG_INLINE Packet8d pfrexp<Packet8d>(const Packet8d& a, Packet8d& exponent) {
+  return pfrexp_generic(a, exponent);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pldexp<Packet16f>(const Packet16f& a, const Packet16f& exponent) {
+  return pldexp_generic(a, exponent);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8d pldexp<Packet8d>(const Packet8d& a, const Packet8d& exponent) {
+  // Clamp exponent to [-2099, 2099]
+  const Packet8d max_exponent = pset1<Packet8d>(2099.0);
+  const Packet8i e = _mm512_cvtpd_epi32(pmin(pmax(exponent, pnegate(max_exponent)), max_exponent));
+  
+  // Split 2^e into four factors and multiply.
+  const Packet8i bias = pset1<Packet8i>(1023);
+  Packet8i b = parithmetic_shift_right<2>(e);  // floor(e/4)
+  
+  // 2^b
+  const Packet8i permute_idx = _mm256_setr_epi32(0, 4, 1, 5, 2, 6, 3, 7);
+  Packet8i hi = _mm256_permutevar8x32_epi32(padd(b, bias), permute_idx);
+  Packet8i lo = _mm256_slli_epi64(hi, 52);
+  hi = _mm256_slli_epi64(_mm256_srli_epi64(hi, 32), 52);
+  Packet8d c = _mm512_castsi512_pd(_mm512_inserti64x4(_mm512_castsi256_si512(lo), hi, 1));
+  Packet8d out = pmul(pmul(pmul(a, c), c), c);  // a * 2^(3b)
+  
+  // 2^(e - 3b)
+  b = psub(psub(psub(e, b), b), b);  // e - 3b
+  hi = _mm256_permutevar8x32_epi32(padd(b, bias), permute_idx);
+  lo = _mm256_slli_epi64(hi, 52);
+  hi = _mm256_slli_epi64(_mm256_srli_epi64(hi, 32), 52);
+  c = _mm512_castsi512_pd(_mm512_inserti64x4(_mm512_castsi256_si512(lo), hi, 1));
+  out = pmul(out, c);  // a * 2^e
+  return out;
 }
 
 #ifdef EIGEN_VECTORIZE_AVX512DQ
@@ -646,205 +964,15 @@ EIGEN_STRONG_INLINE Packet8d pabs(const Packet8d& a) {
 
 #ifdef EIGEN_VECTORIZE_AVX512DQ
 #define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB) \
-  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTA, 0);        \
-  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTB, 1);
+  OUTPUT = _mm512_insertf32x8(_mm512_castps256_ps512(INPUTA), INPUTB, 1);
 #else
 #define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB)                    \
+  OUTPUT = _mm512_undefined_ps();                                           \
   OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 0), 0); \
   OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 1), 1); \
   OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 0), 2); \
   OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 1), 3);
 #endif
-template<> EIGEN_STRONG_INLINE Packet16f preduxp<Packet16f>(const Packet16f*
-vecs)
-{
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[0], vecs0);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[1], vecs1);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[2], vecs2);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[3], vecs3);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[4], vecs4);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[5], vecs5);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[6], vecs6);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[7], vecs7);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[8], vecs8);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[9], vecs9);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[10], vecs10);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[11], vecs11);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[12], vecs12);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[13], vecs13);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[14], vecs14);
-  EIGEN_EXTRACT_8f_FROM_16f(vecs[15], vecs15);
-
-  __m256 hsum1 = _mm256_hadd_ps(vecs0_0, vecs1_0);
-  __m256 hsum2 = _mm256_hadd_ps(vecs2_0, vecs3_0);
-  __m256 hsum3 = _mm256_hadd_ps(vecs4_0, vecs5_0);
-  __m256 hsum4 = _mm256_hadd_ps(vecs6_0, vecs7_0);
-
-  __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  __m256 perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  __m256 perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  __m256 perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  __m256 perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  __m256 sum1 = _mm256_add_ps(perm1, hsum5);
-  __m256 sum2 = _mm256_add_ps(perm2, hsum6);
-  __m256 sum3 = _mm256_add_ps(perm3, hsum7);
-  __m256 sum4 = _mm256_add_ps(perm4, hsum8);
-
-  __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
-
-  hsum1 = _mm256_hadd_ps(vecs0_1, vecs1_1);
-  hsum2 = _mm256_hadd_ps(vecs2_1, vecs3_1);
-  hsum3 = _mm256_hadd_ps(vecs4_1, vecs5_1);
-  hsum4 = _mm256_hadd_ps(vecs6_1, vecs7_1);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  final = _mm256_add_ps(final, _mm256_blend_ps(blend1, blend2, 0xf0));
-
-  hsum1 = _mm256_hadd_ps(vecs8_0, vecs9_0);
-  hsum2 = _mm256_hadd_ps(vecs10_0, vecs11_0);
-  hsum3 = _mm256_hadd_ps(vecs12_0, vecs13_0);
-  hsum4 = _mm256_hadd_ps(vecs14_0, vecs15_0);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  __m256 final_1 = _mm256_blend_ps(blend1, blend2, 0xf0);
-
-  hsum1 = _mm256_hadd_ps(vecs8_1, vecs9_1);
-  hsum2 = _mm256_hadd_ps(vecs10_1, vecs11_1);
-  hsum3 = _mm256_hadd_ps(vecs12_1, vecs13_1);
-  hsum4 = _mm256_hadd_ps(vecs14_1, vecs15_1);
-
-  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
-  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
-  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
-  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
-
-  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
-  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
-  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
-  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
-
-  sum1 = _mm256_add_ps(perm1, hsum5);
-  sum2 = _mm256_add_ps(perm2, hsum6);
-  sum3 = _mm256_add_ps(perm3, hsum7);
-  sum4 = _mm256_add_ps(perm4, hsum8);
-
-  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
-  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
-
-  final_1 = _mm256_add_ps(final_1, _mm256_blend_ps(blend1, blend2, 0xf0));
-
-  __m512 final_output;
-
-  EIGEN_INSERT_8f_INTO_16f(final_output, final, final_1);
-  return final_output;
-}
-
-template<> EIGEN_STRONG_INLINE Packet8d preduxp<Packet8d>(const Packet8d* vecs)
-{
-  Packet4d vecs0_0 = _mm512_extractf64x4_pd(vecs[0], 0);
-  Packet4d vecs0_1 = _mm512_extractf64x4_pd(vecs[0], 1);
-
-  Packet4d vecs1_0 = _mm512_extractf64x4_pd(vecs[1], 0);
-  Packet4d vecs1_1 = _mm512_extractf64x4_pd(vecs[1], 1);
-
-  Packet4d vecs2_0 = _mm512_extractf64x4_pd(vecs[2], 0);
-  Packet4d vecs2_1 = _mm512_extractf64x4_pd(vecs[2], 1);
-
-  Packet4d vecs3_0 = _mm512_extractf64x4_pd(vecs[3], 0);
-  Packet4d vecs3_1 = _mm512_extractf64x4_pd(vecs[3], 1);
-
-  Packet4d vecs4_0 = _mm512_extractf64x4_pd(vecs[4], 0);
-  Packet4d vecs4_1 = _mm512_extractf64x4_pd(vecs[4], 1);
-
-  Packet4d vecs5_0 = _mm512_extractf64x4_pd(vecs[5], 0);
-  Packet4d vecs5_1 = _mm512_extractf64x4_pd(vecs[5], 1);
-
-  Packet4d vecs6_0 = _mm512_extractf64x4_pd(vecs[6], 0);
-  Packet4d vecs6_1 = _mm512_extractf64x4_pd(vecs[6], 1);
-
-  Packet4d vecs7_0 = _mm512_extractf64x4_pd(vecs[7], 0);
-  Packet4d vecs7_1 = _mm512_extractf64x4_pd(vecs[7], 1);
-
-  Packet4d tmp0, tmp1;
-
-  tmp0 = _mm256_hadd_pd(vecs0_0, vecs1_0);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs2_0, vecs3_0);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  __m256d final_0 = _mm256_blend_pd(tmp0, tmp1, 0xC);
-
-  tmp0 = _mm256_hadd_pd(vecs0_1, vecs1_1);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs2_1, vecs3_1);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  final_0 = _mm256_add_pd(final_0, _mm256_blend_pd(tmp0, tmp1, 0xC));
-
-  tmp0 = _mm256_hadd_pd(vecs4_0, vecs5_0);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs6_0, vecs7_0);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  __m256d final_1 = _mm256_blend_pd(tmp0, tmp1, 0xC);
-
-  tmp0 = _mm256_hadd_pd(vecs4_1, vecs5_1);
-  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
-
-  tmp1 = _mm256_hadd_pd(vecs6_1, vecs7_1);
-  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
-
-  final_1 = _mm256_add_pd(final_1, _mm256_blend_pd(tmp0, tmp1, 0xC));
-
-  __m512d final_output = _mm512_insertf64x4(final_output, final_0, 0);
-
-  return _mm512_insertf64x4(final_output, final_1, 1);
-}
 
 template <>
 EIGEN_STRONG_INLINE float predux<Packet16f>(const Packet16f& a) {
@@ -874,7 +1002,7 @@ EIGEN_STRONG_INLINE double predux<Packet8d>(const Packet8d& a) {
 }
 
 template <>
-EIGEN_STRONG_INLINE Packet8f predux_downto4<Packet16f>(const Packet16f& a) {
+EIGEN_STRONG_INLINE Packet8f predux_half_dowto4<Packet16f>(const Packet16f& a) {
 #ifdef EIGEN_VECTORIZE_AVX512DQ
   __m256 lane0 = _mm512_extractf32x8_ps(a, 0);
   __m256 lane1 = _mm512_extractf32x8_ps(a, 1);
@@ -890,11 +1018,10 @@ EIGEN_STRONG_INLINE Packet8f predux_downto4<Packet16f>(const Packet16f& a) {
 #endif
 }
 template <>
-EIGEN_STRONG_INLINE Packet4d predux_downto4<Packet8d>(const Packet8d& a) {
+EIGEN_STRONG_INLINE Packet4d predux_half_dowto4<Packet8d>(const Packet8d& a) {
   __m256d lane0 = _mm512_extractf64x4_pd(a, 0);
   __m256d lane1 = _mm512_extractf64x4_pd(a, 1);
-  __m256d res = _mm256_add_pd(lane0, lane1);
-  return res;
+  return _mm256_add_pd(lane0, lane1);
 }
 
 template <>
@@ -965,52 +1092,13 @@ EIGEN_STRONG_INLINE double predux_max<Packet8d>(const Packet8d& a) {
   return pfirst(_mm256_max_pd(res, _mm256_shuffle_pd(res, res, 1)));
 }
 
-template <int Offset>
-struct palign_impl<Offset, Packet16f> {
-  static EIGEN_STRONG_INLINE void run(Packet16f& first,
-                                      const Packet16f& second) {
-    if (Offset != 0) {
-      __m512i first_idx = _mm512_set_epi32(
-          Offset + 15, Offset + 14, Offset + 13, Offset + 12, Offset + 11,
-          Offset + 10, Offset + 9, Offset + 8, Offset + 7, Offset + 6,
-          Offset + 5, Offset + 4, Offset + 3, Offset + 2, Offset + 1, Offset);
-
-      __m512i second_idx =
-          _mm512_set_epi32(Offset - 1, Offset - 2, Offset - 3, Offset - 4,
-                           Offset - 5, Offset - 6, Offset - 7, Offset - 8,
-                           Offset - 9, Offset - 10, Offset - 11, Offset - 12,
-                           Offset - 13, Offset - 14, Offset - 15, Offset - 16);
-
-      unsigned short mask = 0xFFFF;
-      mask <<= (16 - Offset);
-
-      first = _mm512_permutexvar_ps(first_idx, first);
-      Packet16f tmp = _mm512_permutexvar_ps(second_idx, second);
-      first = _mm512_mask_blend_ps(mask, first, tmp);
-    }
-  }
-};
-template <int Offset>
-struct palign_impl<Offset, Packet8d> {
-  static EIGEN_STRONG_INLINE void run(Packet8d& first, const Packet8d& second) {
-    if (Offset != 0) {
-      __m512i first_idx = _mm512_set_epi32(
-          0, Offset + 7, 0, Offset + 6, 0, Offset + 5, 0, Offset + 4, 0,
-          Offset + 3, 0, Offset + 2, 0, Offset + 1, 0, Offset);
-
-      __m512i second_idx = _mm512_set_epi32(
-          0, Offset - 1, 0, Offset - 2, 0, Offset - 3, 0, Offset - 4, 0,
-          Offset - 5, 0, Offset - 6, 0, Offset - 7, 0, Offset - 8);
-
-      unsigned char mask = 0xFF;
-      mask <<= (8 - Offset);
-
-      first = _mm512_permutexvar_pd(first_idx, first);
-      Packet8d tmp = _mm512_permutexvar_pd(second_idx, second);
-      first = _mm512_mask_blend_pd(mask, first, tmp);
-    }
-  }
-};
+template<> EIGEN_STRONG_INLINE bool predux_any(const Packet16f& x)
+{
+  Packet16i xi = _mm512_castps_si512(x);
+  __mmask16 tmp = _mm512_test_epi32_mask(xi,xi);
+  return !_mm512_kortestz(tmp,tmp);
+}
+
 
 
 #define PACK_OUTPUT(OUTPUT, INPUT, INDEX, STRIDE) \
@@ -1272,11 +1360,940 @@ EIGEN_STRONG_INLINE Packet16f pblend(const Selector<16>& /*ifPacket*/,
   return Packet16f();
 }
 template <>
-EIGEN_STRONG_INLINE Packet8d pblend(const Selector<8>& /*ifPacket*/,
-                                    const Packet8d& /*thenPacket*/,
-                                    const Packet8d& /*elsePacket*/) {
-  assert(false && "To be implemented");
-  return Packet8d();
+EIGEN_STRONG_INLINE Packet8d pblend(const Selector<8>& ifPacket,
+                                    const Packet8d& thenPacket,
+                                    const Packet8d& elsePacket) {
+  __mmask8 m = (ifPacket.select[0]   )
+             | (ifPacket.select[1]<<1)
+             | (ifPacket.select[2]<<2)
+             | (ifPacket.select[3]<<3)
+             | (ifPacket.select[4]<<4)
+             | (ifPacket.select[5]<<5)
+             | (ifPacket.select[6]<<6)
+             | (ifPacket.select[7]<<7);
+  return _mm512_mask_blend_pd(m, elsePacket, thenPacket);
+}
+
+// Packet math for Eigen::half
+template<> EIGEN_STRONG_INLINE Packet16h pset1<Packet16h>(const Eigen::half& from) {
+  return _mm256_set1_epi16(from.x);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet16h>(const Packet16h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm256_extract_epi16(from, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pload<Packet16h>(const Eigen::half* from) {
+  return _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h ploadu<Packet16h>(const Eigen::half* from) {
+  return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet16h& from) {
+  // (void*) -> workaround clang warning:
+  // cast from 'Eigen::half *' to '__m256i *' increases required alignment from 2 to 32
+  _mm256_store_si256((__m256i*)(void*)to, from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet16h& from) {
+  // (void*) -> workaround clang warning:
+  // cast from 'Eigen::half *' to '__m256i *' increases required alignment from 2 to 32
+  _mm256_storeu_si256((__m256i*)(void*)to, from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h
+ploaddup<Packet16h>(const Eigen::half*  from) {
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  unsigned short c = from[2].x;
+  unsigned short d = from[3].x;
+  unsigned short e = from[4].x;
+  unsigned short f = from[5].x;
+  unsigned short g = from[6].x;
+  unsigned short h = from[7].x;
+  return _mm256_set_epi16(h, h, g, g, f, f, e, e, d, d, c, c, b, b, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h
+ploadquad(const Eigen::half* from) {
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  unsigned short c = from[2].x;
+  unsigned short d = from[3].x;
+  return _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
+}
+
+EIGEN_STRONG_INLINE Packet16f half2float(const Packet16h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm512_cvtph_ps(a);
+#else
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+  float f8(aux[8]);
+  float f9(aux[9]);
+  float fa(aux[10]);
+  float fb(aux[11]);
+  float fc(aux[12]);
+  float fd(aux[13]);
+  float fe(aux[14]);
+  float ff(aux[15]);
+
+  return _mm512_set_ps(
+      ff, fe, fd, fc, fb, fa, f9, f8, f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet16h float2half(const Packet16f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm512_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+#else
+  EIGEN_ALIGN64 float aux[16];
+  pstore(aux, a);
+  half h0(aux[0]);
+  half h1(aux[1]);
+  half h2(aux[2]);
+  half h3(aux[3]);
+  half h4(aux[4]);
+  half h5(aux[5]);
+  half h6(aux[6]);
+  half h7(aux[7]);
+  half h8(aux[8]);
+  half h9(aux[9]);
+  half ha(aux[10]);
+  half hb(aux[11]);
+  half hc(aux[12]);
+  half hd(aux[13]);
+  half he(aux[14]);
+  half hf(aux[15]);
+
+  return _mm256_set_epi16(
+      hf.x, he.x, hd.x, hc.x, hb.x, ha.x, h9.x, h8.x,
+      h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h ptrue(const Packet16h& a) {
+  return ptrue(Packet8i(a));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pabs(const Packet16h& a) {
+  const __m256i sign_mask = _mm256_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm256_andnot_si256(sign_mask, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pmin<Packet16h>(const Packet16h& a,
+                                              const Packet16h& b) {
+  return float2half(pmin<Packet16f>(half2float(a), half2float(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pmax<Packet16h>(const Packet16h& a,
+                                              const Packet16h& b) {
+  return float2half(pmax<Packet16f>(half2float(a), half2float(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h plset<Packet16h>(const half& a) {
+  return float2half(plset<Packet16f>(static_cast<float>(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h por(const Packet16h& a,const Packet16h& b) {
+  // in some cases Packet8i is a wrapper around __m256i, so we need to
+  // cast to Packet8i to call the correct overload.
+  return por(Packet8i(a),Packet8i(b));
+}
+template<> EIGEN_STRONG_INLINE Packet16h pxor(const Packet16h& a,const Packet16h& b) {
+  return pxor(Packet8i(a),Packet8i(b));
+}
+template<> EIGEN_STRONG_INLINE Packet16h pand(const Packet16h& a,const Packet16h& b) {
+  return pand(Packet8i(a),Packet8i(b));
+}
+template<> EIGEN_STRONG_INLINE Packet16h pandnot(const Packet16h& a,const Packet16h& b) {
+  return pandnot(Packet8i(a),Packet8i(b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pselect(const Packet16h& mask, const Packet16h& a, const Packet16h& b) {
+  return _mm256_blendv_epi8(b, a, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pround<Packet16h>(const Packet16h& a) {
+  return float2half(pround<Packet16f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h print<Packet16h>(const Packet16h& a) {
+  return float2half(print<Packet16f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pceil<Packet16h>(const Packet16h& a) {
+  return float2half(pceil<Packet16f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pfloor<Packet16h>(const Packet16h& a) {
+  return float2half(pfloor<Packet16f>(half2float(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pcmp_eq(const Packet16h& a,const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  return Pack32To16(pcmp_eq(af, bf));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pcmp_le(const Packet16h& a,const Packet16h& b) {
+  return Pack32To16(pcmp_le(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pcmp_lt(const Packet16h& a,const Packet16h& b) {
+  return Pack32To16(pcmp_lt(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pcmp_lt_or_nan(const Packet16h& a,const Packet16h& b) {
+  return Pack32To16(pcmp_lt_or_nan(half2float(a), half2float(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pconj(const Packet16h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet16h pnegate(const Packet16h& a) {
+  Packet16h sign_mask = _mm256_set1_epi16(static_cast<unsigned short>(0x8000));
+  return _mm256_xor_si256(a, sign_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h psub<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = psub(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pdiv<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = pdiv(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& from) {
+  Packet16f from_float = half2float(from);
+  return half(predux(from_float));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h predux_half_dowto4<Packet16h>(const Packet16h& a) {
+  Packet8h lane0 = _mm256_extractf128_si256(a, 0);
+  Packet8h lane1 = _mm256_extractf128_si256(a, 1);
+  return padd<Packet8h>(lane0, lane1);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet16h>(const Packet16h& a) {
+  Packet16f af = half2float(a);
+  float reduced = predux_max<Packet16f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet16h>(const Packet16h& a) {
+  Packet16f af = half2float(a);
+  float reduced = predux_min<Packet16f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE half predux_mul<Packet16h>(const Packet16h& from) {
+  Packet16f from_float = half2float(from);
+  return half(predux_mul(from_float));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h preverse(const Packet16h& a)
+{
+  __m128i m = _mm_setr_epi8(14,15,12,13,10,11,8,9,6,7,4,5,2,3,0,1);
+  return _mm256_insertf128_si256(
+                    _mm256_castsi128_si256(_mm_shuffle_epi8(_mm256_extractf128_si256(a,1),m)),
+                                           _mm_shuffle_epi8(_mm256_extractf128_si256(a,0),m), 1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pgather<Eigen::half, Packet16h>(const Eigen::half* from, Index stride)
+{
+  return _mm256_set_epi16(
+      from[15*stride].x, from[14*stride].x, from[13*stride].x, from[12*stride].x,
+      from[11*stride].x, from[10*stride].x, from[9*stride].x, from[8*stride].x,
+      from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x,
+      from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<half, Packet16h>(half* to, const Packet16h& from, Index stride)
+{
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, from);
+  to[stride*0] = aux[0];
+  to[stride*1] = aux[1];
+  to[stride*2] = aux[2];
+  to[stride*3] = aux[3];
+  to[stride*4] = aux[4];
+  to[stride*5] = aux[5];
+  to[stride*6] = aux[6];
+  to[stride*7] = aux[7];
+  to[stride*8] = aux[8];
+  to[stride*9] = aux[9];
+  to[stride*10] = aux[10];
+  to[stride*11] = aux[11];
+  to[stride*12] = aux[12];
+  to[stride*13] = aux[13];
+  to[stride*14] = aux[14];
+  to[stride*15] = aux[15];
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,16>& kernel) {
+  __m256i a = kernel.packet[0];
+  __m256i b = kernel.packet[1];
+  __m256i c = kernel.packet[2];
+  __m256i d = kernel.packet[3];
+  __m256i e = kernel.packet[4];
+  __m256i f = kernel.packet[5];
+  __m256i g = kernel.packet[6];
+  __m256i h = kernel.packet[7];
+  __m256i i = kernel.packet[8];
+  __m256i j = kernel.packet[9];
+  __m256i k = kernel.packet[10];
+  __m256i l = kernel.packet[11];
+  __m256i m = kernel.packet[12];
+  __m256i n = kernel.packet[13];
+  __m256i o = kernel.packet[14];
+  __m256i p = kernel.packet[15];
+
+  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
+  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
+  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
+  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
+  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
+  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
+  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
+  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
+
+  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
+  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
+  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
+  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
+  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
+  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
+  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
+  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
+
+  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
+  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
+  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
+  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
+  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
+  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
+  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
+  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
+
+  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
+  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
+  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
+  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
+  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
+  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
+  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
+  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
+
+  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
+  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
+  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
+  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
+  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
+  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
+  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
+  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
+  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
+  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
+  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
+  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
+  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
+  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
+  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
+  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
+
+  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
+  __m256i a_p_0 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
+  __m256i a_p_1 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
+  __m256i a_p_2 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
+  __m256i a_p_3 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
+  __m256i a_p_4 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
+  __m256i a_p_5 = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
+  __m256i a_p_6 = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
+  __m256i a_p_7 = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
+  __m256i a_p_8 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
+  __m256i a_p_9 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
+  __m256i a_p_a = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
+  __m256i a_p_b = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
+  __m256i a_p_c = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
+  __m256i a_p_d = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
+  __m256i a_p_e = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
+  __m256i a_p_f = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
+
+  kernel.packet[0] = a_p_0;
+  kernel.packet[1] = a_p_1;
+  kernel.packet[2] = a_p_2;
+  kernel.packet[3] = a_p_3;
+  kernel.packet[4] = a_p_4;
+  kernel.packet[5] = a_p_5;
+  kernel.packet[6] = a_p_6;
+  kernel.packet[7] = a_p_7;
+  kernel.packet[8] = a_p_8;
+  kernel.packet[9] = a_p_9;
+  kernel.packet[10] = a_p_a;
+  kernel.packet[11] = a_p_b;
+  kernel.packet[12] = a_p_c;
+  kernel.packet[13] = a_p_d;
+  kernel.packet[14] = a_p_e;
+  kernel.packet[15] = a_p_f;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,8>& kernel) {
+  EIGEN_ALIGN64 half in[8][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+  pstore<half>(in[4], kernel.packet[4]);
+  pstore<half>(in[5], kernel.packet[5]);
+  pstore<half>(in[6], kernel.packet[6]);
+  pstore<half>(in[7], kernel.packet[7]);
+
+  EIGEN_ALIGN64 half out[8][16];
+
+  for (int i = 0; i < 8; ++i) {
+    for (int j = 0; j < 8; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 8; ++j) {
+      out[i][j+8] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+  kernel.packet[4] = pload<Packet16h>(out[4]);
+  kernel.packet[5] = pload<Packet16h>(out[5]);
+  kernel.packet[6] = pload<Packet16h>(out[6]);
+  kernel.packet[7] = pload<Packet16h>(out[7]);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,4>& kernel) {
+  EIGEN_ALIGN64 half in[4][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN64 half out[4][16];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][4*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][4*i+1];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+8] = in[j][4*i+2];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+12] = in[j][4*i+3];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+}
+
+template <> struct is_arithmetic<Packet16bf> { enum { value = true }; };
+
+template <>
+struct packet_traits<bfloat16> : default_packet_traits {
+  typedef Packet16bf type;
+  typedef Packet8bf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+    HasBlend = 0,
+    HasInsert = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+#if EIGEN_GNUC_AT_LEAST(5, 3) || (!EIGEN_COMP_GNUC_STRICT)
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+    HasLog = 1,  // Currently fails test with bad accuracy.
+    HasLog1p  = 1,
+    HasExpm1  = 1,
+    HasNdtri = 1,
+    HasBessel  = 1,
+#endif
+    HasExp = 1,
+    HasSqrt = EIGEN_FAST_MATH,
+    HasRsqrt = EIGEN_FAST_MATH,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
+#endif
+    HasCmp  = 1,
+    HasDiv = 1
+  };
+};
+
+template <>
+struct unpacket_traits<Packet16bf>
+{
+  typedef bfloat16 type;
+  enum {size=16, alignment=Aligned32, vectorizable=true, masked_load_available=false, masked_store_available=false};
+  typedef Packet8bf half;
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pset1<Packet16bf>(const bfloat16& from) {
+  return _mm256_set1_epi16(from.value);
+}
+
+template <>
+EIGEN_STRONG_INLINE bfloat16 pfirst<Packet16bf>(const Packet16bf& from) {
+  bfloat16 t;
+  t.value = static_cast<unsigned short>(_mm256_extract_epi16(from, 0));
+  return t;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pload<Packet16bf>(const bfloat16* from) {
+  return _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf ploadu<Packet16bf>(const bfloat16* from) {
+  return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<bfloat16>(bfloat16* to,
+                                          const Packet16bf& from) {
+  _mm256_store_si256(reinterpret_cast<__m256i*>(to), from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<bfloat16>(bfloat16* to,
+                                           const Packet16bf& from) {
+  _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf
+ploaddup<Packet16bf>(const bfloat16* from) {
+  Packet16bf r;
+  unsigned short a = from[0].value;
+  unsigned short b = from[1].value;
+  unsigned short c = from[2].value;
+  unsigned short d = from[3].value;
+  unsigned short e = from[4].value;
+  unsigned short f = from[5].value;
+  unsigned short g = from[6].value;
+  unsigned short h = from[7].value;
+  return _mm256_set_epi16(h, h, g, g, f, f, e, e, d, d, c, c, b, b, a, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf
+ploadquad(const bfloat16* from) {
+  Packet16bf r;
+  unsigned short a = from[0].value;
+  unsigned short b = from[1].value;
+  unsigned short c = from[2].value;
+  unsigned short d = from[3].value;
+  return _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
+}
+
+EIGEN_STRONG_INLINE Packet16f Bf16ToF32(const Packet16bf& a) {
+  return _mm512_castsi512_ps(_mm512_slli_epi32(_mm512_cvtepu16_epi32(a), 16));
+}
+
+// Convert float to bfloat16 according to round-to-nearest-even/denormals algorithm.
+EIGEN_STRONG_INLINE Packet16bf F32ToBf16(const Packet16f& a) {
+  Packet16bf r;
+
+#if defined(EIGEN_VECTORIZE_AVX512BF16) && EIGEN_GNUC_AT_LEAST(10, 1)
+  // Since GCC 10.1 supports avx512bf16 and C style explicit cast
+  // (C++ static_cast is not supported yet), do converion via intrinsic
+  // and register path for performance.
+  r = (__m256i)(_mm512_cvtneps_pbh(a));
+
+#else
+  __m512i t;
+  __m512i input = _mm512_castps_si512(a);
+  __m512i nan = _mm512_set1_epi32(0x7fc0);
+
+  // uint32_t lsb = (input >> 16) & 1;
+  t = _mm512_and_si512(_mm512_srli_epi32(input, 16), _mm512_set1_epi32(1));
+  // uint32_t rounding_bias = 0x7fff + lsb;
+  t = _mm512_add_epi32(t, _mm512_set1_epi32(0x7fff));
+  // input += rounding_bias;
+  t = _mm512_add_epi32(t, input);
+  // input = input >> 16;
+  t = _mm512_srli_epi32(t, 16);
+
+  // Check NaN before converting back to bf16
+  __mmask16 mask = _mm512_cmp_ps_mask(a, a, _CMP_ORD_Q);
+
+  t = _mm512_mask_blend_epi32(mask, nan, t);
+  // output.value = static_cast<uint16_t>(input);
+  r = _mm512_cvtepi32_epi16(t);
+#endif // EIGEN_VECTORIZE_AVX512BF16
+
+  return r;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf ptrue(const Packet16bf& a) {
+  return ptrue<Packet8i>(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf por(const Packet16bf& a, const Packet16bf& b) {
+  return por<Packet8i>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pxor(const Packet16bf& a, const Packet16bf& b) {
+  return pxor<Packet8i>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pand(const Packet16bf& a, const Packet16bf& b) {
+  return pand<Packet8i>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pandnot(const Packet16bf& a,
+                                       const Packet16bf& b) {
+  return pandnot<Packet8i>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pselect(const Packet16bf& mask,
+                                       const Packet16bf& a,
+                                       const Packet16bf& b) {
+  // Input mask is expected to be all 0/1, handle it with 8-bit
+  // intrinsic for performance.
+  return _mm256_blendv_epi8(b, a, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf pround<Packet16bf>(const Packet16bf& a)
+{
+  return F32ToBf16(pround<Packet16f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf print<Packet16bf>(const Packet16bf& a) {
+  return F32ToBf16(print<Packet16f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf pceil<Packet16bf>(const Packet16bf& a) {
+  return F32ToBf16(pceil<Packet16f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16bf pfloor<Packet16bf>(const Packet16bf& a) {
+  return F32ToBf16(pfloor<Packet16f>(Bf16ToF32(a)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pcmp_eq(const Packet16bf& a,
+                                       const Packet16bf& b) {
+  return Pack32To16(pcmp_eq(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pcmp_le(const Packet16bf& a,
+                                       const Packet16bf& b) {
+  return Pack32To16(pcmp_le(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pcmp_lt(const Packet16bf& a,
+                                       const Packet16bf& b) {
+  return Pack32To16(pcmp_lt(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pcmp_lt_or_nan(const Packet16bf& a,
+                                              const Packet16bf& b) {
+  return Pack32To16(pcmp_lt_or_nan(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pnegate(const Packet16bf& a) {
+  Packet16bf sign_mask = _mm256_set1_epi16(static_cast<unsigned short>(0x8000));
+  return _mm256_xor_si256(a, sign_mask);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pconj(const Packet16bf& a) {
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pabs(const Packet16bf& a) {
+  const __m256i sign_mask = _mm256_set1_epi16(static_cast<numext::uint16_t>(0x8000));
+  return _mm256_andnot_si256(sign_mask, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf padd<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(padd<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf psub<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(psub<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pmul<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(pmul<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pdiv<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(pdiv<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pmin<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(pmin<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pmax<Packet16bf>(const Packet16bf& a,
+                                                const Packet16bf& b) {
+  return F32ToBf16(pmax<Packet16f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf plset<Packet16bf>(const bfloat16& a) {
+  return F32ToBf16(plset<Packet16f>(static_cast<float>(a)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8bf predux_half_dowto4<Packet16bf>(const Packet16bf& a) {
+  Packet8bf lane0 = _mm256_extractf128_si256(a, 0);
+  Packet8bf lane1 = _mm256_extractf128_si256(a, 1);
+  return padd<Packet8bf>(lane0, lane1);
+}
+
+template <>
+EIGEN_STRONG_INLINE bfloat16 predux<Packet16bf>(const Packet16bf& p) {
+  return static_cast<bfloat16>(predux<Packet16f>(Bf16ToF32(p)));
+}
+
+template <>
+EIGEN_STRONG_INLINE bfloat16 predux_mul<Packet16bf>(const Packet16bf& from) {
+  return static_cast<bfloat16>(predux_mul<Packet16f>(Bf16ToF32(from)));
+}
+
+template <>
+EIGEN_STRONG_INLINE bfloat16 predux_min<Packet16bf>(const Packet16bf& from) {
+  return static_cast<bfloat16>(predux_min<Packet16f>(Bf16ToF32(from)));
+}
+
+template <>
+EIGEN_STRONG_INLINE bfloat16 predux_max<Packet16bf>(const Packet16bf& from) {
+  return static_cast<bfloat16>(predux_max<Packet16f>(Bf16ToF32(from)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf preverse(const Packet16bf& a) {
+  __m256i m = _mm256_setr_epi8(14,15,12,13,10,11,8,9,6,7,4,5,2,3,0,1,
+                               14,15,12,13,10,11,8,9,6,7,4,5,2,3,0,1);
+
+  Packet16bf res;
+  // Swap hi and lo first because shuffle is in 128-bit lanes.
+  res = _mm256_permute2x128_si256(a, a, 1);
+  // Shuffle 8-bit values in src within 2*128-bit lanes.
+  return _mm256_shuffle_epi8(res, m);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16bf pgather<bfloat16, Packet16bf>(const bfloat16* from,
+                                                             Index stride) {
+  return _mm256_set_epi16(
+      from[15*stride].value, from[14*stride].value, from[13*stride].value, from[12*stride].value,
+      from[11*stride].value, from[10*stride].value, from[9*stride].value, from[8*stride].value,
+      from[7*stride].value, from[6*stride].value, from[5*stride].value, from[4*stride].value,
+      from[3*stride].value, from[2*stride].value, from[1*stride].value, from[0*stride].value);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pscatter<bfloat16, Packet16bf>(bfloat16* to,
+                                                        const Packet16bf& from,
+                                                        Index stride) {
+  EIGEN_ALIGN64 bfloat16 aux[16];
+  pstore(aux, from);
+  to[stride*0] = aux[0];
+  to[stride*1] = aux[1];
+  to[stride*2] = aux[2];
+  to[stride*3] = aux[3];
+  to[stride*4] = aux[4];
+  to[stride*5] = aux[5];
+  to[stride*6] = aux[6];
+  to[stride*7] = aux[7];
+  to[stride*8] = aux[8];
+  to[stride*9] = aux[9];
+  to[stride*10] = aux[10];
+  to[stride*11] = aux[11];
+  to[stride*12] = aux[12];
+  to[stride*13] = aux[13];
+  to[stride*14] = aux[14];
+  to[stride*15] = aux[15];
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16bf,16>& kernel) {
+  __m256i a = kernel.packet[0];
+  __m256i b = kernel.packet[1];
+  __m256i c = kernel.packet[2];
+  __m256i d = kernel.packet[3];
+  __m256i e = kernel.packet[4];
+  __m256i f = kernel.packet[5];
+  __m256i g = kernel.packet[6];
+  __m256i h = kernel.packet[7];
+  __m256i i = kernel.packet[8];
+  __m256i j = kernel.packet[9];
+  __m256i k = kernel.packet[10];
+  __m256i l = kernel.packet[11];
+  __m256i m = kernel.packet[12];
+  __m256i n = kernel.packet[13];
+  __m256i o = kernel.packet[14];
+  __m256i p = kernel.packet[15];
+
+  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
+  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
+  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
+  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
+  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
+  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
+  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
+  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
+
+  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
+  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
+  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
+  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
+  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
+  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
+  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
+  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
+
+  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
+  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
+  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
+  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
+  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
+  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
+  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
+  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
+
+  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
+  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
+  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
+  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
+  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
+  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
+  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
+  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
+
+  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
+  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
+  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
+  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
+  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
+  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
+  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
+  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
+  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
+  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
+  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
+  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
+  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
+  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
+  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
+  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
+
+  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
+  kernel.packet[0] = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
+  kernel.packet[1] = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
+  kernel.packet[2] = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
+  kernel.packet[3] = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
+  kernel.packet[4] = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
+  kernel.packet[5] = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
+  kernel.packet[6] = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
+  kernel.packet[7] = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
+  kernel.packet[8] = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
+  kernel.packet[9] = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
+  kernel.packet[10] = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
+  kernel.packet[11] = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
+  kernel.packet[12] = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
+  kernel.packet[13] = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
+  kernel.packet[14] = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
+  kernel.packet[15] = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16bf,4>& kernel) {
+  __m256i a = kernel.packet[0];
+  __m256i b = kernel.packet[1];
+  __m256i c = kernel.packet[2];
+  __m256i d = kernel.packet[3];
+
+  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
+  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
+  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
+  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
+
+  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
+  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
+  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
+  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
+
+  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
+  kernel.packet[0] = _mm256_permute2x128_si256(abcd_03, abcd_47, 0x20);
+  kernel.packet[1] = _mm256_permute2x128_si256(abcd_8b, abcd_cf, 0x20);
+  kernel.packet[2] = _mm256_permute2x128_si256(abcd_03, abcd_47, 0x31);
+  kernel.packet[3] = _mm256_permute2x128_si256(abcd_8b, abcd_cf, 0x31);
 }
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/TypeCasting.h
new file mode 100644
index 0000000000..330412729e
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AVX512/TypeCasting.h
@@ -0,0 +1,89 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2019 Rasmus Munk Larsen <rmlarsen@google.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_AVX512_H
+#define EIGEN_TYPE_CASTING_AVX512_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<> EIGEN_STRONG_INLINE Packet16i pcast<Packet16f, Packet16i>(const Packet16f& a) {
+  return _mm512_cvttps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16i, Packet16f>(const Packet16i& a) {
+  return _mm512_cvtepi32_ps(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16i preinterpret<Packet16i, Packet16f>(const Packet16f& a) {
+  return _mm512_castps_si512(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f preinterpret<Packet16f, Packet16i>(const Packet16i& a) {
+  return _mm512_castsi512_ps(a);
+}
+
+template <>
+struct type_casting_traits<half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16h, Packet16f>(const Packet16h& a) {
+  return half2float(a);
+}
+
+template <>
+struct type_casting_traits<float, half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16h pcast<Packet16f, Packet16h>(const Packet16f& a) {
+  return float2half(a);
+}
+
+template <>
+struct type_casting_traits<bfloat16, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16bf, Packet16f>(const Packet16bf& a) {
+  return Bf16ToF32(a);
+}
+
+template <>
+struct type_casting_traits<float, bfloat16> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16bf pcast<Packet16f, Packet16bf>(const Packet16f& a) {
+  return F32ToBf16(a);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_AVX512_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/Complex.h
index 3e665730cf..b3932998c1 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -29,8 +29,54 @@ static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (P
 //---------- float ----------
 struct Packet2cf
 {
-  EIGEN_STRONG_INLINE explicit Packet2cf() : v(p4f_ZERO) {}
+  EIGEN_STRONG_INLINE explicit Packet2cf() {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(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_PSET32_WODD);
+    // Get the imaginary parts of a
+    v2 = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
+    // 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 = reinterpret_cast<Packet4f>(pxor(v2, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
+    // permute back to a proper order
+    v2 = vec_perm(v2, v2, p16uc_COMPLEX32_REV);
+
+    return Packet2cf(padd<Packet4f>(v1, v2));
+  }
+
+  EIGEN_STRONG_INLINE Packet2cf& operator*=(const Packet2cf& b) {
+    v = pmul(Packet2cf(*this), b).v;
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator*(const Packet2cf& b) const {
+    return Packet2cf(*this) *= b;
+  }
+
+  EIGEN_STRONG_INLINE Packet2cf& operator+=(const Packet2cf& b) {
+    v = padd(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator+(const Packet2cf& b) const {
+    return Packet2cf(*this) += b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator-=(const Packet2cf& b) {
+    v = psub(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator-(const Packet2cf& b) const {
+    return Packet2cf(*this) -= b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator-(void) const {
+    return Packet2cf(-v);
+  }
+
   Packet4f  v;
 };
 
@@ -38,6 +84,7 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
   typedef Packet2cf half;
+  typedef Packet4f as_real;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
@@ -60,7 +107,7 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet2cf half; typedef Packet4f as_real; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
@@ -80,16 +127,35 @@ template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<
 template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstore((float*)to, from.v); }
 template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstoreu((float*)to, from.v); }
 
+EIGEN_STRONG_INLINE Packet2cf pload2(const std::complex<float>& from0, const std::complex<float>& from1)
+{
+  Packet4f res0, res1;
+#ifdef __VSX__
+  __asm__ ("lxsdx %x0,%y1" : "=wa" (res0) : "Z" (from0));
+  __asm__ ("lxsdx %x0,%y1" : "=wa" (res1) : "Z" (from1));
+#ifdef _BIG_ENDIAN
+  __asm__ ("xxpermdi %x0, %x1, %x2, 0" : "=wa" (res0) : "wa" (res0), "wa" (res1));
+#else
+  __asm__ ("xxpermdi %x0, %x2, %x1, 0" : "=wa" (res0) : "wa" (res0), "wa" (res1));
+#endif
+#else
+  *reinterpret_cast<std::complex<float> *>(&res0) = from0;
+  *reinterpret_cast<std::complex<float> *>(&res1) = from1;
+  res0 = vec_perm(res0, res1, p16uc_TRANSPOSE64_HI);
+#endif
+  return Packet2cf(res0);
+}
+
 template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
 {
-  std::complex<float> EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 std::complex<float> af[2];
   af[0] = from[0*stride];
   af[1] = from[1*stride];
   return pload<Packet2cf>(af);
 }
 template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
 {
-  std::complex<float> EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 std::complex<float> af[2];
   pstore<std::complex<float> >((std::complex<float> *) af, from);
   to[0*stride] = af[0];
   to[1*stride] = af[1];
@@ -100,25 +166,6 @@ template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, con
 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(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(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_PSET32_WODD);
-  // Get the imaginary parts of a
-  v2 = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
-  // 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 = reinterpret_cast<Packet4f>(pxor(v2, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
-  // permute back to a proper order
-  v2 = vec_perm(v2, v2, p16uc_COMPLEX32_REV);
-  
-  return Packet2cf(padd<Packet4f>(v1, v2));
-}
-
 template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v, b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v, b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v, b.v)); }
@@ -128,7 +175,7 @@ template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::co
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
 {
-  std::complex<float> EIGEN_ALIGN16 res[2];
+  EIGEN_ALIGN16 std::complex<float> res[2];
   pstore((float *)&res, a.v);
 
   return res[0];
@@ -149,22 +196,6 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packe
   return pfirst<Packet2cf>(Packet2cf(b));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
-{
-  Packet4f b1, b2;
-#ifdef _BIG_ENDIAN  
-  b1 = vec_sld(vecs[0].v, vecs[1].v, 8);
-  b2 = vec_sld(vecs[1].v, vecs[0].v, 8);
-#else
-  b1 = vec_sld(vecs[1].v, vecs[0].v, 8);
-  b2 = vec_sld(vecs[0].v, vecs[1].v, 8);
-#endif
-  b2 = vec_sld(b2, b2, 8);
-  b2 = padd<Packet4f>(b1, b2);
-
-  return Packet2cf(b2);
-}
-
 template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
 {
   Packet4f b;
@@ -175,61 +206,12 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
   return pfirst<Packet2cf>(prod);
 }
 
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset==1)
-    {
-#ifdef _BIG_ENDIAN
-      first.v = vec_sld(first.v, second.v, 8);
-#else
-      first.v = vec_sld(second.v, first.v, 8);
-#endif
-    }
-  }
-};
-
-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));
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
 
 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);
+  Packet2cf res = pmul(a, pconj(b));
   Packet4f s = pmul<Packet4f>(b.v, b.v);
   return Packet2cf(pdiv(res.v, padd<Packet4f>(s, vec_perm(s, s, p16uc_COMPLEX32_REV))));
 }
@@ -246,6 +228,11 @@ EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
   kernel.packet[0].v = tmp;
 }
 
+template<> EIGEN_STRONG_INLINE Packet2cf pcmp_eq(const Packet2cf& a, const Packet2cf& b) {
+  Packet4f eq = reinterpret_cast<Packet4f>(vec_cmpeq(a.v,b.v));
+  return Packet2cf(vec_and(eq, vec_perm(eq, eq, p16uc_COMPLEX32_REV)));
+}
+
 #ifdef __VSX__
 template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
   Packet2cf result;
@@ -254,12 +241,62 @@ template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, con
 }
 #endif
 
+template<> EIGEN_STRONG_INLINE Packet2cf psqrt<Packet2cf>(const Packet2cf& a)
+{
+  return psqrt_complex<Packet2cf>(a);
+}
+
 //---------- double ----------
 #ifdef __VSX__
 struct Packet1cd
 {
   EIGEN_STRONG_INLINE Packet1cd() {}
   EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b)
+  {
+    Packet2d a_re, a_im, v1, v2;
+
+    // Permute and multiply the real parts of a and b
+    a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
+    // Get the imaginary parts of a
+    a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
+    // multiply a_re * b
+    v1 = vec_madd(a_re, b.v, p2d_ZERO);
+    // multiply a_im * b and get the conjugate result
+    v2 = vec_madd(a_im, b.v, p2d_ZERO);
+    v2 = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v2), reinterpret_cast<Packet4ui>(v2), 8));
+    v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1));
+
+    return Packet1cd(padd<Packet2d>(v1, v2));
+  }
+
+  EIGEN_STRONG_INLINE Packet1cd& operator*=(const Packet1cd& b) {
+    v = pmul(Packet1cd(*this), b).v;
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator*(const Packet1cd& b) const {
+    return Packet1cd(*this) *= b;
+  }
+
+  EIGEN_STRONG_INLINE Packet1cd& operator+=(const Packet1cd& b) {
+    v = padd(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator+(const Packet1cd& b) const {
+    return Packet1cd(*this) += b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator-=(const Packet1cd& b) {
+    v = psub(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator-(const Packet1cd& b) const {
+    return Packet1cd(*this) -= b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator-(void) const {
+    return Packet1cd(-v);
+  }
+
   Packet2d v;
 };
 
@@ -267,6 +304,7 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 {
   typedef Packet1cd type;
   typedef Packet1cd half;
+  typedef Packet2d as_real;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 0,
@@ -286,7 +324,7 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet1cd half; typedef Packet2d as_real; };
 
 template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { return Packet1cd(pload<Packet2d>((const double*)from)); }
 template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { return Packet1cd(ploadu<Packet2d>((const double*)from)); }
@@ -296,19 +334,13 @@ template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<
 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_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index)
 {
-  std::complex<double> EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  return pload<Packet1cd>(af);
+  return pload<Packet1cd>(from);
 }
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index)
 {
-  std::complex<double> EIGEN_ALIGN16 af[2];
-  pstore<std::complex<double> >(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
+  pstore<std::complex<double> >(to, from);
 }
 
 template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
@@ -316,24 +348,6 @@ template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, con
 template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2))); }
 
-template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  Packet2d a_re, a_im, v1, v2;
-
-  // Permute and multiply the real parts of a and b
-  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
-  // Get the imaginary parts of a
-  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
-  // multiply a_re * b
-  v1 = vec_madd(a_re, b.v, p2d_ZERO);
-  // multiply a_im * b and get the conjugate result
-  v2 = vec_madd(a_im, b.v, p2d_ZERO);
-  v2 = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v2), reinterpret_cast<Packet4ui>(v2), 8));
-  v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1));
-
-  return Packet1cd(padd<Packet2d>(v1, v2));
-}
-
 template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pand(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(por(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pxor(a.v,b.v)); }
@@ -345,7 +359,7 @@ template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::c
 
 template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
 {
-  std::complex<double> EIGEN_ALIGN16 res[2];
+  EIGEN_ALIGN16 std::complex<double> res[2];
   pstore<std::complex<double> >(res, a);
 
   return res[0];
@@ -354,59 +368,15 @@ template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Pac
 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>
-{
-  static EIGEN_STRONG_INLINE 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
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-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
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-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
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
 
 template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
   // TODO optimize it for AltiVec
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet1cd res = pmul(a,pconj(b));
   Packet2d s = pmul<Packet2d>(b.v, b.v);
   return Packet1cd(pdiv(res.v, padd<Packet2d>(s, vec_perm(s, s, p16uc_REVERSE64))));
 }
@@ -422,6 +392,23 @@ EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
   kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
   kernel.packet[0].v = tmp;
 }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pcmp_eq(const Packet1cd& a, const Packet1cd& b) {
+  // Compare real and imaginary parts of a and b to get the mask vector:
+  // [re(a)==re(b), im(a)==im(b)]
+  Packet2d eq = reinterpret_cast<Packet2d>(vec_cmpeq(a.v,b.v));
+  // Swap real/imag elements in the mask in to get:
+  // [im(a)==im(b), re(a)==re(b)]
+  Packet2d eq_swapped = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(eq), reinterpret_cast<Packet4ui>(eq), 8));
+  // Return re(a)==re(b) & im(a)==im(b) by computing bitwise AND of eq and eq_swapped
+  return Packet1cd(vec_and(eq, eq_swapped));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd psqrt<Packet1cd>(const Packet1cd& a)
+{
+  return psqrt_complex<Packet1cd>(a);
+}
+
 #endif // __VSX__
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MathFunctions.h
index c5e4bede74..3a7a329361 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MathFunctions.h
@@ -9,10 +9,6 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-/* 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_ALTIVEC_H
 #define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
 
@@ -20,180 +16,28 @@ namespace Eigen {
 
 namespace internal {
 
-static _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
-static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
-static _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
-static _EIGEN_DECLARE_CONST_Packet4i(23, 23);
-
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
-
-/* the smallest non denormalized float number */
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000); // -1.f/0.f
-static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_nan,     0xffffffff);
-  
-/* natural logarithm computed for 4 simultaneous float
-  return NaN for x <= 0
-*/
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
-static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
-
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
-static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
-
-#ifdef __VSX__
-static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
-static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
-static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
-
-static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
-static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
-
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
-static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
-
-#ifdef __POWER8_VECTOR__
-static Packet2l p2l_1023 = { 1023, 1023 };
-static Packet2ul p2ul_52 = { 52, 52 };
-#endif
-
-#endif
-
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f plog<Packet4f>(const Packet4f& _x)
 {
-  Packet4f x = _x;
-
-  Packet4i emm0;
-
-  /* isvalid_mask is 0 if x < 0 or x is NaN. */
-  Packet4ui isvalid_mask = reinterpret_cast<Packet4ui>(vec_cmpge(x, p4f_ZERO));
-  Packet4ui iszero_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(x, p4f_ZERO));
-
-  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
-  emm0 = vec_sr(reinterpret_cast<Packet4i>(x),
-                reinterpret_cast<Packet4ui>(p4i_23));
-
-  /* keep only the fractional part */
-  x = pand(x, p4f_inv_mant_mask);
-  x = por(x, p4f_half);
-
-  emm0 = psub(emm0, p4i_0x7f);
-  Packet4f e = padd(vec_ctf(emm0, 0), p4f_1);
-
-  /* part2:
-     if( x < SQRTHF ) {
-       e -= 1;
-       x = x + x - 1.0;
-     } else { x = x - 1.0; }
-  */
-  Packet4f mask = reinterpret_cast<Packet4f>(vec_cmplt(x, p4f_cephes_SQRTHF));
-  Packet4f tmp = pand(x, mask);
-  x = psub(x, p4f_1);
-  e = psub(e, pand(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);
-  // negative arg will be NAN, 0 will be -INF
-  x = vec_sel(x, p4f_minus_inf, iszero_mask);
-  x = vec_sel(p4f_minus_nan, x, isvalid_mask);
-  return x;
+  return plog_float(_x);
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f pexp<Packet4f>(const Packet4f& _x)
 {
-  Packet4f x = _x;
-
-  Packet4f tmp, 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);
-
-  fx = pfloor(fx);
-
-  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);
+  return pexp_float(_x);
+}
 
-  // build 2^n
-  emm0 = vec_cts(fx, 0);
-  emm0 = vec_add(emm0, p4i_0x7f);
-  emm0 = vec_sl(emm0, reinterpret_cast<Packet4ui>(p4i_23));
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psin<Packet4f>(const Packet4f& _x)
+{
+  return psin_float(_x);
+}
 
-  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
-  // inputs and return them unmodified.
-  Packet4ui isnumber_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(_x, _x));
-  return vec_sel(_x, pmax(pmul(y, reinterpret_cast<Packet4f>(emm0)), _x),
-                 isnumber_mask);
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pcos<Packet4f>(const Packet4f& _x)
+{
+  return pcos_float(_x);
 }
 
 #ifndef EIGEN_COMP_CLANG
@@ -225,95 +69,19 @@ Packet2d psqrt<Packet2d>(const Packet2d& x)
   return  vec_sqrt(x);
 }
 
-// VSX support varies between different compilers and even different
-// versions of the same compiler.  For gcc version >= 4.9.3, we can use
-// vec_cts to efficiently convert Packet2d to Packet2l.  Otherwise, use
-// a slow version that works with older compilers. 
-// Update: apparently vec_cts/vec_ctf intrinsics for 64-bit doubles
-// are buggy, https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70963
-static inline Packet2l ConvertToPacket2l(const Packet2d& x) {
-#if EIGEN_GNUC_AT_LEAST(5, 4) || \
-    (EIGEN_GNUC_AT(6, 1) && __GNUC_PATCHLEVEL__ >= 1)
-  return vec_cts(x, 0);    // TODO: check clang version.
-#else
-  double tmp[2];
-  memcpy(tmp, &x, sizeof(tmp));
-  Packet2l l = { static_cast<long long>(tmp[0]),
-                 static_cast<long long>(tmp[1]) };
-  return l;
-#endif
-}
-
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet2d pexp<Packet2d>(const Packet2d& _x)
 {
-  Packet2d x = _x;
-
-  Packet2d tmp, fx;
-  Packet2l emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
-
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(x, p2d_cephes_LOG2EF, p2d_half);
-
-  fx = pfloor(fx);
-
-  tmp = pmul(fx, p2d_cephes_exp_C1);
-  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet2d x2 = pmul(x,x);
-
-  Packet2d px = p2d_cephes_exp_p0;
-  px = pmadd(px, x2, p2d_cephes_exp_p1);
-  px = pmadd(px, x2, p2d_cephes_exp_p2);
-  px = pmul (px, x);
-
-  Packet2d qx = p2d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
-
-  x = pdiv(px,psub(qx,px));
-  x = pmadd(p2d_2,x,p2d_1);
-
-  // build 2^n
-  emm0 = ConvertToPacket2l(fx);
-
-#ifdef __POWER8_VECTOR__ 
-  emm0 = vec_add(emm0, p2l_1023);
-  emm0 = vec_sl(emm0, p2ul_52);
-#else
-  // Code is a bit complex for POWER7.  There is actually a
-  // vec_xxsldi intrinsic but it is not supported by some gcc versions.
-  // So we shift (52-32) bits and do a word swap with zeros.
-  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
-  _EIGEN_DECLARE_CONST_Packet4i(20, 20);    // 52 - 32
-
-  Packet4i emm04i = reinterpret_cast<Packet4i>(emm0);
-  emm04i = vec_add(emm04i, p4i_1023);
-  emm04i = vec_sl(emm04i, reinterpret_cast<Packet4ui>(p4i_20));
-  static const Packet16uc perm = {
-    0x14, 0x15, 0x16, 0x17, 0x00, 0x01, 0x02, 0x03, 
-    0x1c, 0x1d, 0x1e, 0x1f, 0x08, 0x09, 0x0a, 0x0b };
-#ifdef  _BIG_ENDIAN
-  emm0 = reinterpret_cast<Packet2l>(vec_perm(p4i_ZERO, emm04i, perm));
-#else
-  emm0 = reinterpret_cast<Packet2l>(vec_perm(emm04i, p4i_ZERO, perm));
-#endif
-
+  return pexp_double(_x);
+}
 #endif
 
-  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
-  // inputs and return them unmodified.
-  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
-  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
-                 isnumber_mask);
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& x) {
+  return internal::generic_fast_tanh_float(x);
 }
-#endif
 
 }  // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProduct.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProduct.h
new file mode 100644
index 0000000000..8feb88ea70
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProduct.h
@@ -0,0 +1,2765 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2020 Everton Constantino (everton.constantino@ibm.com)
+// Copyright (C) 2021 Chip Kerchner (chip.kerchner@ibm.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_PRODUCT_ALTIVEC_H
+#define EIGEN_MATRIX_PRODUCT_ALTIVEC_H
+
+#ifndef EIGEN_ALTIVEC_USE_CUSTOM_PACK
+#define EIGEN_ALTIVEC_USE_CUSTOM_PACK    1
+#endif
+
+#include "MatrixProductCommon.h"
+
+// Since LLVM doesn't support dynamic dispatching, force either always MMA or VSX
+#if EIGEN_COMP_LLVM
+#if !defined(EIGEN_ALTIVEC_DISABLE_MMA) && !defined(EIGEN_ALTIVEC_MMA_ONLY)
+#ifdef __MMA__
+#define EIGEN_ALTIVEC_MMA_ONLY
+#else
+#define EIGEN_ALTIVEC_DISABLE_MMA
+#endif
+#endif
+#endif
+
+#ifdef __has_builtin
+#if __has_builtin(__builtin_mma_assemble_acc)
+  #define ALTIVEC_MMA_SUPPORT
+#endif
+#endif
+
+#if defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+  #include "MatrixProductMMA.h"
+#endif
+
+/**************************************************************************************************
+ * TODO                                                                                           *
+ * - Check StorageOrder on dhs_pack (the innermost second loop seems unvectorized when it could). *
+ * - Check the possibility of transposing as GETREAL and GETIMAG when needed.                     *
+ **************************************************************************************************/
+namespace Eigen {
+
+namespace internal {
+
+/**************************
+ * Constants and typedefs *
+ **************************/
+template<typename Scalar>
+struct quad_traits
+{
+  typedef typename packet_traits<Scalar>::type    vectortype;
+  typedef PacketBlock<vectortype,4>                     type;
+  typedef vectortype                                 rhstype;
+  enum
+  {
+    vectorsize = packet_traits<Scalar>::size,
+    size = 4,
+    rows = 4
+  };
+};
+
+template<>
+struct quad_traits<double>
+{
+  typedef Packet2d                        vectortype;
+  typedef PacketBlock<vectortype,4>             type;
+  typedef PacketBlock<Packet2d,2>            rhstype;
+  enum
+  {
+    vectorsize = packet_traits<double>::size,
+    size = 2,
+    rows = 4
+  };
+};
+
+// MatrixProduct decomposes real/imaginary vectors into a real vector and an imaginary vector, this turned out
+// to be faster than Eigen's usual approach of having real/imaginary pairs on a single vector. This constants then
+// are responsible to extract from convert between Eigen's and MatrixProduct approach.
+
+const static Packet16uc p16uc_GETREAL32 = {  0,  1,  2,  3,
+                                             8,  9, 10, 11,
+                                            16, 17, 18, 19,
+                                            24, 25, 26, 27};
+
+const static Packet16uc p16uc_GETIMAG32 = {  4,  5,  6,  7,
+                                            12, 13, 14, 15,
+                                            20, 21, 22, 23,
+                                            28, 29, 30, 31};
+const static Packet16uc p16uc_GETREAL64 = {  0,  1,  2,  3,  4,  5,  6,  7,
+                                            16, 17, 18, 19, 20, 21, 22, 23};
+
+//[a,ai],[b,bi] = [ai,bi]
+const static Packet16uc p16uc_GETIMAG64 = {  8,  9, 10, 11, 12, 13, 14, 15,
+                                            24, 25, 26, 27, 28, 29, 30, 31};
+
+/*********************************************
+ * Single precision real and complex packing *
+ * *******************************************/
+
+/**
+ * Symm packing is related to packing of symmetric adjoint blocks, as expected the packing leaves
+ * the diagonal real, whatever is below it is copied from the respective upper diagonal element and 
+ * conjugated. There's no PanelMode available for symm packing.
+ *
+ * Packing in general is supposed to leave the lhs block and the rhs block easy to be read by gemm using 
+ * its respective rank-update instructions. The float32/64 versions are different because at this moment
+ * the size of the accumulator is fixed at 512-bits so you can't have a 4x4 accumulator of 64-bit elements.
+ * 
+ * As mentioned earlier MatrixProduct breaks complex numbers into a real vector and a complex vector so packing has
+ * to take that into account, at the moment, we run pack the real part and then the imaginary part, this is the main
+ * reason why packing for complex is broken down into several different parts, also the reason why we endup having a
+ * float32/64 and complex float32/64 version.
+ **/
+template<typename Scalar, typename Index, int StorageOrder>
+EIGEN_ALWAYS_INLINE std::complex<Scalar> getAdjointVal(Index i, Index j, const_blas_data_mapper<std::complex<Scalar>, Index, StorageOrder>& dt)
+{
+  std::complex<Scalar> v;
+  if(i < j)
+  {
+    v.real( dt(j,i).real());
+    v.imag(-dt(j,i).imag());
+  } else if(i > j)
+  {
+    v.real( dt(i,j).real());
+    v.imag( dt(i,j).imag());
+  } else {
+    v.real( dt(i,j).real());
+    v.imag((Scalar)0.0);
+  }
+  return v;
+}
+
+template<typename Scalar, typename Index, int StorageOrder, int N>
+EIGEN_STRONG_INLINE void symm_pack_complex_rhs_helper(std::complex<Scalar>* blockB, const std::complex<Scalar>* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+{
+  const Index depth = k2 + rows;
+  const_blas_data_mapper<std::complex<Scalar>, Index, StorageOrder> rhs(_rhs, rhsStride);
+  const Index vectorSize = N*quad_traits<Scalar>::vectorsize;
+  const Index vectorDelta = vectorSize * rows;
+  Scalar* blockBf = reinterpret_cast<Scalar *>(blockB);
+
+  Index rir = 0, rii, j = 0;
+  for(; j + vectorSize <= cols; j+=vectorSize)
+  {
+    rii = rir + vectorDelta;
+
+    for(Index i = k2; i < depth; i++)
+    {
+      for(Index k = 0; k < vectorSize; k++)
+      {
+        std::complex<Scalar> v = getAdjointVal<Scalar, Index, StorageOrder>(i, j + k, rhs);
+
+        blockBf[rir + k] = v.real();
+        blockBf[rii + k] = v.imag();
+      }
+      rir += vectorSize;
+      rii += vectorSize;
+    }
+
+    rir += vectorDelta;
+  }
+
+  for(; j < cols; j++)
+  {
+    rii = rir + rows;
+
+    for(Index i = k2; i < depth; i++)
+    {
+      std::complex<Scalar> v = getAdjointVal<Scalar, Index, StorageOrder>(i, j, rhs);
+
+      blockBf[rir] = v.real();
+      blockBf[rii] = v.imag();
+
+      rir += 1;
+      rii += 1;
+    }
+
+    rir += rows;
+  }
+}
+
+template<typename Scalar, typename Index, int StorageOrder>
+EIGEN_STRONG_INLINE void symm_pack_complex_lhs_helper(std::complex<Scalar>* blockA, const std::complex<Scalar>* _lhs, Index lhsStride, Index cols, Index rows)
+{
+  const Index depth = cols;
+  const_blas_data_mapper<std::complex<Scalar>, Index, StorageOrder> lhs(_lhs, lhsStride);
+  const Index vectorSize = quad_traits<Scalar>::vectorsize;
+  const Index vectorDelta = vectorSize * depth;
+  Scalar* blockAf = (Scalar *)(blockA);
+
+  Index rir = 0, rii, j = 0;
+  for(; j + vectorSize <= rows; j+=vectorSize)
+  {
+    rii = rir + vectorDelta;
+
+    for(Index i = 0; i < depth; i++)
+    {
+      for(Index k = 0; k < vectorSize; k++)
+      {
+        std::complex<Scalar> v = getAdjointVal<Scalar, Index, StorageOrder>(j+k, i, lhs);
+
+        blockAf[rir + k] = v.real();
+        blockAf[rii + k] = v.imag();
+      }
+      rir += vectorSize;
+      rii += vectorSize;
+    }
+
+    rir += vectorDelta;
+  }
+
+  if (j < rows)
+  {
+    rii = rir + ((rows - j) * depth);
+
+    for(Index i = 0; i < depth; i++)
+    {
+      Index k = j;
+      for(; k < rows; k++)
+      {
+        std::complex<Scalar> v = getAdjointVal<Scalar, Index, StorageOrder>(k, i, lhs);
+
+        blockAf[rir] = v.real();
+        blockAf[rii] = v.imag();
+
+        rir += 1;
+        rii += 1;
+      }
+    }
+  }
+}
+
+template<typename Scalar, typename Index, int StorageOrder, int N>
+EIGEN_STRONG_INLINE void symm_pack_rhs_helper(Scalar* blockB, const Scalar* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+{
+  const Index depth = k2 + rows;
+  const_blas_data_mapper<Scalar, Index, StorageOrder> rhs(_rhs, rhsStride);
+  const Index vectorSize = quad_traits<Scalar>::vectorsize;
+
+  Index ri = 0, j = 0;
+  for(; j + N*vectorSize <= cols; j+=N*vectorSize)
+  {
+    Index i = k2;
+    for(; i < depth; i++)
+    {
+      for(Index k = 0; k < N*vectorSize; k++)
+      {
+        if(i <= j+k)
+          blockB[ri + k] = rhs(j+k, i);
+        else
+          blockB[ri + k] = rhs(i, j+k);
+      }
+      ri += N*vectorSize;
+    }
+  }
+
+  for(; j < cols; j++)
+  {
+    for(Index i = k2; i < depth; i++)
+    {
+      if(j <= i)
+        blockB[ri] = rhs(i, j);
+      else
+        blockB[ri] = rhs(j, i);
+      ri += 1;
+    }
+  }
+}
+
+template<typename Scalar, typename Index, int StorageOrder>
+EIGEN_STRONG_INLINE void symm_pack_lhs_helper(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
+{
+  const Index depth = cols;
+  const_blas_data_mapper<Scalar, Index, StorageOrder> lhs(_lhs, lhsStride);
+  const Index vectorSize = quad_traits<Scalar>::vectorsize;
+
+  Index ri = 0, j = 0;
+  for(; j + vectorSize <= rows; j+=vectorSize)
+  {
+    Index i = 0;
+
+    for(; i < depth; i++)
+    {
+      for(Index k = 0; k < vectorSize; k++)
+      {
+        if(i <= j+k)
+          blockA[ri + k] = lhs(j+k, i);
+        else
+          blockA[ri + k] = lhs(i, j+k);
+      }
+      ri += vectorSize;
+    }
+  }
+
+  if (j < rows)
+  {
+    for(Index i = 0; i < depth; i++)
+    {
+      Index k = j;
+      for(; k < rows; k++)
+      {
+        if(i <= k)
+          blockA[ri] = lhs(k, i);
+        else
+          blockA[ri] = lhs(i, k);
+        ri += 1;
+      }
+    }
+  }
+}
+
+template<typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs<std::complex<float>, Index, nr, StorageOrder>
+{
+  void operator()(std::complex<float>* blockB, const std::complex<float>* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    symm_pack_complex_rhs_helper<float, Index, StorageOrder, 1>(blockB, _rhs, rhsStride, rows, cols, k2);
+  }
+};
+
+template<typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
+struct symm_pack_lhs<std::complex<float>, Index, Pack1, Pack2_dummy, StorageOrder>
+{
+  void operator()(std::complex<float>* blockA, const std::complex<float>* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    symm_pack_complex_lhs_helper<float, Index, StorageOrder>(blockA, _lhs, lhsStride, cols, rows);
+  }
+};
+
+// *********** symm_pack std::complex<float64> ***********
+
+template<typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs<std::complex<double>, Index, nr, StorageOrder>
+{
+  void operator()(std::complex<double>* blockB, const std::complex<double>* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    symm_pack_complex_rhs_helper<double, Index, StorageOrder, 2>(blockB, _rhs, rhsStride, rows, cols, k2);
+  }
+};
+
+template<typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
+struct symm_pack_lhs<std::complex<double>, Index, Pack1, Pack2_dummy, StorageOrder>
+{
+  void operator()(std::complex<double>* blockA, const std::complex<double>* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    symm_pack_complex_lhs_helper<double, Index, StorageOrder>(blockA, _lhs, lhsStride, cols, rows);
+  }
+};
+
+// *********** symm_pack float32 ***********
+template<typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs<float, Index, nr, StorageOrder>
+{
+  void operator()(float* blockB, const float* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    symm_pack_rhs_helper<float, Index, StorageOrder, 1>(blockB, _rhs, rhsStride, rows, cols, k2);
+  }
+};
+
+template<typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
+struct symm_pack_lhs<float, Index, Pack1, Pack2_dummy, StorageOrder>
+{
+  void operator()(float* blockA, const float* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    symm_pack_lhs_helper<float, Index, StorageOrder>(blockA, _lhs, lhsStride, cols, rows);
+  }
+};
+
+// *********** symm_pack float64 ***********
+template<typename Index, int nr, int StorageOrder>
+struct symm_pack_rhs<double, Index, nr, StorageOrder>
+{
+  void operator()(double* blockB, const double* _rhs, Index rhsStride, Index rows, Index cols, Index k2)
+  {
+    symm_pack_rhs_helper<double, Index, StorageOrder, 2>(blockB, _rhs, rhsStride, rows, cols, k2);
+  }
+};
+
+template<typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
+struct symm_pack_lhs<double, Index, Pack1, Pack2_dummy, StorageOrder>
+{
+  void operator()(double* blockA, const double* _lhs, Index lhsStride, Index cols, Index rows)
+  {
+    symm_pack_lhs_helper<double, Index, StorageOrder>(blockA, _lhs, lhsStride, cols, rows);
+  }
+};
+
+/**
+ * PanelMode
+ * Packing might be called several times before being multiplied by gebp_kernel, this happens because 
+ * on special occasions it fills part of block with other parts of the matrix. Two variables control
+ * how PanelMode should behave: offset and stride. The idea is that those variables represent whatever
+ * is going to be the real offset and stride in the future and this is what you should obey. The process
+ * is to behave as you would with normal packing but leave the start of each part with the correct offset
+ * and the end as well respecting the real stride the block will have. Gebp is aware of both blocks stride
+ * and offset and behaves accordingly.
+ **/
+
+template<typename Scalar, typename Packet, typename Index, int N>
+EIGEN_ALWAYS_INLINE void storeBlock(Scalar* to, PacketBlock<Packet,N>& block)
+{
+  const Index size = 16 / sizeof(Scalar);
+  pstore<Scalar>(to + (0 * size), block.packet[0]);
+  pstore<Scalar>(to + (1 * size), block.packet[1]);
+  if (N > 2) {
+    pstore<Scalar>(to + (2 * size), block.packet[2]);
+  }
+  if (N > 3) {
+    pstore<Scalar>(to + (3 * size), block.packet[3]);
+  }
+}
+
+// General template for lhs & rhs complex packing.
+template<typename Scalar, typename Index, typename DataMapper, typename Packet, typename PacketC, int StorageOrder, bool Conjugate, bool PanelMode, bool UseLhs>
+struct dhs_cpack {
+  EIGEN_STRONG_INLINE void operator()(std::complex<Scalar>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<Scalar>::vectorsize;
+    const Index vectorDelta = vectorSize * ((PanelMode) ? stride : depth);
+    Index rir = ((PanelMode) ? (vectorSize*offset) : 0), rii;
+    Scalar* blockAt = reinterpret_cast<Scalar *>(blockA);
+    Index j = 0;
+
+    for(; j + vectorSize <= rows; j+=vectorSize)
+    {
+      Index i = 0;
+
+      rii = rir + vectorDelta;
+
+      for(; i + vectorSize <= depth; i+=vectorSize)
+      {
+        PacketBlock<Packet,4> blockr, blocki;
+        PacketBlock<PacketC,8> cblock;
+
+        if (UseLhs) {
+          bload<DataMapper, PacketC, Index, 2, StorageOrder, true, 4>(cblock, lhs, j, i);
+        } else {
+          bload<DataMapper, PacketC, Index, 2, StorageOrder, true, 4>(cblock, lhs, i, j);
+        }
+
+        blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[4].v, p16uc_GETREAL32);
+        blockr.packet[1] = vec_perm(cblock.packet[1].v, cblock.packet[5].v, p16uc_GETREAL32);
+        blockr.packet[2] = vec_perm(cblock.packet[2].v, cblock.packet[6].v, p16uc_GETREAL32);
+        blockr.packet[3] = vec_perm(cblock.packet[3].v, cblock.packet[7].v, p16uc_GETREAL32);
+
+        blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[4].v, p16uc_GETIMAG32);
+        blocki.packet[1] = vec_perm(cblock.packet[1].v, cblock.packet[5].v, p16uc_GETIMAG32);
+        blocki.packet[2] = vec_perm(cblock.packet[2].v, cblock.packet[6].v, p16uc_GETIMAG32);
+        blocki.packet[3] = vec_perm(cblock.packet[3].v, cblock.packet[7].v, p16uc_GETIMAG32);
+
+        if(Conjugate)
+        {
+          blocki.packet[0] = -blocki.packet[0];
+          blocki.packet[1] = -blocki.packet[1];
+          blocki.packet[2] = -blocki.packet[2];
+          blocki.packet[3] = -blocki.packet[3];
+        }
+
+        if(((StorageOrder == RowMajor) && UseLhs) || (((StorageOrder == ColMajor) && !UseLhs)))
+        {
+          ptranspose(blockr);
+          ptranspose(blocki);
+        }
+
+        storeBlock<Scalar, Packet, Index, 4>(blockAt + rir, blockr);
+        storeBlock<Scalar, Packet, Index, 4>(blockAt + rii, blocki);
+
+        rir += 4*vectorSize;
+        rii += 4*vectorSize;
+      }
+      for(; i < depth; i++)
+      {
+        PacketBlock<Packet,1> blockr, blocki;
+        PacketBlock<PacketC,2> cblock;
+
+        if(((StorageOrder == ColMajor) && UseLhs) || (((StorageOrder == RowMajor) && !UseLhs)))
+        {
+          if (UseLhs) {
+            cblock.packet[0] = lhs.template loadPacket<PacketC>(j + 0, i);
+            cblock.packet[1] = lhs.template loadPacket<PacketC>(j + 2, i);
+          } else {
+            cblock.packet[0] = lhs.template loadPacket<PacketC>(i, j + 0);
+            cblock.packet[1] = lhs.template loadPacket<PacketC>(i, j + 2);
+          }
+        } else {
+          if (UseLhs) {
+            cblock.packet[0] = pload2(lhs(j + 0, i), lhs(j + 1, i));
+            cblock.packet[1] = pload2(lhs(j + 2, i), lhs(j + 3, i));
+          } else {
+            cblock.packet[0] = pload2(lhs(i, j + 0), lhs(i, j + 1));
+            cblock.packet[1] = pload2(lhs(i, j + 2), lhs(i, j + 3));
+          }
+        }
+
+        blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETREAL32);
+        blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETIMAG32);
+
+        if(Conjugate)
+        {
+          blocki.packet[0] = -blocki.packet[0];
+        }
+
+        pstore<Scalar>(blockAt + rir, blockr.packet[0]);
+        pstore<Scalar>(blockAt + rii, blocki.packet[0]);
+
+        rir += vectorSize;
+        rii += vectorSize;
+      }
+
+      rir += ((PanelMode) ? (vectorSize*(2*stride - depth)) : vectorDelta);
+    }
+
+    if (!UseLhs)
+    {
+      if(PanelMode) rir -= (offset*(vectorSize - 1));
+
+      for(; j < rows; j++)
+      {
+        rii = rir + ((PanelMode) ? stride : depth);
+
+        for(Index i = 0; i < depth; i++)
+        {
+          blockAt[rir] = lhs(i, j).real();
+
+          if(Conjugate)
+            blockAt[rii] = -lhs(i, j).imag();
+          else
+            blockAt[rii] =  lhs(i, j).imag();
+
+          rir += 1;
+          rii += 1;
+        }
+
+        rir += ((PanelMode) ? (2*stride - depth) : depth);
+      }
+    } else {
+      if (j < rows)
+      {
+        if(PanelMode) rir += (offset*(rows - j - vectorSize));
+        rii = rir + (((PanelMode) ? stride : depth) * (rows - j));
+
+        for(Index i = 0; i < depth; i++)
+        {
+          Index k = j;
+          for(; k < rows; k++)
+          {
+            blockAt[rir] = lhs(k, i).real();
+
+            if(Conjugate)
+              blockAt[rii] = -lhs(k, i).imag();
+            else
+              blockAt[rii] =  lhs(k, i).imag();
+
+            rir += 1;
+            rii += 1;
+          }
+        }
+      }
+    }
+  }
+};
+
+// General template for lhs & rhs packing.
+template<typename Scalar, typename Index, typename DataMapper, typename Packet, int StorageOrder, bool PanelMode, bool UseLhs>
+struct dhs_pack{
+  EIGEN_STRONG_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<Scalar>::vectorsize;
+    Index ri = 0, j = 0;
+
+    for(; j + vectorSize <= rows; j+=vectorSize)
+    {
+      Index i = 0;
+
+      if(PanelMode) ri += vectorSize*offset;
+
+      for(; i + vectorSize <= depth; i+=vectorSize)
+      {
+        PacketBlock<Packet,4> block;
+
+        if (UseLhs) {
+          bload<DataMapper, Packet, Index, 4, StorageOrder, false, 4>(block, lhs, j, i);
+        } else {
+          bload<DataMapper, Packet, Index, 4, StorageOrder, false, 4>(block, lhs, i, j);
+        }
+        if(((StorageOrder == RowMajor) && UseLhs) || ((StorageOrder == ColMajor) && !UseLhs))
+        {
+          ptranspose(block);
+        }
+
+        storeBlock<Scalar, Packet, Index, 4>(blockA + ri, block);
+
+        ri += 4*vectorSize;
+      }
+      for(; i < depth; i++)
+      {
+        if(((StorageOrder == RowMajor) && UseLhs) || ((StorageOrder == ColMajor) && !UseLhs))
+        {
+          if (UseLhs) {
+            blockA[ri+0] = lhs(j+0, i);
+            blockA[ri+1] = lhs(j+1, i);
+            blockA[ri+2] = lhs(j+2, i);
+            blockA[ri+3] = lhs(j+3, i);
+          } else {
+            blockA[ri+0] = lhs(i, j+0);
+            blockA[ri+1] = lhs(i, j+1);
+            blockA[ri+2] = lhs(i, j+2);
+            blockA[ri+3] = lhs(i, j+3);
+          }
+        } else {
+          Packet lhsV;
+          if (UseLhs) {
+            lhsV = lhs.template loadPacket<Packet>(j, i);
+          } else {
+            lhsV = lhs.template loadPacket<Packet>(i, j);
+          }
+          pstore<Scalar>(blockA + ri, lhsV);
+        }
+
+        ri += vectorSize;
+      }
+
+      if(PanelMode) ri += vectorSize*(stride - offset - depth);
+    }
+
+    if (!UseLhs)
+    {
+      if(PanelMode) ri += offset;
+
+      for(; j < rows; j++)
+      {
+        for(Index i = 0; i < depth; i++)
+        {
+          blockA[ri] = lhs(i, j);
+          ri += 1;
+        }
+
+        if(PanelMode) ri += stride - depth;
+      }
+    } else {
+      if (j < rows)
+      {
+        if(PanelMode) ri += offset*(rows - j);
+
+        for(Index i = 0; i < depth; i++)
+        {
+          Index k = j;
+          for(; k < rows; k++)
+          {
+            blockA[ri] = lhs(k, i);
+            ri += 1;
+          }
+        }
+      }
+    }
+  }
+};
+
+// General template for lhs packing, float64 specialization.
+template<typename Index, typename DataMapper, int StorageOrder, bool PanelMode>
+struct dhs_pack<double, Index, DataMapper, Packet2d, StorageOrder, PanelMode, true>
+{
+  EIGEN_STRONG_INLINE void operator()(double* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<double>::vectorsize;
+    Index ri = 0, j = 0;
+
+    for(; j + vectorSize <= rows; j+=vectorSize)
+    {
+      Index i = 0;
+
+      if(PanelMode) ri += vectorSize*offset;
+
+      for(; i + vectorSize <= depth; i+=vectorSize)
+      {
+        PacketBlock<Packet2d,2> block;
+        if(StorageOrder == RowMajor)
+        {
+          block.packet[0] = lhs.template loadPacket<Packet2d>(j + 0, i);
+          block.packet[1] = lhs.template loadPacket<Packet2d>(j + 1, i);
+
+          ptranspose(block);
+        } else {
+          block.packet[0] = lhs.template loadPacket<Packet2d>(j, i + 0);
+          block.packet[1] = lhs.template loadPacket<Packet2d>(j, i + 1);
+        }
+
+        storeBlock<double, Packet2d, Index, 2>(blockA + ri, block);
+
+        ri += 2*vectorSize;
+      }
+      for(; i < depth; i++)
+      {
+        if(StorageOrder == RowMajor)
+        {
+          blockA[ri+0] = lhs(j+0, i);
+          blockA[ri+1] = lhs(j+1, i);
+        } else {
+          Packet2d lhsV = lhs.template loadPacket<Packet2d>(j, i);
+          pstore<double>(blockA + ri, lhsV);
+        }
+
+        ri += vectorSize;
+      }
+
+      if(PanelMode) ri += vectorSize*(stride - offset - depth);
+    }
+
+    if (j < rows)
+    {
+      if(PanelMode) ri += offset*(rows - j);
+
+      for(Index i = 0; i < depth; i++)
+      {
+        Index k = j;
+        for(; k < rows; k++)
+        {
+          blockA[ri] = lhs(k, i);
+          ri += 1;
+        }
+      }
+    }
+  }
+};
+
+// General template for rhs packing, float64 specialization.
+template<typename Index, typename DataMapper, int StorageOrder, bool PanelMode>
+struct dhs_pack<double, Index, DataMapper, Packet2d, StorageOrder, PanelMode, false>
+{
+  EIGEN_STRONG_INLINE void operator()(double* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<double>::vectorsize;
+    Index ri = 0, j = 0;
+
+    for(; j + 2*vectorSize <= cols; j+=2*vectorSize)
+    {
+      Index i = 0;
+
+      if(PanelMode) ri += offset*(2*vectorSize);
+
+      for(; i + vectorSize <= depth; i+=vectorSize)
+      {
+        PacketBlock<Packet2d,4> block;
+        if(StorageOrder == ColMajor)
+        {
+          PacketBlock<Packet2d,2> block1, block2;
+          block1.packet[0] = rhs.template loadPacket<Packet2d>(i, j + 0);
+          block1.packet[1] = rhs.template loadPacket<Packet2d>(i, j + 1);
+          block2.packet[0] = rhs.template loadPacket<Packet2d>(i, j + 2);
+          block2.packet[1] = rhs.template loadPacket<Packet2d>(i, j + 3);
+
+          ptranspose(block1);
+          ptranspose(block2);
+
+          pstore<double>(blockB + ri    , block1.packet[0]);
+          pstore<double>(blockB + ri + 2, block2.packet[0]);
+          pstore<double>(blockB + ri + 4, block1.packet[1]);
+          pstore<double>(blockB + ri + 6, block2.packet[1]);
+        } else {
+          block.packet[0] = rhs.template loadPacket<Packet2d>(i + 0, j + 0); //[a1 a2]
+          block.packet[1] = rhs.template loadPacket<Packet2d>(i + 0, j + 2); //[a3 a4]
+          block.packet[2] = rhs.template loadPacket<Packet2d>(i + 1, j + 0); //[b1 b2]
+          block.packet[3] = rhs.template loadPacket<Packet2d>(i + 1, j + 2); //[b3 b4]
+
+          storeBlock<double, Packet2d, Index, 4>(blockB + ri, block);
+        }
+
+        ri += 4*vectorSize;
+      }
+      for(; i < depth; i++)
+      {
+        if(StorageOrder == ColMajor)
+        {
+          blockB[ri+0] = rhs(i, j+0);
+          blockB[ri+1] = rhs(i, j+1);
+
+          ri += vectorSize;
+
+          blockB[ri+0] = rhs(i, j+2);
+          blockB[ri+1] = rhs(i, j+3);
+        } else {
+          Packet2d rhsV = rhs.template loadPacket<Packet2d>(i, j);
+          pstore<double>(blockB + ri, rhsV);
+
+          ri += vectorSize;
+
+          rhsV = rhs.template loadPacket<Packet2d>(i, j + 2);
+          pstore<double>(blockB + ri, rhsV);
+        }
+        ri += vectorSize;
+      }
+
+      if(PanelMode) ri += (2*vectorSize)*(stride - offset - depth);
+    }
+
+    if(PanelMode) ri += offset;
+
+    for(; j < cols; j++)
+    {
+      for(Index i = 0; i < depth; i++)
+      {
+        blockB[ri] = rhs(i, j);
+        ri += 1;
+      }
+
+      if(PanelMode) ri += stride - depth;
+    }
+  }
+};
+
+// General template for lhs complex packing, float64 specialization.
+template<typename Index, typename DataMapper, typename Packet, typename PacketC, int StorageOrder, bool Conjugate, bool PanelMode>
+struct dhs_cpack<double, Index, DataMapper, Packet, PacketC, StorageOrder, Conjugate, PanelMode, true>
+{
+  EIGEN_STRONG_INLINE void operator()(std::complex<double>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<double>::vectorsize;
+    const Index vectorDelta = vectorSize * ((PanelMode) ? stride : depth);
+    Index rir = ((PanelMode) ? (vectorSize*offset) : 0), rii;
+    double* blockAt = reinterpret_cast<double *>(blockA);
+    Index j = 0;
+
+    for(; j + vectorSize <= rows; j+=vectorSize)
+    {
+      Index i = 0;
+
+      rii = rir + vectorDelta;
+
+      for(; i + vectorSize <= depth; i+=vectorSize)
+      {
+        PacketBlock<Packet,2> blockr, blocki;
+        PacketBlock<PacketC,4> cblock;
+
+        if(StorageOrder == ColMajor)
+        {
+          cblock.packet[0] = lhs.template loadPacket<PacketC>(j, i + 0); //[a1 a1i]
+          cblock.packet[1] = lhs.template loadPacket<PacketC>(j, i + 1); //[b1 b1i]
+
+          cblock.packet[2] = lhs.template loadPacket<PacketC>(j + 1, i + 0); //[a2 a2i]
+          cblock.packet[3] = lhs.template loadPacket<PacketC>(j + 1, i + 1); //[b2 b2i]
+
+          blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[2].v, p16uc_GETREAL64); //[a1 a2]
+          blockr.packet[1] = vec_perm(cblock.packet[1].v, cblock.packet[3].v, p16uc_GETREAL64); //[b1 b2]
+
+          blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[2].v, p16uc_GETIMAG64);
+          blocki.packet[1] = vec_perm(cblock.packet[1].v, cblock.packet[3].v, p16uc_GETIMAG64);
+        } else {
+          cblock.packet[0] = lhs.template loadPacket<PacketC>(j + 0, i); //[a1 a1i]
+          cblock.packet[1] = lhs.template loadPacket<PacketC>(j + 1, i); //[a2 a2i]
+
+          cblock.packet[2] = lhs.template loadPacket<PacketC>(j + 0, i + 1); //[b1 b1i]
+          cblock.packet[3] = lhs.template loadPacket<PacketC>(j + 1, i + 1); //[b2 b2i
+
+          blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETREAL64); //[a1 a2]
+          blockr.packet[1] = vec_perm(cblock.packet[2].v, cblock.packet[3].v, p16uc_GETREAL64); //[b1 b2]
+
+          blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETIMAG64);
+          blocki.packet[1] = vec_perm(cblock.packet[2].v, cblock.packet[3].v, p16uc_GETIMAG64);
+        }
+
+        if(Conjugate)
+        {
+          blocki.packet[0] = -blocki.packet[0];
+          blocki.packet[1] = -blocki.packet[1];
+        }
+
+        storeBlock<double, Packet, Index, 2>(blockAt + rir, blockr);
+        storeBlock<double, Packet, Index, 2>(blockAt + rii, blocki);
+
+        rir += 2*vectorSize;
+        rii += 2*vectorSize;
+      }
+      for(; i < depth; i++)
+      {
+        PacketBlock<Packet,1> blockr, blocki;
+        PacketBlock<PacketC,2> cblock;
+
+        cblock.packet[0] = lhs.template loadPacket<PacketC>(j + 0, i);
+        cblock.packet[1] = lhs.template loadPacket<PacketC>(j + 1, i);
+
+        blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETREAL64);
+        blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETIMAG64);
+
+        if(Conjugate)
+        {
+          blocki.packet[0] = -blocki.packet[0];
+        }
+
+        pstore<double>(blockAt + rir, blockr.packet[0]);
+        pstore<double>(blockAt + rii, blocki.packet[0]);
+
+        rir += vectorSize;
+        rii += vectorSize;
+      }
+
+      rir += ((PanelMode) ? (vectorSize*(2*stride - depth)) : vectorDelta);
+    }
+
+    if (j < rows)
+    {
+      if(PanelMode) rir += (offset*(rows - j - vectorSize));
+      rii = rir + (((PanelMode) ? stride : depth) * (rows - j));
+
+      for(Index i = 0; i < depth; i++)
+      {
+        Index k = j;
+        for(; k < rows; k++)
+        {
+          blockAt[rir] = lhs(k, i).real();
+
+          if(Conjugate)
+            blockAt[rii] = -lhs(k, i).imag();
+          else
+            blockAt[rii] =  lhs(k, i).imag();
+
+          rir += 1;
+          rii += 1;
+        }
+      }
+    }
+  }
+};
+
+// General template for rhs complex packing, float64 specialization.
+template<typename Index, typename DataMapper, typename Packet, typename PacketC, int StorageOrder, bool Conjugate, bool PanelMode>
+struct dhs_cpack<double, Index, DataMapper, Packet, PacketC, StorageOrder, Conjugate, PanelMode, false>
+{
+  EIGEN_STRONG_INLINE void operator()(std::complex<double>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+  {
+    const Index vectorSize = quad_traits<double>::vectorsize;
+    const Index vectorDelta = 2*vectorSize * ((PanelMode) ? stride : depth);
+    Index rir = ((PanelMode) ? (2*vectorSize*offset) : 0), rii;
+    double* blockBt = reinterpret_cast<double *>(blockB);
+    Index j = 0;
+
+    for(; j + 2*vectorSize <= cols; j+=2*vectorSize)
+    {
+      Index i = 0;
+
+      rii = rir + vectorDelta;
+
+      for(; i < depth; i++)
+      {
+        PacketBlock<PacketC,4> cblock;
+        PacketBlock<Packet,2> blockr, blocki;
+
+        bload<DataMapper, PacketC, Index, 2, ColMajor, false, 4>(cblock, rhs, i, j);
+
+        blockr.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETREAL64);
+        blockr.packet[1] = vec_perm(cblock.packet[2].v, cblock.packet[3].v, p16uc_GETREAL64);
+
+        blocki.packet[0] = vec_perm(cblock.packet[0].v, cblock.packet[1].v, p16uc_GETIMAG64);
+        blocki.packet[1] = vec_perm(cblock.packet[2].v, cblock.packet[3].v, p16uc_GETIMAG64);
+
+        if(Conjugate)
+        {
+          blocki.packet[0] = -blocki.packet[0];
+          blocki.packet[1] = -blocki.packet[1];
+        }
+
+        storeBlock<double, Packet, Index, 2>(blockBt + rir, blockr);
+        storeBlock<double, Packet, Index, 2>(blockBt + rii, blocki);
+
+        rir += 2*vectorSize;
+        rii += 2*vectorSize;
+      }
+
+      rir += ((PanelMode) ? (2*vectorSize*(2*stride - depth)) : vectorDelta);
+    }
+
+    if(PanelMode) rir -= (offset*(2*vectorSize - 1));
+
+    for(; j < cols; j++)
+    {
+      rii = rir + ((PanelMode) ? stride : depth);
+
+      for(Index i = 0; i < depth; i++)
+      {
+        blockBt[rir] = rhs(i, j).real();
+
+        if(Conjugate)
+          blockBt[rii] = -rhs(i, j).imag();
+        else
+          blockBt[rii] =  rhs(i, j).imag();
+
+        rir += 1;
+        rii += 1;
+      }
+
+      rir += ((PanelMode) ? (2*stride - depth) : depth);
+    }
+  }
+};
+
+/**************
+ * GEMM utils *
+ **************/
+
+// 512-bits rank1-update of acc. It can either positive or negative accumulate (useful for complex gemm).
+template<typename Packet, bool NegativeAccumulate, int N>
+EIGEN_ALWAYS_INLINE void pger_common(PacketBlock<Packet,N>* acc, const Packet& lhsV, const Packet* rhsV)
+{
+  if(NegativeAccumulate)
+  {
+    acc->packet[0] = vec_nmsub(lhsV, rhsV[0], acc->packet[0]);
+    if (N > 1) {
+      acc->packet[1] = vec_nmsub(lhsV, rhsV[1], acc->packet[1]);
+    }
+    if (N > 2) {
+      acc->packet[2] = vec_nmsub(lhsV, rhsV[2], acc->packet[2]);
+    }
+    if (N > 3) {
+      acc->packet[3] = vec_nmsub(lhsV, rhsV[3], acc->packet[3]);
+    }
+  } else {
+    acc->packet[0] = vec_madd(lhsV, rhsV[0], acc->packet[0]);
+    if (N > 1) {
+      acc->packet[1] = vec_madd(lhsV, rhsV[1], acc->packet[1]);
+    }
+    if (N > 2) {
+      acc->packet[2] = vec_madd(lhsV, rhsV[2], acc->packet[2]);
+    }
+    if (N > 3) {
+      acc->packet[3] = vec_madd(lhsV, rhsV[3], acc->packet[3]);
+    }
+  }
+}
+
+template<int N, typename Scalar, typename Packet, bool NegativeAccumulate>
+EIGEN_ALWAYS_INLINE void pger(PacketBlock<Packet,N>* acc, const Scalar* lhs, const Packet* rhsV)
+{
+  Packet lhsV = pload<Packet>(lhs);
+
+  pger_common<Packet, NegativeAccumulate, N>(acc, lhsV, rhsV);
+}
+
+template<typename Scalar, typename Packet, typename Index, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void loadPacketRemaining(const Scalar* lhs, Packet &lhsV)
+{
+#ifdef _ARCH_PWR9
+  lhsV = vec_xl_len((Scalar *)lhs, remaining_rows * sizeof(Scalar));
+#else
+  Index i = 0;
+  do {
+    lhsV[i] = lhs[i];
+  } while (++i < remaining_rows);
+#endif
+}
+
+template<int N, typename Scalar, typename Packet, typename Index, bool NegativeAccumulate, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void pger(PacketBlock<Packet,N>* acc, const Scalar* lhs, const Packet* rhsV)
+{
+  Packet lhsV;
+  loadPacketRemaining<Scalar, Packet, Index, remaining_rows>(lhs, lhsV);
+
+  pger_common<Packet, NegativeAccumulate, N>(acc, lhsV, rhsV);
+}
+
+// 512-bits rank1-update of complex acc. It takes decoupled accumulators as entries. It also takes cares of mixed types real * complex and complex * real.
+template<int N, typename Packet, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void pgerc_common(PacketBlock<Packet,N>* accReal, PacketBlock<Packet,N>* accImag, const Packet &lhsV, const Packet &lhsVi, const Packet* rhsV, const Packet* rhsVi)
+{
+  pger_common<Packet, false, N>(accReal, lhsV, rhsV);
+  if(LhsIsReal)
+  {
+    pger_common<Packet, ConjugateRhs, N>(accImag, lhsV, rhsVi);
+    EIGEN_UNUSED_VARIABLE(lhsVi);
+  } else {
+    if (!RhsIsReal) {
+      pger_common<Packet, ConjugateLhs == ConjugateRhs, N>(accReal, lhsVi, rhsVi);
+      pger_common<Packet, ConjugateRhs, N>(accImag, lhsV, rhsVi);
+    } else {
+      EIGEN_UNUSED_VARIABLE(rhsVi);
+    }
+    pger_common<Packet, ConjugateLhs, N>(accImag, lhsVi, rhsV);
+  }
+}
+
+template<int N, typename Scalar, typename Packet, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void pgerc(PacketBlock<Packet,N>* accReal, PacketBlock<Packet,N>* accImag, const Scalar* lhs_ptr, const Scalar* lhs_ptr_imag, const Packet* rhsV, const Packet* rhsVi)
+{
+  Packet lhsV = ploadLhs<Scalar, Packet>(lhs_ptr);
+  Packet lhsVi;
+  if(!LhsIsReal) lhsVi = ploadLhs<Scalar, Packet>(lhs_ptr_imag);
+  else EIGEN_UNUSED_VARIABLE(lhs_ptr_imag);
+
+  pgerc_common<N, Packet, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(accReal, accImag, lhsV, lhsVi, rhsV, rhsVi);
+}
+
+template<typename Scalar, typename Packet, typename Index, bool LhsIsReal, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void loadPacketRemaining(const Scalar* lhs_ptr, const Scalar* lhs_ptr_imag, Packet &lhsV, Packet &lhsVi)
+{
+#ifdef _ARCH_PWR9
+  lhsV = vec_xl_len((Scalar *)lhs_ptr, remaining_rows * sizeof(Scalar));
+  if(!LhsIsReal) lhsVi = vec_xl_len((Scalar *)lhs_ptr_imag, remaining_rows * sizeof(Scalar));
+  else EIGEN_UNUSED_VARIABLE(lhs_ptr_imag);
+#else
+  Index i = 0;
+  do {
+    lhsV[i] = lhs_ptr[i];
+    if(!LhsIsReal) lhsVi[i] = lhs_ptr_imag[i];
+  } while (++i < remaining_rows);
+  if(LhsIsReal) EIGEN_UNUSED_VARIABLE(lhs_ptr_imag);
+#endif
+}
+
+template<int N, typename Scalar, typename Packet, typename Index, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void pgerc(PacketBlock<Packet,N>* accReal, PacketBlock<Packet,N>* accImag, const Scalar* lhs_ptr, const Scalar* lhs_ptr_imag, const Packet* rhsV, const Packet* rhsVi)
+{
+  Packet lhsV, lhsVi;
+  loadPacketRemaining<Scalar, Packet, Index, LhsIsReal, remaining_rows>(lhs_ptr, lhs_ptr_imag, lhsV, lhsVi);
+
+  pgerc_common<N, Packet, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(accReal, accImag, lhsV, lhsVi, rhsV, rhsVi);
+}
+
+template<typename Scalar, typename Packet>
+EIGEN_ALWAYS_INLINE Packet ploadLhs(const Scalar* lhs)
+{
+  return ploadu<Packet>(lhs);
+}
+
+// Zero the accumulator on PacketBlock.
+template<typename Scalar, typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bsetzero(PacketBlock<Packet,N>& acc)
+{
+  acc.packet[0] = pset1<Packet>((Scalar)0);
+  if (N > 1) {
+    acc.packet[1] = pset1<Packet>((Scalar)0);
+  }
+  if (N > 2) {
+    acc.packet[2] = pset1<Packet>((Scalar)0);
+  }
+  if (N > 3) {
+    acc.packet[3] = pset1<Packet>((Scalar)0);
+  }
+}
+
+// Scale the PacketBlock vectors by alpha.
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscale(PacketBlock<Packet,N>& acc, PacketBlock<Packet,N>& accZ, const Packet& pAlpha)
+{
+  acc.packet[0] = pmadd(pAlpha, accZ.packet[0], acc.packet[0]);
+  if (N > 1) {
+    acc.packet[1] = pmadd(pAlpha, accZ.packet[1], acc.packet[1]);
+  }
+  if (N > 2) {
+    acc.packet[2] = pmadd(pAlpha, accZ.packet[2], acc.packet[2]);
+  }
+  if (N > 3) {
+    acc.packet[3] = pmadd(pAlpha, accZ.packet[3], acc.packet[3]);
+  }
+}
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscalec_common(PacketBlock<Packet,N>& acc, PacketBlock<Packet,N>& accZ, const Packet& pAlpha)
+{
+  acc.packet[0] = pmul<Packet>(accZ.packet[0], pAlpha);
+  if (N > 1) {
+    acc.packet[1] = pmul<Packet>(accZ.packet[1], pAlpha);
+  }
+  if (N > 2) {
+    acc.packet[2] = pmul<Packet>(accZ.packet[2], pAlpha);
+  }
+  if (N > 3) {
+    acc.packet[3] = pmul<Packet>(accZ.packet[3], pAlpha);
+  }
+}
+
+// Complex version of PacketBlock scaling.
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscalec(PacketBlock<Packet,N>& aReal, PacketBlock<Packet,N>& aImag, const Packet& bReal, const Packet& bImag, PacketBlock<Packet,N>& cReal, PacketBlock<Packet,N>& cImag)
+{
+  bscalec_common<Packet, N>(cReal, aReal, bReal);
+
+  bscalec_common<Packet, N>(cImag, aImag, bReal);
+
+  pger_common<Packet, true, N>(&cReal, bImag, aImag.packet);
+
+  pger_common<Packet, false, N>(&cImag, bImag, aReal.packet);
+}
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void band(PacketBlock<Packet,N>& acc, const Packet& pMask)
+{
+  acc.packet[0] = pand(acc.packet[0], pMask);
+  if (N > 1) {
+    acc.packet[1] = pand(acc.packet[1], pMask);
+  }
+  if (N > 2) {
+    acc.packet[2] = pand(acc.packet[2], pMask);
+  }
+  if (N > 3) {
+    acc.packet[3] = pand(acc.packet[3], pMask);
+  }
+}
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscalec(PacketBlock<Packet,N>& aReal, PacketBlock<Packet,N>& aImag, const Packet& bReal, const Packet& bImag, PacketBlock<Packet,N>& cReal, PacketBlock<Packet,N>& cImag, const Packet& pMask)
+{
+  band<Packet, N>(aReal, pMask);
+  band<Packet, N>(aImag, pMask);
+
+  bscalec<Packet,N>(aReal, aImag, bReal, bImag, cReal, cImag);
+}
+
+// Load a PacketBlock, the N parameters make tunning gemm easier so we can add more accumulators as needed.
+template<typename DataMapper, typename Packet, typename Index, const Index accCols, int StorageOrder, bool Complex, int N>
+EIGEN_ALWAYS_INLINE void bload(PacketBlock<Packet,N*(Complex?2:1)>& acc, const DataMapper& res, Index row, Index col)
+{
+  if (StorageOrder == RowMajor) {
+    acc.packet[0] = res.template loadPacket<Packet>(row + 0, col);
+    if (N > 1) {
+      acc.packet[1] = res.template loadPacket<Packet>(row + 1, col);
+    }
+    if (N > 2) {
+      acc.packet[2] = res.template loadPacket<Packet>(row + 2, col);
+    }
+    if (N > 3) {
+      acc.packet[3] = res.template loadPacket<Packet>(row + 3, col);
+    }
+    if (Complex) {
+      acc.packet[0+N] = res.template loadPacket<Packet>(row + 0, col + accCols);
+      if (N > 1) {
+        acc.packet[1+N] = res.template loadPacket<Packet>(row + 1, col + accCols);
+      }
+      if (N > 2) {
+        acc.packet[2+N] = res.template loadPacket<Packet>(row + 2, col + accCols);
+      }
+      if (N > 3) {
+        acc.packet[3+N] = res.template loadPacket<Packet>(row + 3, col + accCols);
+      }
+    }
+  } else {
+    acc.packet[0] = res.template loadPacket<Packet>(row, col + 0);
+    if (N > 1) {
+      acc.packet[1] = res.template loadPacket<Packet>(row, col + 1);
+    }
+    if (N > 2) {
+      acc.packet[2] = res.template loadPacket<Packet>(row, col + 2);
+    }
+    if (N > 3) {
+      acc.packet[3] = res.template loadPacket<Packet>(row, col + 3);
+    }
+    if (Complex) {
+      acc.packet[0+N] = res.template loadPacket<Packet>(row + accCols, col + 0);
+      if (N > 1) {
+        acc.packet[1+N] = res.template loadPacket<Packet>(row + accCols, col + 1);
+      }
+      if (N > 2) {
+        acc.packet[2+N] = res.template loadPacket<Packet>(row + accCols, col + 2);
+      }
+      if (N > 3) {
+        acc.packet[3+N] = res.template loadPacket<Packet>(row + accCols, col + 3);
+      }
+    }
+  }
+}
+
+const static Packet4i mask41 = { -1,  0,  0,  0 };
+const static Packet4i mask42 = { -1, -1,  0,  0 };
+const static Packet4i mask43 = { -1, -1, -1,  0 };
+
+const static Packet2l mask21 = { -1, 0 };
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE Packet bmask(const int remaining_rows)
+{
+  if (remaining_rows == 0) {
+    return pset1<Packet>(float(0.0));  // Not used
+  } else {
+    switch (remaining_rows) {
+      case 1:  return Packet(mask41);
+      case 2:  return Packet(mask42);
+      default: return Packet(mask43);
+    }
+  }
+}
+
+template<>
+EIGEN_ALWAYS_INLINE Packet2d bmask<Packet2d>(const int remaining_rows)
+{
+  if (remaining_rows == 0) {
+    return pset1<Packet2d>(double(0.0));  // Not used
+  } else {
+    return Packet2d(mask21);
+  }
+}
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscale(PacketBlock<Packet,N>& acc, PacketBlock<Packet,N>& accZ, const Packet& pAlpha, const Packet& pMask)
+{
+  band<Packet, N>(accZ, pMask);
+
+  bscale<Packet, N>(acc, accZ, pAlpha);
+}
+
+template<typename Packet, int N> EIGEN_ALWAYS_INLINE void
+pbroadcastN_old(const __UNPACK_TYPE__(Packet) *a,
+                      Packet& a0, Packet& a1, Packet& a2, Packet& a3)
+{
+  a0 = pset1<Packet>(a[0]);
+  if (N > 1) {
+    a1 = pset1<Packet>(a[1]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a1);
+  }
+  if (N > 2) {
+    a2 = pset1<Packet>(a[2]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a2);
+  }
+  if (N > 3) {
+    a3 = pset1<Packet>(a[3]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a3);
+  }
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void pbroadcastN_old<Packet4f,4>(const float* a, Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  pbroadcast4<Packet4f>(a, a0, a1, a2, a3);
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void pbroadcastN_old<Packet2d,4>(const double* a, Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+  a1 = pload<Packet2d>(a);
+  a3 = pload<Packet2d>(a + 2);
+  a0 = vec_splat(a1, 0);
+  a1 = vec_splat(a1, 1);
+  a2 = vec_splat(a3, 0);
+  a3 = vec_splat(a3, 1);
+}
+
+template<typename Packet, int N> EIGEN_ALWAYS_INLINE void
+pbroadcastN(const __UNPACK_TYPE__(Packet) *a,
+                      Packet& a0, Packet& a1, Packet& a2, Packet& a3)
+{
+  a0 = pset1<Packet>(a[0]);
+  if (N > 1) {
+    a1 = pset1<Packet>(a[1]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a1);
+  }
+  if (N > 2) {
+    a2 = pset1<Packet>(a[2]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a2);
+  }
+  if (N > 3) {
+    a3 = pset1<Packet>(a[3]);
+  } else {
+    EIGEN_UNUSED_VARIABLE(a3);
+  }
+}
+
+template<> EIGEN_ALWAYS_INLINE void
+pbroadcastN<Packet4f,4>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+
+// PEEL loop factor.
+#define PEEL 7
+#define PEEL_ROW 7
+
+#define MICRO_UNROLL_PEEL(func) \
+  func(0) func(1) func(2) func(3) func(4) func(5) func(6) func(7)
+
+#define MICRO_ZERO_PEEL(peel) \
+  if ((PEEL_ROW > peel) && (peel != 0)) { \
+    bsetzero<Scalar, Packet, accRows>(accZero##peel); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accZero##peel); \
+  }
+
+#define MICRO_ZERO_PEEL_ROW \
+  MICRO_UNROLL_PEEL(MICRO_ZERO_PEEL);
+
+#define MICRO_WORK_PEEL(peel) \
+  if (PEEL_ROW > peel) { \
+    pbroadcastN<Packet,accRows>(rhs_ptr + (accRows * peel), rhsV##peel[0], rhsV##peel[1], rhsV##peel[2], rhsV##peel[3]); \
+    pger<accRows, Scalar, Packet, false>(&accZero##peel, lhs_ptr + (remaining_rows * peel), rhsV##peel); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+  }
+
+#define MICRO_WORK_PEEL_ROW \
+  Packet rhsV0[4], rhsV1[4], rhsV2[4], rhsV3[4], rhsV4[4], rhsV5[4], rhsV6[4], rhsV7[4]; \
+  MICRO_UNROLL_PEEL(MICRO_WORK_PEEL); \
+  lhs_ptr += (remaining_rows * PEEL_ROW); \
+  rhs_ptr += (accRows * PEEL_ROW);
+
+#define MICRO_ADD_PEEL(peel, sum) \
+  if (PEEL_ROW > peel) { \
+    for (Index i = 0; i < accRows; i++) { \
+      accZero##sum.packet[i] += accZero##peel.packet[i]; \
+    } \
+  }
+
+#define MICRO_ADD_PEEL_ROW \
+  MICRO_ADD_PEEL(4, 0) MICRO_ADD_PEEL(5, 1) MICRO_ADD_PEEL(6, 2) MICRO_ADD_PEEL(7, 3) \
+  MICRO_ADD_PEEL(2, 0) MICRO_ADD_PEEL(3, 1) MICRO_ADD_PEEL(1, 0)
+
+template<typename Scalar, typename Packet, typename Index, const Index accRows, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void MICRO_EXTRA_ROW(
+  const Scalar* &lhs_ptr,
+  const Scalar* &rhs_ptr,
+  PacketBlock<Packet,accRows> &accZero)
+{
+  Packet rhsV[4];
+  pbroadcastN<Packet,accRows>(rhs_ptr, rhsV[0], rhsV[1], rhsV[2], rhsV[3]);
+  pger<accRows, Scalar, Packet, false>(&accZero, lhs_ptr, rhsV);
+  lhs_ptr += remaining_rows;
+  rhs_ptr += accRows;
+}
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void gemm_unrolled_row_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  const Packet& pAlpha,
+  const Packet& pMask)
+{
+  const Scalar* rhs_ptr = rhs_base;
+  const Scalar* lhs_ptr = lhs_base + row*strideA + remaining_rows*offsetA;
+  PacketBlock<Packet,accRows> accZero0, accZero1, accZero2, accZero3, accZero4, accZero5, accZero6, accZero7, acc;
+
+  bsetzero<Scalar, Packet, accRows>(accZero0);
+
+  Index remaining_depth = (col + quad_traits<Scalar>::rows < cols) ? depth : (depth & -quad_traits<Scalar>::rows);
+  Index k = 0;
+  if (remaining_depth >= PEEL_ROW) {
+    MICRO_ZERO_PEEL_ROW
+    do
+    {
+      EIGEN_POWER_PREFETCH(rhs_ptr);
+      EIGEN_POWER_PREFETCH(lhs_ptr);
+      MICRO_WORK_PEEL_ROW
+    } while ((k += PEEL_ROW) + PEEL_ROW <= remaining_depth);
+    MICRO_ADD_PEEL_ROW
+  }
+  for(; k < remaining_depth; k++)
+  {
+    MICRO_EXTRA_ROW<Scalar, Packet, Index, accRows, remaining_rows>(lhs_ptr, rhs_ptr, accZero0);
+  }
+
+  if ((remaining_depth == depth) && (rows >= accCols))
+  {
+    bload<DataMapper, Packet, Index, 0, ColMajor, false, accRows>(acc, res, row, 0);
+    bscale<Packet,accRows>(acc, accZero0, pAlpha, pMask);
+    res.template storePacketBlock<Packet,accRows>(row, 0, acc);
+  } else {
+    for(; k < depth; k++)
+    {
+      Packet rhsV[4];
+      pbroadcastN<Packet,accRows>(rhs_ptr, rhsV[0], rhsV[1], rhsV[2], rhsV[3]);
+      pger<accRows, Scalar, Packet, Index, false, remaining_rows>(&accZero0, lhs_ptr, rhsV);
+      lhs_ptr += remaining_rows;
+      rhs_ptr += accRows;
+    }
+
+    for(Index j = 0; j < accRows; j++) {
+      accZero0.packet[j] = vec_mul(pAlpha, accZero0.packet[j]);
+      for(Index i = 0; i < remaining_rows; i++) {
+        res(row + i, j) += accZero0.packet[j][i];
+      }
+    }
+  }
+}
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_ALWAYS_INLINE void gemm_extra_row(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask)
+{
+  switch(remaining_rows) {
+    case 1:
+      gemm_unrolled_row_iteration<Scalar, Packet, DataMapper, Index, accRows, accCols, 1>(res, lhs_base, rhs_base, depth, strideA, offsetA, row, col, rows, cols, pAlpha, pMask);
+      break;
+    case 2:
+      if (sizeof(Scalar) == sizeof(float)) {
+        gemm_unrolled_row_iteration<Scalar, Packet, DataMapper, Index, accRows, accCols, 2>(res, lhs_base, rhs_base, depth, strideA, offsetA, row, col, rows, cols, pAlpha, pMask);
+      }
+      break;
+    default:
+      if (sizeof(Scalar) == sizeof(float)) {
+        gemm_unrolled_row_iteration<Scalar, Packet, DataMapper, Index, accRows, accCols, 3>(res, lhs_base, rhs_base, depth, strideA, offsetA, row, col, rows, cols, pAlpha, pMask);
+      }
+      break;
+  }
+}
+
+#define MICRO_UNROLL(func) \
+  func(0) func(1) func(2) func(3) func(4) func(5) func(6) func(7)
+
+#define MICRO_UNROLL_WORK(func, func2, peel) \
+    MICRO_UNROLL(func2); \
+    func(0,peel) func(1,peel) func(2,peel) func(3,peel) \
+    func(4,peel) func(5,peel) func(6,peel) func(7,peel)
+
+#define MICRO_LOAD_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhsV##iter = ploadLhs<Scalar, Packet>(lhs_ptr##iter); \
+    lhs_ptr##iter += accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhsV##iter); \
+  }
+
+#define MICRO_WORK_ONE(iter, peel) \
+  if (unroll_factor > iter) { \
+    pger_common<Packet, false, accRows>(&accZero##iter, lhsV##iter, rhsV##peel); \
+  }
+
+#define MICRO_TYPE_PEEL4(func, func2, peel) \
+  if (PEEL > peel) { \
+    Packet lhsV0, lhsV1, lhsV2, lhsV3, lhsV4, lhsV5, lhsV6, lhsV7; \
+    pbroadcastN<Packet,accRows>(rhs_ptr + (accRows * peel), rhsV##peel[0], rhsV##peel[1], rhsV##peel[2], rhsV##peel[3]); \
+    MICRO_UNROLL_WORK(func, func2, peel) \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+  }
+
+#define MICRO_UNROLL_TYPE_PEEL(M, func, func1, func2) \
+  Packet rhsV0[M], rhsV1[M], rhsV2[M], rhsV3[M], rhsV4[M], rhsV5[M], rhsV6[M], rhsV7[M]; \
+  func(func1,func2,0); func(func1,func2,1); \
+  func(func1,func2,2); func(func1,func2,3); \
+  func(func1,func2,4); func(func1,func2,5); \
+  func(func1,func2,6); func(func1,func2,7);
+
+#define MICRO_UNROLL_TYPE_ONE(M, func, func1, func2) \
+  Packet rhsV0[M]; \
+  func(func1,func2,0);
+
+#define MICRO_ONE_PEEL4 \
+  MICRO_UNROLL_TYPE_PEEL(4, MICRO_TYPE_PEEL4, MICRO_WORK_ONE, MICRO_LOAD_ONE); \
+  rhs_ptr += (accRows * PEEL);
+
+#define MICRO_ONE4 \
+  MICRO_UNROLL_TYPE_ONE(4, MICRO_TYPE_PEEL4, MICRO_WORK_ONE, MICRO_LOAD_ONE); \
+  rhs_ptr += accRows;
+
+#define MICRO_DST_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bsetzero<Scalar, Packet, accRows>(accZero##iter); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accZero##iter); \
+  }
+
+#define MICRO_DST_PTR MICRO_UNROLL(MICRO_DST_PTR_ONE)
+
+#define MICRO_SRC_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhs_ptr##iter = lhs_base + ( (row/accCols) + iter )*strideA*accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhs_ptr##iter); \
+  }
+
+#define MICRO_SRC_PTR MICRO_UNROLL(MICRO_SRC_PTR_ONE)
+
+#define MICRO_PREFETCH_ONE(iter) \
+  if (unroll_factor > iter) { \
+    EIGEN_POWER_PREFETCH(lhs_ptr##iter); \
+  }
+
+#define MICRO_PREFETCH MICRO_UNROLL(MICRO_PREFETCH_ONE)
+
+#define MICRO_STORE_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bload<DataMapper, Packet, Index, 0, ColMajor, false, accRows>(acc, res, row + iter*accCols, 0); \
+    bscale<Packet,accRows>(acc, accZero##iter, pAlpha); \
+    res.template storePacketBlock<Packet,accRows>(row + iter*accCols, 0, acc); \
+  }
+
+#define MICRO_STORE MICRO_UNROLL(MICRO_STORE_ONE)
+
+template<int unroll_factor, typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_STRONG_INLINE void gemm_unrolled_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index& row,
+  const Packet& pAlpha)
+{
+  const Scalar* rhs_ptr = rhs_base;
+  const Scalar* lhs_ptr0 = NULL, *  lhs_ptr1 = NULL, * lhs_ptr2 = NULL, * lhs_ptr3 = NULL, * lhs_ptr4 = NULL, * lhs_ptr5 = NULL, * lhs_ptr6 = NULL, * lhs_ptr7 = NULL;
+  PacketBlock<Packet,accRows> accZero0, accZero1, accZero2, accZero3, accZero4, accZero5, accZero6, accZero7;
+  PacketBlock<Packet,accRows> acc;
+
+  MICRO_SRC_PTR
+  MICRO_DST_PTR
+
+  Index k = 0;
+  for(; k + PEEL <= depth; k+= PEEL)
+  {
+    EIGEN_POWER_PREFETCH(rhs_ptr);
+    MICRO_PREFETCH
+    MICRO_ONE_PEEL4
+  }
+  for(; k < depth; k++)
+  {
+    MICRO_ONE4
+  }
+  MICRO_STORE
+
+  row += unroll_factor*accCols;
+}
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_ALWAYS_INLINE void gemm_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask)
+{
+  const DataMapper res3 = res.getSubMapper(0, col);
+
+  const Scalar* rhs_base = blockB + col*strideB + accRows*offsetB;
+  const Scalar* lhs_base = blockA + accCols*offsetA;
+  Index row = 0;
+
+#define MAX_UNROLL 6
+  while(row + MAX_UNROLL*accCols <= rows) {
+    gemm_unrolled_iteration<MAX_UNROLL, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+  }
+  switch( (rows-row)/accCols ) {
+#if MAX_UNROLL > 7
+    case 7:
+      gemm_unrolled_iteration<7, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 6
+    case 6:
+      gemm_unrolled_iteration<6, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 5
+    case 5:
+      gemm_unrolled_iteration<5, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 4
+    case 4:
+      gemm_unrolled_iteration<4, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 3
+    case 3:
+      gemm_unrolled_iteration<3, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 2
+    case 2:
+      gemm_unrolled_iteration<2, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_UNROLL > 1
+    case 1:
+      gemm_unrolled_iteration<1, Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+    default:
+      break;
+  }
+#undef MAX_UNROLL
+
+  if(remaining_rows > 0)
+  {
+    gemm_extra_row<Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, blockA, rhs_base, depth, strideA, offsetA, row, col, rows, cols, remaining_rows, pAlpha, pMask);
+  }
+}
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accCols>
+EIGEN_STRONG_INLINE void gemm_extra_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask)
+{
+  for (; col < cols; col++) {
+    gemm_cols<Scalar, Packet, DataMapper, Index, 1, accCols>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlpha, pMask);
+  }
+}
+
+/****************
+ * GEMM kernels *
+ * **************/
+template<typename Scalar, typename Index, typename Packet, typename RhsPacket, typename DataMapper, const Index accRows, const Index accCols>
+EIGEN_STRONG_INLINE void gemm(const DataMapper& res, const Scalar* blockA, const Scalar* blockB, Index rows, Index depth, Index cols, Scalar alpha, Index strideA, Index strideB, Index offsetA, Index offsetB)
+{
+      const Index remaining_rows = rows % accCols;
+
+      if( strideA == -1 ) strideA = depth;
+      if( strideB == -1 ) strideB = depth;
+
+      const Packet pAlpha = pset1<Packet>(alpha);
+      const Packet pMask  = bmask<Packet>((const int)(remaining_rows));
+
+      Index col = 0;
+      for(; col + accRows <= cols; col += accRows)
+      {
+        gemm_cols<Scalar, Packet, DataMapper, Index, accRows, accCols>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlpha, pMask);
+      }
+
+      gemm_extra_cols<Scalar, Packet, DataMapper, Index, accCols>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlpha, pMask);
+}
+
+#define accColsC (accCols / 2)
+#define advanceRows ((LhsIsReal) ? 1 : 2)
+#define advanceCols ((RhsIsReal) ? 1 : 2)
+
+// PEEL_COMPLEX loop factor.
+#define PEEL_COMPLEX 3
+#define PEEL_COMPLEX_ROW 3
+
+#define MICRO_COMPLEX_UNROLL_PEEL(func) \
+  func(0) func(1) func(2) func(3)
+
+#define MICRO_COMPLEX_ZERO_PEEL(peel) \
+  if ((PEEL_COMPLEX_ROW > peel) && (peel != 0)) { \
+    bsetzero<Scalar, Packet, accRows>(accReal##peel); \
+    bsetzero<Scalar, Packet, accRows>(accImag##peel); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accReal##peel); \
+    EIGEN_UNUSED_VARIABLE(accImag##peel); \
+  }
+
+#define MICRO_COMPLEX_ZERO_PEEL_ROW \
+  MICRO_COMPLEX_UNROLL_PEEL(MICRO_COMPLEX_ZERO_PEEL);
+
+#define MICRO_COMPLEX_WORK_PEEL(peel) \
+  if (PEEL_COMPLEX_ROW > peel) { \
+    pbroadcastN_old<Packet,accRows>(rhs_ptr_real + (accRows * peel), rhsV##peel[0], rhsV##peel[1], rhsV##peel[2], rhsV##peel[3]); \
+    if(!RhsIsReal) pbroadcastN_old<Packet,accRows>(rhs_ptr_imag + (accRows * peel), rhsVi##peel[0], rhsVi##peel[1], rhsVi##peel[2], rhsVi##peel[3]); \
+    pgerc<accRows, Scalar, Packet, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(&accReal##peel, &accImag##peel, lhs_ptr_real + (remaining_rows * peel), lhs_ptr_imag + (remaining_rows * peel), rhsV##peel, rhsVi##peel); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+    EIGEN_UNUSED_VARIABLE(rhsVi##peel); \
+  }
+
+#define MICRO_COMPLEX_WORK_PEEL_ROW \
+  Packet rhsV0[4], rhsV1[4], rhsV2[4], rhsV3[4]; \
+  Packet rhsVi0[4], rhsVi1[4], rhsVi2[4], rhsVi3[4]; \
+  MICRO_COMPLEX_UNROLL_PEEL(MICRO_COMPLEX_WORK_PEEL); \
+  lhs_ptr_real += (remaining_rows * PEEL_COMPLEX_ROW); \
+  if(!LhsIsReal) lhs_ptr_imag += (remaining_rows * PEEL_COMPLEX_ROW); \
+  else EIGEN_UNUSED_VARIABLE(lhs_ptr_imag); \
+  rhs_ptr_real += (accRows * PEEL_COMPLEX_ROW); \
+  if(!RhsIsReal) rhs_ptr_imag += (accRows * PEEL_COMPLEX_ROW); \
+  else EIGEN_UNUSED_VARIABLE(rhs_ptr_imag);
+
+#define MICRO_COMPLEX_ADD_PEEL(peel, sum) \
+  if (PEEL_COMPLEX_ROW > peel) { \
+    for (Index i = 0; i < accRows; i++) { \
+      accReal##sum.packet[i] += accReal##peel.packet[i]; \
+      accImag##sum.packet[i] += accImag##peel.packet[i]; \
+    } \
+  }
+
+#define MICRO_COMPLEX_ADD_PEEL_ROW \
+  MICRO_COMPLEX_ADD_PEEL(2, 0) MICRO_COMPLEX_ADD_PEEL(3, 1) \
+  MICRO_COMPLEX_ADD_PEEL(1, 0)
+
+template<typename Scalar, typename Packet, typename Index, const Index accRows, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void MICRO_COMPLEX_EXTRA_ROW(
+  const Scalar* &lhs_ptr_real, const Scalar* &lhs_ptr_imag,
+  const Scalar* &rhs_ptr_real, const Scalar* &rhs_ptr_imag,
+  PacketBlock<Packet,accRows> &accReal, PacketBlock<Packet,accRows> &accImag)
+{
+  Packet rhsV[4], rhsVi[4];
+  pbroadcastN_old<Packet,accRows>(rhs_ptr_real, rhsV[0], rhsV[1], rhsV[2], rhsV[3]);
+  if(!RhsIsReal) pbroadcastN_old<Packet,accRows>(rhs_ptr_imag, rhsVi[0], rhsVi[1], rhsVi[2], rhsVi[3]);
+  pgerc<accRows, Scalar, Packet, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(&accReal, &accImag, lhs_ptr_real, lhs_ptr_imag, rhsV, rhsVi);
+  lhs_ptr_real += remaining_rows;
+  if(!LhsIsReal) lhs_ptr_imag += remaining_rows;
+  else EIGEN_UNUSED_VARIABLE(lhs_ptr_imag);
+  rhs_ptr_real += accRows;
+  if(!RhsIsReal) rhs_ptr_imag += accRows;
+  else EIGEN_UNUSED_VARIABLE(rhs_ptr_imag);
+}
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal, const Index remaining_rows>
+EIGEN_ALWAYS_INLINE void gemm_unrolled_complex_row_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask)
+{
+  const Scalar* rhs_ptr_real = rhs_base;
+  const Scalar* rhs_ptr_imag = NULL;
+  if(!RhsIsReal) rhs_ptr_imag = rhs_base + accRows*strideB;
+  else EIGEN_UNUSED_VARIABLE(rhs_ptr_imag);
+  const Scalar* lhs_ptr_real = lhs_base + advanceRows*row*strideA + remaining_rows*offsetA;
+  const Scalar* lhs_ptr_imag = NULL;
+  if(!LhsIsReal) lhs_ptr_imag = lhs_ptr_real + remaining_rows*strideA;
+  else EIGEN_UNUSED_VARIABLE(lhs_ptr_imag);
+  PacketBlock<Packet,accRows> accReal0, accImag0, accReal1, accImag1, accReal2, accImag2, accReal3, accImag3;
+  PacketBlock<Packet,accRows> taccReal, taccImag;
+  PacketBlock<Packetc,accRows> acc0, acc1;
+  PacketBlock<Packetc,accRows*2> tRes;
+
+  bsetzero<Scalar, Packet, accRows>(accReal0);
+  bsetzero<Scalar, Packet, accRows>(accImag0);
+
+  Index remaining_depth = (col + quad_traits<Scalar>::rows < cols) ? depth : (depth & -quad_traits<Scalar>::rows);
+  Index k = 0;
+  if (remaining_depth >= PEEL_COMPLEX_ROW) {
+    MICRO_COMPLEX_ZERO_PEEL_ROW
+    do
+    {
+      EIGEN_POWER_PREFETCH(rhs_ptr_real);
+      if(!RhsIsReal) {
+        EIGEN_POWER_PREFETCH(rhs_ptr_imag);
+      }
+      EIGEN_POWER_PREFETCH(lhs_ptr_real);
+      if(!LhsIsReal) {
+        EIGEN_POWER_PREFETCH(lhs_ptr_imag);
+      }
+      MICRO_COMPLEX_WORK_PEEL_ROW
+    } while ((k += PEEL_COMPLEX_ROW) + PEEL_COMPLEX_ROW <= remaining_depth);
+    MICRO_COMPLEX_ADD_PEEL_ROW
+  }
+  for(; k < remaining_depth; k++)
+  {
+    MICRO_COMPLEX_EXTRA_ROW<Scalar, Packet, Index, accRows, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal, remaining_rows>(lhs_ptr_real, lhs_ptr_imag, rhs_ptr_real, rhs_ptr_imag, accReal0, accImag0);
+  }
+
+  if ((remaining_depth == depth) && (rows >= accCols))
+  {
+    bload<DataMapper, Packetc, Index, accColsC, ColMajor, true, accRows>(tRes, res, row, 0);
+    bscalec<Packet,accRows>(accReal0, accImag0, pAlphaReal, pAlphaImag, taccReal, taccImag, pMask);
+    bcouple<Packet, Packetc, accRows>(taccReal, taccImag, tRes, acc0, acc1);
+    res.template storePacketBlock<Packetc,accRows>(row + 0, 0, acc0);
+    res.template storePacketBlock<Packetc,accRows>(row + accColsC, 0, acc1);
+  } else {
+    for(; k < depth; k++)
+    {
+      Packet rhsV[4], rhsVi[4];
+      pbroadcastN_old<Packet,accRows>(rhs_ptr_real, rhsV[0], rhsV[1], rhsV[2], rhsV[3]);
+      if(!RhsIsReal) pbroadcastN_old<Packet,accRows>(rhs_ptr_imag, rhsVi[0], rhsVi[1], rhsVi[2], rhsVi[3]);
+      pgerc<accRows, Scalar, Packet, Index, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal, remaining_rows>(&accReal0, &accImag0, lhs_ptr_real, lhs_ptr_imag, rhsV, rhsVi);
+      lhs_ptr_real += remaining_rows;
+      if(!LhsIsReal) lhs_ptr_imag += remaining_rows;
+      rhs_ptr_real += accRows;
+      if(!RhsIsReal) rhs_ptr_imag += accRows;
+    }
+
+    bscalec<Packet,accRows>(accReal0, accImag0, pAlphaReal, pAlphaImag, taccReal, taccImag);
+    bcouple_common<Packet, Packetc, accRows>(taccReal, taccImag, acc0, acc1);
+
+    if ((sizeof(Scalar) == sizeof(float)) && (remaining_rows == 1))
+    {
+      for(Index j = 0; j < accRows; j++) {
+        res(row + 0, j) += pfirst<Packetc>(acc0.packet[j]);
+      }
+    } else {
+      for(Index j = 0; j < accRows; j++) {
+        PacketBlock<Packetc,1> acc2;
+        acc2.packet[0] = res.template loadPacket<Packetc>(row + 0, j) + acc0.packet[j];
+        res.template storePacketBlock<Packetc,1>(row + 0, j, acc2);
+        if(remaining_rows > accColsC) {
+          res(row + accColsC, j) += pfirst<Packetc>(acc1.packet[j]);
+        }
+      }
+    }
+  }
+}
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void gemm_complex_extra_row(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask)
+{
+  switch(remaining_rows) {
+    case 1:
+      gemm_unrolled_complex_row_iteration<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal, 1>(res, lhs_base, rhs_base, depth, strideA, offsetA, strideB, row, col, rows, cols, pAlphaReal, pAlphaImag, pMask);
+      break;
+    case 2:
+      if (sizeof(Scalar) == sizeof(float)) {
+        gemm_unrolled_complex_row_iteration<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal, 2>(res, lhs_base, rhs_base, depth, strideA, offsetA, strideB, row, col, rows, cols, pAlphaReal, pAlphaImag, pMask);
+      }
+      break;
+    default:
+      if (sizeof(Scalar) == sizeof(float)) {
+        gemm_unrolled_complex_row_iteration<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal, 3>(res, lhs_base, rhs_base, depth, strideA, offsetA, strideB, row, col, rows, cols, pAlphaReal, pAlphaImag, pMask);
+      }
+      break;
+  }
+}
+
+#define MICRO_COMPLEX_UNROLL(func) \
+  func(0) func(1) func(2) func(3)
+
+#define MICRO_COMPLEX_UNROLL_WORK(func, func2, peel) \
+    MICRO_COMPLEX_UNROLL(func2); \
+    func(0,peel) func(1,peel) func(2,peel) func(3,peel)
+
+#define MICRO_COMPLEX_LOAD_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhsV##iter = ploadLhs<Scalar, Packet>(lhs_ptr_real##iter); \
+    if(!LhsIsReal) { \
+      lhsVi##iter = ploadLhs<Scalar, Packet>(lhs_ptr_real##iter + imag_delta); \
+    } else { \
+      EIGEN_UNUSED_VARIABLE(lhsVi##iter); \
+    } \
+    lhs_ptr_real##iter += accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhsV##iter); \
+    EIGEN_UNUSED_VARIABLE(lhsVi##iter); \
+  }
+
+#define MICRO_COMPLEX_WORK_ONE4(iter, peel) \
+  if (unroll_factor > iter) { \
+    pgerc_common<accRows, Packet, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(&accReal##iter, &accImag##iter, lhsV##iter, lhsVi##iter, rhsV##peel, rhsVi##peel); \
+  }
+
+#define MICRO_COMPLEX_TYPE_PEEL4(func, func2, peel) \
+  if (PEEL_COMPLEX > peel) { \
+    Packet lhsV0, lhsV1, lhsV2, lhsV3; \
+    Packet lhsVi0, lhsVi1, lhsVi2, lhsVi3; \
+    pbroadcastN_old<Packet,accRows>(rhs_ptr_real + (accRows * peel), rhsV##peel[0], rhsV##peel[1], rhsV##peel[2], rhsV##peel[3]); \
+    if(!RhsIsReal) { \
+      pbroadcastN_old<Packet,accRows>(rhs_ptr_imag + (accRows * peel), rhsVi##peel[0], rhsVi##peel[1], rhsVi##peel[2], rhsVi##peel[3]); \
+    } else { \
+      EIGEN_UNUSED_VARIABLE(rhsVi##peel); \
+    } \
+    MICRO_COMPLEX_UNROLL_WORK(func, func2, peel) \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+    EIGEN_UNUSED_VARIABLE(rhsVi##peel); \
+  }
+
+#define MICRO_COMPLEX_UNROLL_TYPE_PEEL(M, func, func1, func2) \
+  Packet rhsV0[M], rhsV1[M], rhsV2[M], rhsV3[M]; \
+  Packet rhsVi0[M], rhsVi1[M], rhsVi2[M], rhsVi3[M]; \
+  func(func1,func2,0); func(func1,func2,1); \
+  func(func1,func2,2); func(func1,func2,3);
+
+#define MICRO_COMPLEX_UNROLL_TYPE_ONE(M, func, func1, func2) \
+  Packet rhsV0[M], rhsVi0[M];\
+  func(func1,func2,0);
+
+#define MICRO_COMPLEX_ONE_PEEL4 \
+  MICRO_COMPLEX_UNROLL_TYPE_PEEL(4, MICRO_COMPLEX_TYPE_PEEL4, MICRO_COMPLEX_WORK_ONE4, MICRO_COMPLEX_LOAD_ONE); \
+  rhs_ptr_real += (accRows * PEEL_COMPLEX); \
+  if(!RhsIsReal) rhs_ptr_imag += (accRows * PEEL_COMPLEX);
+
+#define MICRO_COMPLEX_ONE4 \
+  MICRO_COMPLEX_UNROLL_TYPE_ONE(4, MICRO_COMPLEX_TYPE_PEEL4, MICRO_COMPLEX_WORK_ONE4, MICRO_COMPLEX_LOAD_ONE); \
+  rhs_ptr_real += accRows; \
+  if(!RhsIsReal) rhs_ptr_imag += accRows;
+
+#define MICRO_COMPLEX_DST_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bsetzero<Scalar, Packet, accRows>(accReal##iter); \
+    bsetzero<Scalar, Packet, accRows>(accImag##iter); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accReal##iter); \
+    EIGEN_UNUSED_VARIABLE(accImag##iter); \
+  }
+
+#define MICRO_COMPLEX_DST_PTR MICRO_COMPLEX_UNROLL(MICRO_COMPLEX_DST_PTR_ONE)
+
+#define MICRO_COMPLEX_SRC_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhs_ptr_real##iter = lhs_base + ( ((advanceRows*row)/accCols) + iter*advanceRows )*strideA*accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhs_ptr_real##iter); \
+  }
+
+#define MICRO_COMPLEX_SRC_PTR MICRO_COMPLEX_UNROLL(MICRO_COMPLEX_SRC_PTR_ONE)
+
+#define MICRO_COMPLEX_PREFETCH_ONE(iter) \
+  if (unroll_factor > iter) { \
+    EIGEN_POWER_PREFETCH(lhs_ptr_real##iter); \
+  }
+
+#define MICRO_COMPLEX_PREFETCH MICRO_COMPLEX_UNROLL(MICRO_COMPLEX_PREFETCH_ONE)
+
+#define MICRO_COMPLEX_STORE_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bload<DataMapper, Packetc, Index, accColsC, ColMajor, true, accRows>(tRes, res, row + iter*accCols, 0); \
+    bscalec<Packet,accRows>(accReal##iter, accImag##iter, pAlphaReal, pAlphaImag, taccReal, taccImag); \
+    bcouple<Packet, Packetc, accRows>(taccReal, taccImag, tRes, acc0, acc1); \
+    res.template storePacketBlock<Packetc,accRows>(row + iter*accCols + 0, 0, acc0); \
+    res.template storePacketBlock<Packetc,accRows>(row + iter*accCols + accColsC, 0, acc1); \
+  }
+
+#define MICRO_COMPLEX_STORE MICRO_COMPLEX_UNROLL(MICRO_COMPLEX_STORE_ONE)
+
+template<int unroll_factor, typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_STRONG_INLINE void gemm_complex_unrolled_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index strideB,
+  Index& row,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag)
+{
+  const Scalar* rhs_ptr_real = rhs_base;
+  const Scalar* rhs_ptr_imag = NULL;
+  const Index imag_delta = accCols*strideA;
+  if(!RhsIsReal) {
+    rhs_ptr_imag = rhs_base + accRows*strideB;
+  } else {
+    EIGEN_UNUSED_VARIABLE(rhs_ptr_imag);
+  }
+  const Scalar* lhs_ptr_real0 = NULL, * lhs_ptr_real1 = NULL;
+  const Scalar* lhs_ptr_real2 = NULL, * lhs_ptr_real3 = NULL;
+  PacketBlock<Packet,accRows> accReal0, accImag0, accReal1, accImag1;
+  PacketBlock<Packet,accRows> accReal2, accImag2, accReal3, accImag3;
+  PacketBlock<Packet,accRows> taccReal, taccImag;
+  PacketBlock<Packetc,accRows> acc0, acc1;
+  PacketBlock<Packetc,accRows*2> tRes;
+
+  MICRO_COMPLEX_SRC_PTR
+  MICRO_COMPLEX_DST_PTR
+
+  Index k = 0;
+  for(; k + PEEL_COMPLEX <= depth; k+= PEEL_COMPLEX)
+  {
+    EIGEN_POWER_PREFETCH(rhs_ptr_real);
+    if(!RhsIsReal) {
+      EIGEN_POWER_PREFETCH(rhs_ptr_imag);
+    }
+    MICRO_COMPLEX_PREFETCH
+    MICRO_COMPLEX_ONE_PEEL4
+  }
+  for(; k < depth; k++)
+  {
+    MICRO_COMPLEX_ONE4
+  }
+  MICRO_COMPLEX_STORE
+
+  row += unroll_factor*accCols;
+}
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void gemm_complex_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask)
+{
+  const DataMapper res3 = res.getSubMapper(0, col);
+
+  const Scalar* rhs_base = blockB + advanceCols*col*strideB + accRows*offsetB;
+  const Scalar* lhs_base = blockA + accCols*offsetA;
+  Index row = 0;
+
+#define MAX_COMPLEX_UNROLL 3
+  while(row + MAX_COMPLEX_UNROLL*accCols <= rows) {
+    gemm_complex_unrolled_iteration<MAX_COMPLEX_UNROLL, Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+  }
+  switch( (rows-row)/accCols ) {
+#if MAX_COMPLEX_UNROLL > 4
+    case 4:
+      gemm_complex_unrolled_iteration<4, Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_UNROLL > 3
+    case 3:
+      gemm_complex_unrolled_iteration<3, Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_UNROLL > 2
+    case 2:
+      gemm_complex_unrolled_iteration<2, Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_UNROLL > 1
+    case 1:
+      gemm_complex_unrolled_iteration<1, Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+    default:
+      break;
+  }
+#undef MAX_COMPLEX_UNROLL
+
+  if(remaining_rows > 0)
+  {
+    gemm_complex_extra_row<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, blockA, rhs_base, depth, strideA, offsetA, strideB, row, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+  }
+}
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_STRONG_INLINE void gemm_complex_extra_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask)
+{
+  for (; col < cols; col++) {
+    gemm_complex_cols<Scalar, Packet, Packetc, DataMapper, Index, 1, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+  }
+}
+
+template<typename LhsScalar, typename RhsScalar, typename Scalarc, typename Scalar, typename Index, typename Packet, typename Packetc, typename RhsPacket, typename DataMapper, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_STRONG_INLINE void gemm_complex(const DataMapper& res, const LhsScalar* blockAc, const RhsScalar* blockBc, Index rows, Index depth, Index cols, Scalarc alpha, Index strideA, Index strideB, Index offsetA, Index offsetB)
+{
+      const Index remaining_rows = rows % accCols;
+
+      if( strideA == -1 ) strideA = depth;
+      if( strideB == -1 ) strideB = depth;
+
+      const Packet pAlphaReal = pset1<Packet>(alpha.real());
+      const Packet pAlphaImag = pset1<Packet>(alpha.imag());
+      const Packet pMask = bmask<Packet>((const int)(remaining_rows));
+
+      const Scalar* blockA = (Scalar *) blockAc;
+      const Scalar* blockB = (Scalar *) blockBc;
+
+      Index col = 0;
+      for(; col + accRows <= cols; col += accRows)
+      {
+        gemm_complex_cols<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+      }
+
+      gemm_complex_extra_cols<Scalar, Packet, Packetc, DataMapper, Index, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+}
+
+#undef accColsC
+#undef advanceCols
+#undef advanceRows
+
+/************************************
+ * ppc64le template specializations *
+ * **********************************/
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<double, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(double* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<double, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+  ::operator()(double* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+    dhs_pack<double, Index, DataMapper, Packet2d, ColMajor, PanelMode, true> pack;
+    pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<double, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(double* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<double, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+  ::operator()(double* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+    dhs_pack<double, Index, DataMapper, Packet2d, RowMajor, PanelMode, true> pack;
+    pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+#if EIGEN_ALTIVEC_USE_CUSTOM_PACK
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<double, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(double* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<double, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(double* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_pack<double, Index, DataMapper, Packet2d, ColMajor, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<double, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(double* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<double, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(double* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_pack<double, Index, DataMapper, Packet2d, RowMajor, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+#endif
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<float, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(float* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<float, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+  ::operator()(float* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_pack<float, Index, DataMapper, Packet4f, RowMajor, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<float, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(float* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<float, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+  ::operator()(float* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_pack<float, Index, DataMapper, Packet4f, ColMajor, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<std::complex<float>, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<float>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<std::complex<float>, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<float>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_cpack<float, Index, DataMapper, Packet4f, Packet2cf, RowMajor, Conjugate, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<std::complex<float>, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<float>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<std::complex<float>, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<float>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_cpack<float, Index, DataMapper, Packet4f, Packet2cf, ColMajor, Conjugate, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+#if EIGEN_ALTIVEC_USE_CUSTOM_PACK
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<float, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(float* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<float, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(float* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_pack<float, Index, DataMapper, Packet4f, ColMajor, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<float, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(float* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<float, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(float* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_pack<float, Index, DataMapper, Packet4f, RowMajor, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+#endif
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<std::complex<float>, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<float>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<std::complex<float>, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<float>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_cpack<float, Index, DataMapper, Packet4f, Packet2cf, ColMajor, Conjugate, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<std::complex<float>, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<float>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<std::complex<float>, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<float>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_cpack<float, Index, DataMapper, Packet4f, Packet2cf, RowMajor, Conjugate, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<std::complex<double>, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<double>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<std::complex<double>, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<double>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_cpack<double, Index, DataMapper, Packet2d, Packet1cd, RowMajor, Conjugate, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<std::complex<double>, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<double>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+void gemm_pack_lhs<std::complex<double>, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<double>* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  dhs_cpack<double, Index, DataMapper, Packet2d, Packet1cd, ColMajor, Conjugate, PanelMode, true> pack;
+  pack(blockA, lhs, depth, rows, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<std::complex<double>, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<double>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<std::complex<double>, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<double>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_cpack<double, Index, DataMapper, Packet2d, Packet1cd, ColMajor, Conjugate, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<std::complex<double>, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+{
+  void operator()(std::complex<double>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
+};
+
+template<typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+void gemm_pack_rhs<std::complex<double>, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(std::complex<double>* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
+{
+  dhs_cpack<double, Index, DataMapper, Packet2d, Packet1cd, RowMajor, Conjugate, PanelMode, false> pack;
+  pack(blockB, rhs, depth, cols, stride, offset);
+}
+
+// ********* gebp specializations *********
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<float, float, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef typename quad_traits<float>::vectortype   Packet;
+  typedef typename quad_traits<float>::rhstype      RhsPacket;
+
+  void operator()(const DataMapper& res, const float* blockA, const float* blockB,
+                  Index rows, Index depth, Index cols, float alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<float, float, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const float* blockA, const float* blockB,
+               Index rows, Index depth, Index cols, float alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<float>::rows;
+    const Index accCols = quad_traits<float>::size;
+    void (*gemm_function)(const DataMapper&, const float*, const float*, Index, Index, Index, float, Index, Index, Index, Index);
+
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+      //generate with MMA only
+      gemm_function = &Eigen::internal::gemmMMA<float, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+    #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+      if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+        gemm_function = &Eigen::internal::gemmMMA<float, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+      }
+      else{
+        gemm_function = &Eigen::internal::gemm<float, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+      }
+    #else
+      gemm_function = &Eigen::internal::gemm<float, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+    #endif
+      gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<std::complex<float>, std::complex<float>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef Packet4f   Packet;
+  typedef Packet2cf  Packetc;
+  typedef Packet4f   RhsPacket;
+
+  void operator()(const DataMapper& res, const std::complex<float>* blockA, const std::complex<float>* blockB,
+                  Index rows, Index depth, Index cols, std::complex<float> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<std::complex<float>, std::complex<float>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const std::complex<float>* blockA, const std::complex<float>* blockB,
+               Index rows, Index depth, Index cols, std::complex<float> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<float>::rows;
+    const Index accCols = quad_traits<float>::size;
+    void (*gemm_function)(const DataMapper&, const std::complex<float>*, const std::complex<float>*,
+          Index, Index, Index, std::complex<float>, Index, Index, Index, Index);
+
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<float>, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<float>, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<std::complex<float>, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<std::complex<float>, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+     #endif
+      gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<float, std::complex<float>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef Packet4f   Packet;
+  typedef Packet2cf  Packetc;
+  typedef Packet4f   RhsPacket;
+
+  void operator()(const DataMapper& res, const float* blockA, const std::complex<float>* blockB,
+                  Index rows, Index depth, Index cols, std::complex<float> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<float, std::complex<float>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const float* blockA, const std::complex<float>* blockB,
+               Index rows, Index depth, Index cols, std::complex<float> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<float>::rows;
+    const Index accCols = quad_traits<float>::size;
+    void (*gemm_function)(const DataMapper&, const float*, const std::complex<float>*,
+          Index, Index, Index, std::complex<float>, Index, Index, Index, Index);
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<float, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<float, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<float, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<float, std::complex<float>, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+     #endif
+       gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<std::complex<float>, float, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef Packet4f   Packet;
+  typedef Packet2cf  Packetc;
+  typedef Packet4f   RhsPacket;
+
+  void operator()(const DataMapper& res, const std::complex<float>* blockA, const float* blockB,
+                  Index rows, Index depth, Index cols, std::complex<float> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<std::complex<float>, float, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const std::complex<float>* blockA, const float* blockB,
+               Index rows, Index depth, Index cols, std::complex<float> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<float>::rows;
+    const Index accCols = quad_traits<float>::size;
+    void (*gemm_function)(const DataMapper&, const std::complex<float>*, const float*,
+          Index, Index, Index, std::complex<float>, Index, Index, Index, Index);
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<float>, float, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<float>, float, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<std::complex<float>, float, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<std::complex<float>, float, std::complex<float>, float, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+     #endif
+       gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<double, double, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef typename quad_traits<double>::vectortype  Packet;
+  typedef typename quad_traits<double>::rhstype     RhsPacket;
+
+  void operator()(const DataMapper& res, const double* blockA, const double* blockB,
+                  Index rows, Index depth, Index cols, double alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<double, double, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const double* blockA, const double* blockB,
+               Index rows, Index depth, Index cols, double alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<double>::rows;
+    const Index accCols = quad_traits<double>::size;
+    void (*gemm_function)(const DataMapper&, const double*, const double*, Index, Index, Index, double, Index, Index, Index, Index);
+
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+      //generate with MMA only
+      gemm_function = &Eigen::internal::gemmMMA<double, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+    #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+      if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+        gemm_function = &Eigen::internal::gemmMMA<double, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+      }
+      else{
+        gemm_function = &Eigen::internal::gemm<double, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+      }
+    #else
+      gemm_function = &Eigen::internal::gemm<double, Index, Packet, RhsPacket, DataMapper, accRows, accCols>;
+    #endif
+      gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<std::complex<double>, std::complex<double>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef quad_traits<double>::vectortype   Packet;
+  typedef Packet1cd  Packetc;
+  typedef quad_traits<double>::rhstype   RhsPacket;
+
+  void operator()(const DataMapper& res, const std::complex<double>* blockA, const std::complex<double>* blockB,
+                  Index rows, Index depth, Index cols, std::complex<double> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<std::complex<double>, std::complex<double>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const std::complex<double>* blockA, const std::complex<double>* blockB,
+               Index rows, Index depth, Index cols, std::complex<double> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<double>::rows;
+    const Index accCols = quad_traits<double>::size;
+    void (*gemm_function)(const DataMapper&, const std::complex<double>*, const std::complex<double>*,
+          Index, Index, Index, std::complex<double>, Index, Index, Index, Index);
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<double>, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<double>, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<std::complex<double>, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<std::complex<double>, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, false>;
+     #endif
+       gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<std::complex<double>, double, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef quad_traits<double>::vectortype   Packet;
+  typedef Packet1cd  Packetc;
+  typedef quad_traits<double>::rhstype   RhsPacket;
+
+  void operator()(const DataMapper& res, const std::complex<double>* blockA, const double* blockB,
+                  Index rows, Index depth, Index cols, std::complex<double> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<std::complex<double>, double, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const std::complex<double>* blockA, const double* blockB,
+               Index rows, Index depth, Index cols, std::complex<double> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<double>::rows;
+    const Index accCols = quad_traits<double>::size;
+    void (*gemm_function)(const DataMapper&, const std::complex<double>*, const double*,
+          Index, Index, Index, std::complex<double>, Index, Index, Index, Index);
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<double>, double, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<std::complex<double>, double, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<std::complex<double>, double, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<std::complex<double>, double, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, false, true>;
+     #endif
+       gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct gebp_kernel<double, std::complex<double>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+{
+  typedef quad_traits<double>::vectortype   Packet;
+  typedef Packet1cd  Packetc;
+  typedef quad_traits<double>::rhstype   RhsPacket;
+
+  void operator()(const DataMapper& res, const double* blockA, const std::complex<double>* blockB,
+                  Index rows, Index depth, Index cols, std::complex<double> alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
+};
+
+template<typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+void gebp_kernel<double, std::complex<double>, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>
+  ::operator()(const DataMapper& res, const double* blockA, const std::complex<double>* blockB,
+               Index rows, Index depth, Index cols, std::complex<double> alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
+  {
+    const Index accRows = quad_traits<double>::rows;
+    const Index accCols = quad_traits<double>::size;
+    void (*gemm_function)(const DataMapper&, const double*, const std::complex<double>*,
+          Index, Index, Index, std::complex<double>, Index, Index, Index, Index);
+    #ifdef EIGEN_ALTIVEC_MMA_ONLY
+       //generate with MMA only
+       gemm_function = &Eigen::internal::gemm_complexMMA<double, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+     #elif defined(ALTIVEC_MMA_SUPPORT) && !defined(EIGEN_ALTIVEC_DISABLE_MMA)
+       if (__builtin_cpu_supports ("arch_3_1") && __builtin_cpu_supports ("mma")){
+         gemm_function = &Eigen::internal::gemm_complexMMA<double, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+       }
+       else{
+         gemm_function = &Eigen::internal::gemm_complex<double, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+       }
+     #else
+       gemm_function = &Eigen::internal::gemm_complex<double, std::complex<double>, std::complex<double>, double, Index, Packet, Packetc, RhsPacket, DataMapper, accRows, accCols, ConjugateLhs, ConjugateRhs, true, false>;
+     #endif
+       gemm_function(res, blockA, blockB, rows, depth, cols, alpha, strideA, strideB, offsetA, offsetB);
+  }
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_PRODUCT_ALTIVEC_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductCommon.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductCommon.h
new file mode 100644
index 0000000000..bf01dba1ca
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductCommon.h
@@ -0,0 +1,159 @@
+//#define EIGEN_POWER_USE_PREFETCH  // Use prefetching in gemm routines
+#ifdef EIGEN_POWER_USE_PREFETCH
+#define EIGEN_POWER_PREFETCH(p)  prefetch(p)
+#else
+#define EIGEN_POWER_PREFETCH(p)
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_ALWAYS_INLINE void gemm_extra_row(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask);
+
+template<typename Scalar, typename Packet, typename DataMapper, typename Index, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_STRONG_INLINE void gemm_extra_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask);
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE Packet bmask(const int remaining_rows);
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void gemm_complex_extra_row(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index row,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask);
+
+template<typename Scalar, typename Packet, typename Packetc, typename DataMapper, typename Index, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_STRONG_INLINE void gemm_complex_extra_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask);
+
+template<typename Scalar, typename Packet>
+EIGEN_ALWAYS_INLINE Packet ploadLhs(const Scalar* lhs);
+
+template<typename DataMapper, typename Packet, typename Index, const Index accCols, int StorageOrder, bool Complex, int N>
+EIGEN_ALWAYS_INLINE void bload(PacketBlock<Packet,N>& acc, const DataMapper& res, Index row, Index col);
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscale(PacketBlock<Packet,N>& acc, PacketBlock<Packet,N>& accZ, const Packet& pAlpha);
+
+template<typename Packet, int N>
+EIGEN_ALWAYS_INLINE void bscalec(PacketBlock<Packet,N>& aReal, PacketBlock<Packet,N>& aImag, const Packet& bReal, const Packet& bImag, PacketBlock<Packet,N>& cReal, PacketBlock<Packet,N>& cImag);
+
+// Grab two decouples real/imaginary PacketBlocks and return two coupled (real/imaginary pairs) PacketBlocks.
+template<typename Packet, typename Packetc, int N>
+EIGEN_ALWAYS_INLINE void bcouple_common(PacketBlock<Packet,N>& taccReal, PacketBlock<Packet,N>& taccImag, PacketBlock<Packetc, N>& acc1, PacketBlock<Packetc, N>& acc2)
+{
+  acc1.packet[0].v = vec_mergeh(taccReal.packet[0], taccImag.packet[0]);
+  if (N > 1) {
+    acc1.packet[1].v = vec_mergeh(taccReal.packet[1], taccImag.packet[1]);
+  }
+  if (N > 2) {
+    acc1.packet[2].v = vec_mergeh(taccReal.packet[2], taccImag.packet[2]);
+  }
+  if (N > 3) {
+    acc1.packet[3].v = vec_mergeh(taccReal.packet[3], taccImag.packet[3]);
+  }
+
+  acc2.packet[0].v = vec_mergel(taccReal.packet[0], taccImag.packet[0]);
+  if (N > 1) {
+    acc2.packet[1].v = vec_mergel(taccReal.packet[1], taccImag.packet[1]);
+  }
+  if (N > 2) {
+    acc2.packet[2].v = vec_mergel(taccReal.packet[2], taccImag.packet[2]);
+  }
+  if (N > 3) {
+    acc2.packet[3].v = vec_mergel(taccReal.packet[3], taccImag.packet[3]);
+  }
+}
+
+template<typename Packet, typename Packetc, int N>
+EIGEN_ALWAYS_INLINE void bcouple(PacketBlock<Packet,N>& taccReal, PacketBlock<Packet,N>& taccImag, PacketBlock<Packetc,N*2>& tRes, PacketBlock<Packetc, N>& acc1, PacketBlock<Packetc, N>& acc2)
+{
+  bcouple_common<Packet, Packetc, N>(taccReal, taccImag, acc1, acc2);
+
+  acc1.packet[0] = padd<Packetc>(tRes.packet[0], acc1.packet[0]);
+  if (N > 1) {
+    acc1.packet[1] = padd<Packetc>(tRes.packet[1], acc1.packet[1]);
+  }
+  if (N > 2) {
+    acc1.packet[2] = padd<Packetc>(tRes.packet[2], acc1.packet[2]);
+  }
+  if (N > 3) {
+    acc1.packet[3] = padd<Packetc>(tRes.packet[3], acc1.packet[3]);
+  }
+
+  acc2.packet[0] = padd<Packetc>(tRes.packet[0+N], acc2.packet[0]);
+  if (N > 1) {
+    acc2.packet[1] = padd<Packetc>(tRes.packet[1+N], acc2.packet[1]);
+  }
+  if (N > 2) {
+    acc2.packet[2] = padd<Packetc>(tRes.packet[2+N], acc2.packet[2]);
+  }
+  if (N > 3) {
+    acc2.packet[3] = padd<Packetc>(tRes.packet[3+N], acc2.packet[3]);
+  }
+}
+
+// This is necessary because ploadRhs for double returns a pair of vectors when MMA is enabled.
+template<typename Scalar, typename Packet>
+EIGEN_ALWAYS_INLINE Packet ploadRhs(const Scalar* rhs)
+{
+  return ploadu<Packet>(rhs);
+}
+
+} // end namespace internal
+} // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductMMA.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductMMA.h
new file mode 100644
index 0000000000..5b44495379
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/MatrixProductMMA.h
@@ -0,0 +1,620 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2020 Everton Constantino (everton.constantino@ibm.com)
+// Copyright (C) 2021 Chip Kerchner (chip.kerchner@ibm.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATRIX_PRODUCT_MMA_ALTIVEC_H
+#define EIGEN_MATRIX_PRODUCT_MMA_ALTIVEC_H
+
+#pragma GCC target("cpu=power10,htm")
+
+#ifdef __has_builtin
+#if !__has_builtin(__builtin_vsx_assemble_pair)
+#define __builtin_vsx_assemble_pair __builtin_mma_assemble_pair
+#endif
+#endif
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar, typename Packet>
+EIGEN_ALWAYS_INLINE void bsetzeroMMA(__vector_quad* acc)
+{
+  __builtin_mma_xxsetaccz(acc);
+}
+
+template<typename DataMapper, typename Index, typename Packet, const Index accCols>
+EIGEN_ALWAYS_INLINE void storeAccumulator(Index i, const DataMapper& data, const Packet& alpha, __vector_quad* acc)
+{
+  PacketBlock<Packet, 4> result;
+  __builtin_mma_disassemble_acc(&result.packet, acc);
+
+  PacketBlock<Packet, 4> tRes;
+  bload<DataMapper, Packet, Index, accCols, ColMajor, false, 4>(tRes, data, i, 0);
+
+  bscale<Packet, 4>(tRes, result, alpha);
+
+  data.template storePacketBlock<Packet, 4>(i, 0, tRes);
+}
+
+template<typename DataMapper, typename Index, typename Packet, typename Packetc, const Index accColsC>
+EIGEN_ALWAYS_INLINE void storeComplexAccumulator(Index i, const DataMapper& data, const Packet& alphaReal, const Packet& alphaImag, __vector_quad* accReal, __vector_quad* accImag)
+{
+  PacketBlock<Packet, 4> resultReal, resultImag;
+  __builtin_mma_disassemble_acc(&resultReal.packet, accReal);
+  __builtin_mma_disassemble_acc(&resultImag.packet, accImag);
+
+  PacketBlock<Packetc, 8> tRes;
+  bload<DataMapper, Packetc, Index, accColsC, ColMajor, true, 4>(tRes, data, i, 0);
+
+  PacketBlock<Packet,4> taccReal, taccImag;
+  bscalec<Packet,4>(resultReal, resultImag, alphaReal, alphaImag, taccReal, taccImag);
+
+  PacketBlock<Packetc, 4> acc1, acc2;
+  bcouple<Packet, Packetc, 4>(taccReal, taccImag, tRes, acc1, acc2);
+
+  data.template storePacketBlock<Packetc, 4>(i, 0, acc1);
+  data.template storePacketBlock<Packetc, 4>(i + accColsC, 0, acc2);
+}
+
+// Defaults to float32, since Eigen still supports C++03 we can't use default template arguments
+template<typename LhsPacket, typename RhsPacket, bool NegativeAccumulate>
+EIGEN_ALWAYS_INLINE void pgerMMA(__vector_quad* acc, const RhsPacket& a, const LhsPacket& b)
+{
+  if(NegativeAccumulate)
+  {
+    __builtin_mma_xvf32gernp(acc, (__vector unsigned char)a, (__vector unsigned char)b);
+  } else {
+    __builtin_mma_xvf32gerpp(acc, (__vector unsigned char)a, (__vector unsigned char)b);
+  }
+}
+
+template<typename LhsPacket, typename RhsPacket, bool NegativeAccumulate>
+EIGEN_ALWAYS_INLINE void pgerMMA(__vector_quad* acc, const PacketBlock<Packet2d,2>& a, const Packet2d& b)
+{
+  __vector_pair* a0 = (__vector_pair *)(&a.packet[0]);
+  if(NegativeAccumulate)
+  {
+    __builtin_mma_xvf64gernp(acc, *a0, (__vector unsigned char)b);
+  } else {
+    __builtin_mma_xvf64gerpp(acc, *a0, (__vector unsigned char)b);
+  }
+}
+
+template<typename LhsPacket, typename RhsPacket, bool NegativeAccumulate>
+EIGEN_ALWAYS_INLINE void pgerMMA(__vector_quad* acc, const __vector_pair& a, const Packet2d& b)
+{
+  if(NegativeAccumulate)
+  {
+    __builtin_mma_xvf64gernp(acc, (__vector_pair)a, (__vector unsigned char)b);
+  } else {
+    __builtin_mma_xvf64gerpp(acc, (__vector_pair)a, (__vector unsigned char)b);
+  }
+}
+
+template<typename LhsPacket, typename RhsPacket, bool NegativeAccumulate>
+EIGEN_ALWAYS_INLINE void pgerMMA(__vector_quad*, const __vector_pair&, const Packet4f&)
+{
+  // Just for compilation
+}
+
+template<typename Scalar, typename Packet, typename RhsPacket, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void pgercMMA(__vector_quad* accReal, __vector_quad* accImag, const Packet& lhsV, const Packet& lhsVi, const RhsPacket& rhsV, const RhsPacket& rhsVi)
+{
+  pgerMMA<Packet, RhsPacket, false>(accReal,  rhsV,  lhsV);
+  if(LhsIsReal) {
+    pgerMMA<Packet, RhsPacket, ConjugateRhs>(accImag, rhsVi,  lhsV);
+  } else {
+    if(!RhsIsReal) {
+      pgerMMA<Packet, RhsPacket, ConjugateLhs == ConjugateRhs>(accReal, rhsVi, lhsVi);
+      pgerMMA<Packet, RhsPacket, ConjugateRhs>(accImag, rhsVi,  lhsV);
+    } else {
+      EIGEN_UNUSED_VARIABLE(rhsVi);
+    }
+    pgerMMA<Packet, RhsPacket, ConjugateLhs>(accImag,  rhsV, lhsVi);
+  }
+}
+
+// This is necessary because ploadRhs for double returns a pair of vectors when MMA is enabled.
+template<typename Scalar, typename Packet>
+EIGEN_ALWAYS_INLINE void ploadRhsMMA(const Scalar* rhs, Packet& rhsV)
+{
+  rhsV = ploadRhs<Scalar, Packet>(rhs);
+} 
+
+template<>
+EIGEN_ALWAYS_INLINE void ploadRhsMMA<double, PacketBlock<Packet2d, 2> >(const double* rhs, PacketBlock<Packet2d, 2>& rhsV)
+{
+  rhsV.packet[0] = ploadRhs<double, Packet2d>((const double *)((Packet2d *)rhs      ));
+  rhsV.packet[1] = ploadRhs<double, Packet2d>((const double *)(((Packet2d *)rhs) + 1));
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void ploadRhsMMA<double, __vector_pair>(const double* rhs, __vector_pair& rhsV)
+{
+#if EIGEN_COMP_LLVM
+  __builtin_vsx_assemble_pair(&rhsV,
+    (__vector unsigned char)(ploadRhs<double, Packet2d>((const double *)(((Packet2d *)rhs) + 1))),
+    (__vector unsigned char)(ploadRhs<double, Packet2d>((const double *)((Packet2d *)rhs      ))));
+#else
+  __asm__ ("lxvp %x0,%1" : "=wa" (rhsV) : "Y" (*rhs));
+#endif
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void ploadRhsMMA(const float*, __vector_pair&)
+{
+  // Just for compilation
+}
+
+// PEEL_MMA loop factor.
+#define PEEL_MMA 7
+
+#define MICRO_MMA_UNROLL(func) \
+  func(0) func(1) func(2) func(3) func(4) func(5) func(6) func(7)
+
+#define MICRO_MMA_LOAD_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhsV##iter = ploadLhs<Scalar, Packet>(lhs_ptr##iter); \
+    lhs_ptr##iter += accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhsV##iter); \
+  }
+
+#define MICRO_MMA_WORK_ONE(iter, type, peel) \
+  if (unroll_factor > iter) { \
+    pgerMMA<Packet, type, false>(&accZero##iter, rhsV##peel, lhsV##iter); \
+  }
+
+#define MICRO_MMA_TYPE_PEEL(func, func2, type, peel) \
+  if (PEEL_MMA > peel) { \
+    Packet lhsV0, lhsV1, lhsV2, lhsV3, lhsV4, lhsV5, lhsV6, lhsV7; \
+    ploadRhsMMA<Scalar, type>(rhs_ptr + (accRows * peel), rhsV##peel); \
+    MICRO_MMA_UNROLL(func2); \
+    func(0,type,peel) func(1,type,peel) func(2,type,peel) func(3,type,peel) \
+    func(4,type,peel) func(5,type,peel) func(6,type,peel) func(7,type,peel) \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+  }
+
+#define MICRO_MMA_UNROLL_TYPE_PEEL(func, func2, type) \
+  type rhsV0, rhsV1, rhsV2, rhsV3, rhsV4, rhsV5, rhsV6, rhsV7; \
+  MICRO_MMA_TYPE_PEEL(func,func2,type,0); MICRO_MMA_TYPE_PEEL(func,func2,type,1); \
+  MICRO_MMA_TYPE_PEEL(func,func2,type,2); MICRO_MMA_TYPE_PEEL(func,func2,type,3); \
+  MICRO_MMA_TYPE_PEEL(func,func2,type,4); MICRO_MMA_TYPE_PEEL(func,func2,type,5); \
+  MICRO_MMA_TYPE_PEEL(func,func2,type,6); MICRO_MMA_TYPE_PEEL(func,func2,type,7);
+
+#define MICRO_MMA_UNROLL_TYPE_ONE(func, func2, type) \
+  type rhsV0; \
+  MICRO_MMA_TYPE_PEEL(func,func2,type,0);
+
+#define MICRO_MMA_ONE_PEEL \
+  if (sizeof(Scalar) == sizeof(float)) { \
+    MICRO_MMA_UNROLL_TYPE_PEEL(MICRO_MMA_WORK_ONE, MICRO_MMA_LOAD_ONE, RhsPacket); \
+  } else { \
+    MICRO_MMA_UNROLL_TYPE_PEEL(MICRO_MMA_WORK_ONE, MICRO_MMA_LOAD_ONE, __vector_pair); \
+  } \
+  rhs_ptr += (accRows * PEEL_MMA);
+
+#define MICRO_MMA_ONE \
+  if (sizeof(Scalar) == sizeof(float)) { \
+    MICRO_MMA_UNROLL_TYPE_ONE(MICRO_MMA_WORK_ONE, MICRO_MMA_LOAD_ONE, RhsPacket); \
+  } else { \
+    MICRO_MMA_UNROLL_TYPE_ONE(MICRO_MMA_WORK_ONE, MICRO_MMA_LOAD_ONE, __vector_pair); \
+  } \
+  rhs_ptr += accRows;
+
+#define MICRO_MMA_DST_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bsetzeroMMA<Scalar, Packet>(&accZero##iter); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accZero##iter); \
+  }
+
+#define MICRO_MMA_DST_PTR MICRO_MMA_UNROLL(MICRO_MMA_DST_PTR_ONE)
+
+#define MICRO_MMA_SRC_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhs_ptr##iter = lhs_base + ( (row/accCols) + iter )*strideA*accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhs_ptr##iter); \
+  }
+
+#define MICRO_MMA_SRC_PTR MICRO_MMA_UNROLL(MICRO_MMA_SRC_PTR_ONE)
+
+#define MICRO_MMA_PREFETCH_ONE(iter) \
+  if (unroll_factor > iter) { \
+    EIGEN_POWER_PREFETCH(lhs_ptr##iter); \
+  }
+
+#define MICRO_MMA_PREFETCH MICRO_MMA_UNROLL(MICRO_MMA_PREFETCH_ONE)
+
+#define MICRO_MMA_STORE_ONE(iter) \
+  if (unroll_factor > iter) { \
+    storeAccumulator<DataMapper, Index, Packet, accCols>(row + iter*accCols, res, pAlpha, &accZero##iter); \
+  }
+
+#define MICRO_MMA_STORE MICRO_MMA_UNROLL(MICRO_MMA_STORE_ONE)
+
+template<int unroll_factor, typename Scalar, typename Packet, typename RhsPacket, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_ALWAYS_INLINE void gemm_unrolled_MMA_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index& row,
+  const Packet& pAlpha)
+{
+  const Scalar* rhs_ptr = rhs_base;
+  const Scalar* lhs_ptr0 = NULL, * lhs_ptr1 = NULL, * lhs_ptr2 = NULL, * lhs_ptr3 = NULL, * lhs_ptr4 = NULL, * lhs_ptr5 = NULL, * lhs_ptr6 = NULL, * lhs_ptr7 = NULL;
+  __vector_quad accZero0, accZero1, accZero2, accZero3, accZero4, accZero5, accZero6, accZero7;
+
+  MICRO_MMA_SRC_PTR
+  MICRO_MMA_DST_PTR
+
+  Index k = 0;
+  for(; k + PEEL_MMA <= depth; k+= PEEL_MMA)
+  {
+    EIGEN_POWER_PREFETCH(rhs_ptr);
+    MICRO_MMA_PREFETCH
+    MICRO_MMA_ONE_PEEL
+  }
+  for(; k < depth; k++)
+  {
+    MICRO_MMA_ONE
+  }
+  MICRO_MMA_STORE
+
+  row += unroll_factor*accCols;
+}
+
+template<typename Scalar, typename Packet, typename RhsPacket, typename DataMapper, typename Index, const Index accRows, const Index accCols>
+EIGEN_ALWAYS_INLINE void gemmMMA_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlpha,
+  const Packet& pMask)
+{
+  const DataMapper res3 = res.getSubMapper(0, col);
+
+  const Scalar* rhs_base = blockB + col*strideB + accRows*offsetB;
+  const Scalar* lhs_base = blockA + accCols*offsetA;
+  Index row = 0;
+
+#define MAX_MMA_UNROLL 7
+  while(row + MAX_MMA_UNROLL*accCols <= rows) {
+    gemm_unrolled_MMA_iteration<MAX_MMA_UNROLL, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+  }
+  switch( (rows-row)/accCols ) {
+#if MAX_MMA_UNROLL > 7
+    case 7:
+      gemm_unrolled_MMA_iteration<7, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 6
+    case 6:
+      gemm_unrolled_MMA_iteration<6, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 5
+    case 5:
+      gemm_unrolled_MMA_iteration<5, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 4
+    case 4:
+      gemm_unrolled_MMA_iteration<4, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 3
+    case 3:
+      gemm_unrolled_MMA_iteration<3, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 2
+    case 2:
+      gemm_unrolled_MMA_iteration<2, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+#if MAX_MMA_UNROLL > 1
+    case 1:
+      gemm_unrolled_MMA_iteration<1, Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res3, lhs_base, rhs_base, depth, strideA, row, pAlpha);
+      break;
+#endif
+    default:
+      break;
+  }
+#undef MAX_MMA_UNROLL
+
+  if(remaining_rows > 0)
+  {
+    gemm_extra_row<Scalar, Packet, DataMapper, Index, accRows, accCols>(res3, blockA, rhs_base, depth, strideA, offsetA, row, col, rows, cols, remaining_rows, pAlpha, pMask);
+  }
+}
+
+template<typename Scalar, typename Index, typename Packet, typename RhsPacket, typename DataMapper, const Index accRows, const Index accCols>
+void gemmMMA(const DataMapper& res, const Scalar* blockA, const Scalar* blockB, Index rows, Index depth, Index cols, Scalar alpha, Index strideA, Index strideB, Index offsetA, Index offsetB)
+{
+      const Index remaining_rows = rows % accCols;
+
+      if( strideA == -1 ) strideA = depth;
+      if( strideB == -1 ) strideB = depth;
+
+      const Packet pAlpha = pset1<Packet>(alpha);
+      const Packet pMask  = bmask<Packet>((const int)(remaining_rows));
+
+      Index col = 0;
+      for(; col + accRows <= cols; col += accRows)
+      {
+        gemmMMA_cols<Scalar, Packet, RhsPacket, DataMapper, Index, accRows, accCols>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlpha, pMask);
+      }
+
+      gemm_extra_cols<Scalar, Packet, DataMapper, Index, accCols>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlpha, pMask);
+}
+
+#define accColsC (accCols / 2)
+#define advanceRows ((LhsIsReal) ? 1 : 2)
+#define advanceCols ((RhsIsReal) ? 1 : 2)
+
+// PEEL_COMPLEX_MMA loop factor.
+#define PEEL_COMPLEX_MMA 3
+
+#define MICRO_COMPLEX_MMA_UNROLL(func) \
+  func(0) func(1) func(2) func(3)
+
+#define MICRO_COMPLEX_MMA_LOAD_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhsV##iter = ploadLhs<Scalar, Packet>(lhs_ptr_real##iter); \
+    if(!LhsIsReal) { \
+      lhsVi##iter = ploadLhs<Scalar, Packet>(lhs_ptr_real##iter + imag_delta); \
+    } else { \
+      EIGEN_UNUSED_VARIABLE(lhsVi##iter); \
+    } \
+    lhs_ptr_real##iter += accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhsV##iter); \
+    EIGEN_UNUSED_VARIABLE(lhsVi##iter); \
+  }
+
+#define MICRO_COMPLEX_MMA_WORK_ONE(iter, type, peel) \
+  if (unroll_factor > iter) { \
+    pgercMMA<Scalar, Packet, type, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(&accReal##iter, &accImag##iter, lhsV##iter, lhsVi##iter, rhsV##peel, rhsVi##peel); \
+  }
+
+#define MICRO_COMPLEX_MMA_TYPE_PEEL(func, func2, type, peel) \
+  if (PEEL_COMPLEX_MMA > peel) { \
+    Packet lhsV0, lhsV1, lhsV2, lhsV3; \
+    Packet lhsVi0, lhsVi1, lhsVi2, lhsVi3; \
+    ploadRhsMMA<Scalar, type>(rhs_ptr_real + (accRows * peel), rhsV##peel); \
+    if(!RhsIsReal) { \
+      ploadRhsMMA<Scalar, type>(rhs_ptr_imag + (accRows * peel), rhsVi##peel); \
+    } else { \
+      EIGEN_UNUSED_VARIABLE(rhsVi##peel); \
+    } \
+    MICRO_COMPLEX_MMA_UNROLL(func2); \
+    func(0,type,peel) func(1,type,peel) func(2,type,peel) func(3,type,peel) \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(rhsV##peel); \
+    EIGEN_UNUSED_VARIABLE(rhsVi##peel); \
+  }
+
+#define MICRO_COMPLEX_MMA_UNROLL_TYPE_PEEL(func, func2, type) \
+  type rhsV0, rhsV1, rhsV2, rhsV3; \
+  type rhsVi0, rhsVi1, rhsVi2, rhsVi3; \
+  MICRO_COMPLEX_MMA_TYPE_PEEL(func,func2,type,0); MICRO_COMPLEX_MMA_TYPE_PEEL(func,func2,type,1); \
+  MICRO_COMPLEX_MMA_TYPE_PEEL(func,func2,type,2); MICRO_COMPLEX_MMA_TYPE_PEEL(func,func2,type,3);
+
+#define MICRO_COMPLEX_MMA_UNROLL_TYPE_ONE(func, func2, type) \
+  type rhsV0, rhsVi0; \
+  MICRO_COMPLEX_MMA_TYPE_PEEL(func,func2,type,0);
+
+#define MICRO_COMPLEX_MMA_ONE_PEEL \
+  if (sizeof(Scalar) == sizeof(float)) { \
+    MICRO_COMPLEX_MMA_UNROLL_TYPE_PEEL(MICRO_COMPLEX_MMA_WORK_ONE, MICRO_COMPLEX_MMA_LOAD_ONE, RhsPacket); \
+  } else { \
+    MICRO_COMPLEX_MMA_UNROLL_TYPE_PEEL(MICRO_COMPLEX_MMA_WORK_ONE, MICRO_COMPLEX_MMA_LOAD_ONE, __vector_pair); \
+  } \
+  rhs_ptr_real += (accRows * PEEL_COMPLEX_MMA); \
+  if(!RhsIsReal) rhs_ptr_imag += (accRows * PEEL_COMPLEX_MMA);
+
+#define MICRO_COMPLEX_MMA_ONE \
+  if (sizeof(Scalar) == sizeof(float)) { \
+    MICRO_COMPLEX_MMA_UNROLL_TYPE_ONE(MICRO_COMPLEX_MMA_WORK_ONE, MICRO_COMPLEX_MMA_LOAD_ONE, RhsPacket); \
+  } else { \
+    MICRO_COMPLEX_MMA_UNROLL_TYPE_ONE(MICRO_COMPLEX_MMA_WORK_ONE, MICRO_COMPLEX_MMA_LOAD_ONE, __vector_pair); \
+  } \
+  rhs_ptr_real += accRows; \
+  if(!RhsIsReal) rhs_ptr_imag += accRows;
+
+#define MICRO_COMPLEX_MMA_DST_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    bsetzeroMMA<Scalar, Packet>(&accReal##iter); \
+    bsetzeroMMA<Scalar, Packet>(&accImag##iter); \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(accReal##iter); \
+    EIGEN_UNUSED_VARIABLE(accImag##iter); \
+  }
+
+#define MICRO_COMPLEX_MMA_DST_PTR MICRO_COMPLEX_MMA_UNROLL(MICRO_COMPLEX_MMA_DST_PTR_ONE)
+
+#define MICRO_COMPLEX_MMA_SRC_PTR_ONE(iter) \
+  if (unroll_factor > iter) { \
+    lhs_ptr_real##iter = lhs_base + ( ((advanceRows*row)/accCols) + iter*advanceRows )*strideA*accCols; \
+  } else { \
+    EIGEN_UNUSED_VARIABLE(lhs_ptr_real##iter); \
+  }
+
+#define MICRO_COMPLEX_MMA_SRC_PTR MICRO_COMPLEX_MMA_UNROLL(MICRO_COMPLEX_MMA_SRC_PTR_ONE)
+
+#define MICRO_COMPLEX_MMA_PREFETCH_ONE(iter) \
+  if (unroll_factor > iter) { \
+    EIGEN_POWER_PREFETCH(lhs_ptr_real##iter); \
+  }
+
+#define MICRO_COMPLEX_MMA_PREFETCH MICRO_COMPLEX_MMA_UNROLL(MICRO_COMPLEX_MMA_PREFETCH_ONE)
+
+#define MICRO_COMPLEX_MMA_STORE_ONE(iter) \
+  if (unroll_factor > iter) { \
+    storeComplexAccumulator<DataMapper, Index, Packet, Packetc, accColsC>(row + iter*accCols, res, pAlphaReal, pAlphaImag, &accReal##iter, &accImag##iter); \
+  }
+
+#define MICRO_COMPLEX_MMA_STORE MICRO_COMPLEX_MMA_UNROLL(MICRO_COMPLEX_MMA_STORE_ONE)
+
+template<int unroll_factor, typename Scalar, typename Packet, typename Packetc, typename RhsPacket, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void gemm_complex_unrolled_MMA_iteration(
+  const DataMapper& res,
+  const Scalar* lhs_base,
+  const Scalar* rhs_base,
+  Index depth,
+  Index strideA,
+  Index strideB,
+  Index& row,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag)
+{
+  const Scalar* rhs_ptr_real = rhs_base;
+  const Scalar* rhs_ptr_imag = NULL;
+  const Index imag_delta = accCols*strideA;
+  if(!RhsIsReal) {
+    rhs_ptr_imag = rhs_base + accRows*strideB;
+  } else {
+    EIGEN_UNUSED_VARIABLE(rhs_ptr_imag);
+  }
+  const Scalar* lhs_ptr_real0 = NULL, * lhs_ptr_real1 = NULL;
+  const Scalar* lhs_ptr_real2 = NULL, * lhs_ptr_real3 = NULL;
+  __vector_quad accReal0, accImag0, accReal1, accImag1, accReal2, accImag2, accReal3, accImag3;
+
+  MICRO_COMPLEX_MMA_SRC_PTR
+  MICRO_COMPLEX_MMA_DST_PTR
+
+  Index k = 0;
+  for(; k + PEEL_COMPLEX_MMA <= depth; k+= PEEL_COMPLEX_MMA)
+  {
+    EIGEN_POWER_PREFETCH(rhs_ptr_real);
+    if(!RhsIsReal) {
+      EIGEN_POWER_PREFETCH(rhs_ptr_imag);
+    }
+    MICRO_COMPLEX_MMA_PREFETCH
+    MICRO_COMPLEX_MMA_ONE_PEEL
+  }
+  for(; k < depth; k++)
+  {
+    MICRO_COMPLEX_MMA_ONE
+  }
+  MICRO_COMPLEX_MMA_STORE
+
+  row += unroll_factor*accCols;
+}
+
+template<typename Scalar, typename Packet, typename Packetc, typename RhsPacket, typename DataMapper, typename Index, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+EIGEN_ALWAYS_INLINE void gemmMMA_complex_cols(
+  const DataMapper& res,
+  const Scalar* blockA,
+  const Scalar* blockB,
+  Index depth,
+  Index strideA,
+  Index offsetA,
+  Index strideB,
+  Index offsetB,
+  Index col,
+  Index rows,
+  Index cols,
+  Index remaining_rows,
+  const Packet& pAlphaReal,
+  const Packet& pAlphaImag,
+  const Packet& pMask)
+{
+  const DataMapper res3 = res.getSubMapper(0, col);
+
+  const Scalar* rhs_base = blockB + advanceCols*col*strideB + accRows*offsetB;
+  const Scalar* lhs_base = blockA + accCols*offsetA;
+  Index row = 0;
+
+#define MAX_COMPLEX_MMA_UNROLL 4
+  while(row + MAX_COMPLEX_MMA_UNROLL*accCols <= rows) {
+    gemm_complex_unrolled_MMA_iteration<MAX_COMPLEX_MMA_UNROLL, Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+  }
+  switch( (rows-row)/accCols ) {
+#if MAX_COMPLEX_MMA_UNROLL > 4
+    case 4:
+      gemm_complex_unrolled_MMA_iteration<4, Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_MMA_UNROLL > 3
+    case 3:
+      gemm_complex_unrolled_MMA_iteration<3, Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_MMA_UNROLL > 2
+    case 2:
+      gemm_complex_unrolled_MMA_iteration<2, Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+#if MAX_COMPLEX_MMA_UNROLL > 1
+    case 1:
+      gemm_complex_unrolled_MMA_iteration<1, Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, lhs_base, rhs_base, depth, strideA, strideB, row, pAlphaReal, pAlphaImag);
+      break;
+#endif
+    default:
+      break;
+  }
+#undef MAX_COMPLEX_MMA_UNROLL
+
+  if(remaining_rows > 0)
+  {
+    gemm_complex_extra_row<Scalar, Packet, Packetc, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res3, blockA, rhs_base, depth, strideA, offsetA, strideB, row, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+  }
+}
+
+template<typename LhsScalar, typename RhsScalar, typename Scalarc, typename Scalar, typename Index, typename Packet, typename Packetc, typename RhsPacket, typename DataMapper, const Index accRows, const Index accCols, bool ConjugateLhs, bool ConjugateRhs, bool LhsIsReal, bool RhsIsReal>
+void gemm_complexMMA(const DataMapper& res, const LhsScalar* blockAc, const RhsScalar* blockBc, Index rows, Index depth, Index cols, Scalarc alpha, Index strideA, Index strideB, Index offsetA, Index offsetB)
+{
+      const Index remaining_rows = rows % accCols;
+
+      if( strideA == -1 ) strideA = depth;
+      if( strideB == -1 ) strideB = depth;
+
+      const Packet pAlphaReal = pset1<Packet>(alpha.real());
+      const Packet pAlphaImag = pset1<Packet>(alpha.imag());
+      const Packet pMask = bmask<Packet>((const int)(remaining_rows));
+
+      const Scalar* blockA = (Scalar *) blockAc;
+      const Scalar* blockB = (Scalar *) blockBc;
+
+      Index col = 0;
+      for(; col + accRows <= cols; col += accRows)
+      {
+        gemmMMA_complex_cols<Scalar, Packet, Packetc, RhsPacket, DataMapper, Index, accRows, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+      }
+
+      gemm_complex_extra_cols<Scalar, Packet, Packetc, DataMapper, Index, accCols, ConjugateLhs, ConjugateRhs, LhsIsReal, RhsIsReal>(res, blockA, blockB, depth, strideA, offsetA, strideB, offsetB, col, rows, cols, remaining_rows, pAlphaReal, pAlphaImag, pMask);
+}
+
+#undef accColsC
+#undef advanceRows
+#undef advanceCols
+
+#pragma GCC reset_options
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATRIX_PRODUCT_MMA_ALTIVEC_H
+
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/PacketMath.h
old mode 100644
new mode 100755
index b3f1ea199c..2a440545b2
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -22,31 +22,38 @@ namespace internal {
 #define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
 
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#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  32
 #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;
+typedef __vector float                   Packet4f;
+typedef __vector int                     Packet4i;
+typedef __vector unsigned int            Packet4ui;
+typedef __vector __bool int              Packet4bi;
+typedef __vector short int               Packet8s;
+typedef __vector unsigned short int      Packet8us;
+typedef __vector signed char             Packet16c;
+typedef __vector unsigned char           Packet16uc;
+typedef eigen_packet_wrapper<__vector unsigned short int,0> Packet8bf;
 
 // 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 = reinterpret_cast<Packet4f>(vec_splat_s32(X))
+  Packet4f p4f_##NAME = {X, X, X, X}
 
 #define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
   Packet4i p4i_##NAME = vec_splat_s32(X)
 
+#define _EIGEN_DECLARE_CONST_FAST_Packet4ui(NAME,X) \
+  Packet4ui p4ui_##NAME = {X, X, X, X}
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet8us(NAME,X) \
+  Packet8us p8us_##NAME = {X, X, X, X, X, X, X, X}
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet16uc(NAME,X) \
+  Packet16uc p16uc_##NAME = {X, X, X, X, X, X, X, X, X, X, X, X, X, X, X, X}
+
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   Packet4f p4f_##NAME = pset1<Packet4f>(X)
 
@@ -64,7 +71,7 @@ typedef __vector unsigned char  Packet16uc;
 
 #define DST_CHAN 1
 #define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
-
+#define __UNPACK_TYPE__(PACKETNAME) typename unpacket_traits<PACKETNAME>::type 
 
 // These constants are endian-agnostic
 static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0); //{ 0.0, 0.0, 0.0, 0.0}
@@ -72,25 +79,36 @@ static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
 static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1); //{ 1, 1, 1, 1}
 static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16); //{ -16, -16, -16, -16}
 static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1); //{ -1, -1, -1, -1}
+static _EIGEN_DECLARE_CONST_FAST_Packet4ui(SIGN, 0x80000000u);
+static _EIGEN_DECLARE_CONST_FAST_Packet4ui(PREV0DOT5, 0x3EFFFFFFu);
+static _EIGEN_DECLARE_CONST_FAST_Packet8us(ONE,1); //{ 1, 1, 1, 1, 1, 1, 1, 1}
+static _EIGEN_DECLARE_CONST_FAST_Packet16uc(ONE,1);
 static Packet4f p4f_MZERO = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1); //{ 0x80000000, 0x80000000, 0x80000000, 0x80000000}
 #ifndef __VSX__
 static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0); //{ 1.0, 1.0, 1.0, 1.0}
 #endif
 
-static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
-static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
+static Packet4f  p4f_COUNTDOWN  = { 0.0, 1.0, 2.0, 3.0 };
+static Packet4i  p4i_COUNTDOWN  = { 0, 1, 2, 3 };
+static Packet8s  p8s_COUNTDOWN  = { 0, 1, 2, 3, 4, 5, 6, 7 };
+static Packet8us p8us_COUNTDOWN = { 0, 1, 2, 3, 4, 5, 6, 7 };
+
+static Packet16c  p16c_COUNTDOWN = { 0, 1, 2, 3, 4, 5, 6, 7,
+                                    8, 9, 10, 11, 12, 13, 14, 15};
+static Packet16uc p16uc_COUNTDOWN = { 0, 1, 2, 3, 4, 5, 6, 7, 
+                                    8, 9, 10, 11, 12, 13, 14, 15};
 
 static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
-static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+static Packet16uc p16uc_REVERSE16 = { 14,15, 12,13, 10,11, 8,9, 6,7, 4,5, 2,3, 0,1 };
+static Packet16uc p16uc_REVERSE8 = { 15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0 };
 
-// Mask alignment
-#ifdef __PPC64__
-#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
-#else
-#define _EIGEN_MASK_ALIGNMENT	0xfffffff0
-#endif
+static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+static Packet16uc p16uc_DUPLICATE16_HI = { 0,1,0,1, 2,3,2,3, 4,5,4,5, 6,7,6,7 };
+static Packet16uc p16uc_DUPLICATE8_HI = { 0,0, 1,1, 2,2, 3,3, 4,4, 5,5, 6,6, 7,7 };
+static const Packet16uc p16uc_DUPLICATE16_EVEN= { 0,1 ,0,1, 4,5, 4,5, 8,9, 8,9, 12,13, 12,13 };
+static const Packet16uc p16uc_DUPLICATE16_ODD = { 2,3 ,2,3, 6,7, 6,7, 10,11, 10,11, 14,15, 14,15 };
 
-#define _EIGEN_ALIGNED_PTR(x)	((std::ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
+static Packet16uc p16uc_QUADRUPLICATE16_HI = { 0,1,0,1,0,1,0,1, 2,3,2,3,2,3,2,3 };
 
 // Handle endianness properly while loading constants
 // Define global static constants:
@@ -103,7 +121,7 @@ static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4u
 static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (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_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
 #else
-static Packet16uc p16uc_FORWARD = p16uc_REVERSE32; 
+static Packet16uc p16uc_FORWARD = p16uc_REVERSE32;
 static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
 static Packet16uc p16uc_PSET32_WODD = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
 static Packet16uc p16uc_PSET32_WEVEN = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
@@ -129,27 +147,27 @@ static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_PSET64_HI, p16uc_PSET64_L
   #define EIGEN_PPC_PREFETCH(ADDR) asm( "   dcbt [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
 #endif
 
-template<> struct packet_traits<float>  : default_packet_traits
-{
+template <>
+struct packet_traits<float> : default_packet_traits {
   typedef Packet4f type;
   typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4,
+    size = 4,
     HasHalfPacket = 1,
 
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
+    HasAdd = 1,
+    HasSub = 1,
+    HasMul = 1,
+    HasDiv = 1,
+    HasMin = 1,
+    HasMax = 1,
+    HasAbs = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasExp = 1,
 #ifdef __VSX__
     HasSqrt = 1,
 #if !EIGEN_COMP_CLANG
@@ -160,16 +178,62 @@ template<> struct packet_traits<float>  : default_packet_traits
 #else
     HasSqrt = 0,
     HasRsqrt = 0,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
 #endif
     HasRound = 1,
     HasFloor = 1,
     HasCeil = 1,
+    HasRint = 1,
     HasNegate = 1,
     HasBlend = 1
   };
 };
-template<> struct packet_traits<int>    : default_packet_traits
-{
+template <>
+struct packet_traits<bfloat16> : default_packet_traits {
+  typedef Packet8bf type;
+  typedef Packet8bf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+
+    HasAdd = 1,
+    HasSub = 1,
+    HasMul = 1,
+    HasDiv = 1,
+    HasMin = 1,
+    HasMax = 1,
+    HasAbs = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasExp = 1,
+#ifdef __VSX__
+    HasSqrt = 1,
+#if !EIGEN_COMP_CLANG
+    HasRsqrt = 1,
+#else
+    HasRsqrt = 0,
+#endif
+#else
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
+#endif
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<int> : default_packet_traits {
   typedef Packet4i type;
   typedef Packet4i half;
   enum {
@@ -178,6 +242,79 @@ template<> struct packet_traits<int>    : default_packet_traits
     size = 4,
     HasHalfPacket = 0,
 
+    HasAdd   = 1,
+    HasSub   = 1,
+    HasShift = 1,
+    HasMul   = 1,
+    HasDiv   = 0,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<short int> : default_packet_traits {
+  typedef Packet8s type;
+  typedef Packet8s half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 0,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<unsigned short int> : default_packet_traits {
+  typedef Packet8us type;
+  typedef Packet8us half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 0,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<signed char> : default_packet_traits {
+  typedef Packet16c type;
+  typedef Packet16c half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 0,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<unsigned char> : default_packet_traits {
+  typedef Packet16uc type;
+  typedef Packet16uc half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 0,
+
     HasAdd  = 1,
     HasSub  = 1,
     HasMul  = 1,
@@ -186,9 +323,62 @@ template<> struct packet_traits<int>    : default_packet_traits
   };
 };
 
+template<> struct unpacket_traits<Packet4f>
+{
+  typedef float     type;
+  typedef Packet4f  half;
+  typedef Packet4i  integer_packet;
+  enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet4i>
+{
+  typedef int       type;
+  typedef Packet4i  half;
+  enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet8s>
+{
+  typedef short int type;
+  typedef Packet8s  half;
+  enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet8us>
+{
+  typedef unsigned short int type;
+  typedef Packet8us          half;
+  enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+
+template<> struct unpacket_traits<Packet16c>
+{
+  typedef signed char type;
+  typedef Packet16c  half;
+  enum {size=16, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet16uc>
+{
+  typedef unsigned char type;
+  typedef Packet16uc  half;
+  enum {size=16, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+template<> struct unpacket_traits<Packet8bf>
+{
+  typedef bfloat16 type;
+  typedef Packet8bf          half;
+  enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+inline std::ostream & operator <<(std::ostream & s, const Packet16c & v)
+{
+  union {
+    Packet16c   v;
+    signed char n[16];
+  } vt;
+  vt.v = v;
+  for (int i=0; i< 16; i++)
+    s << vt.n[i] << ", ";
+  return s;
+}
 
 inline std::ostream & operator <<(std::ostream & s, const Packet16uc & v)
 {
@@ -198,7 +388,7 @@ inline std::ostream & operator <<(std::ostream & s, const Packet16uc & v)
   } vt;
   vt.v = v;
   for (int i=0; i< 16; i++)
-    s << (int)vt.n[i] << ", ";
+    s << vt.n[i] << ", ";
   return s;
 }
 
@@ -235,146 +425,395 @@ inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
   return s;
 }
 
-// Need to define them first or we get specialization after instantiation errors
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
+template <typename Packet>
+EIGEN_STRONG_INLINE Packet pload_common(const __UNPACK_TYPE__(Packet)* from)
 {
+  // some versions of GCC throw "unused-but-set-parameter".
+  // ignoring these warnings for now.
+  EIGEN_UNUSED_VARIABLE(from);
   EIGEN_DEBUG_ALIGNED_LOAD
 #ifdef __VSX__
-  return vec_vsx_ld(0, from);
+  return vec_xl(0, const_cast<__UNPACK_TYPE__(Packet)*>(from));
 #else
   return vec_ld(0, from);
 #endif
 }
 
+// Need to define them first or we get specialization after instantiation errors
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
+{
+  return pload_common<Packet4f>(from);
+}
+
 template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
 {
-  EIGEN_DEBUG_ALIGNED_LOAD
-#ifdef __VSX__
-  return vec_vsx_ld(0, from);
-#else
-  return vec_ld(0, from);
-#endif
+  return pload_common<Packet4i>(from);
 }
 
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+template<> EIGEN_STRONG_INLINE Packet8s pload<Packet8s>(const short int* from)
+{
+  return pload_common<Packet8s>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us pload<Packet8us>(const unsigned short int* from)
+{
+  return pload_common<Packet8us>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16c pload<Packet16c>(const signed char*     from)
+{
+  return pload_common<Packet16c>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16uc pload<Packet16uc>(const unsigned char*     from)
+{
+  return pload_common<Packet16uc>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pload<Packet8bf>(const bfloat16*     from)
 {
+  return pload_common<Packet8us>(reinterpret_cast<const unsigned short int*>(from));
+}
+
+template <typename Packet>
+EIGEN_STRONG_INLINE void pstore_common(__UNPACK_TYPE__(Packet)* to, const Packet& from){
+  // some versions of GCC throw "unused-but-set-parameter" (float *to).
+  // ignoring these warnings for now.
+  EIGEN_UNUSED_VARIABLE(to);
   EIGEN_DEBUG_ALIGNED_STORE
 #ifdef __VSX__
-  vec_vsx_st(from, 0, to);
+  vec_xst(from, 0, to);
 #else
   vec_st(from, 0, to);
 #endif
 }
 
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  pstore_common<Packet4f>(to, from);
+}
+
 template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
 {
-  EIGEN_DEBUG_ALIGNED_STORE
-#ifdef __VSX__
-  vec_vsx_st(from, 0, to);
-#else
-  vec_st(from, 0, to);
-#endif
+  pstore_common<Packet4i>(to, from);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
-  Packet4f v = {from, from, from, from};
+template<> EIGEN_STRONG_INLINE void pstore<short int>(short int*       to, const Packet8s& from)
+{
+  pstore_common<Packet8s>(to, from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<unsigned short int>(unsigned short int*       to, const Packet8us& from)
+{
+  pstore_common<Packet8us>(to, from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<bfloat16>(bfloat16*       to, const Packet8bf& from)
+{
+  pstore_common<Packet8us>(reinterpret_cast<unsigned short int*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<signed char>(signed char*       to, const Packet16c& from)
+{
+  pstore_common<Packet16c>(to, from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<unsigned char>(unsigned char*       to, const Packet16uc& from)
+{
+  pstore_common<Packet16uc>(to, from);
+}
+
+template<typename Packet>
+EIGEN_STRONG_INLINE Packet pset1_size4(const __UNPACK_TYPE__(Packet)& from)
+{
+  Packet v = {from, from, from, from};
   return v;
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
-  Packet4i v = {from, from, from, from};
+template<typename Packet>
+EIGEN_STRONG_INLINE Packet pset1_size8(const __UNPACK_TYPE__(Packet)& from)
+{
+  Packet v = {from, from, from, from, from, from, from, from};
   return v;
 }
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4f>(const float *a,
-                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+
+template<typename Packet>
+EIGEN_STRONG_INLINE Packet pset1_size16(const __UNPACK_TYPE__(Packet)& from)
+{
+  Packet v = {from, from, from, from, from, from, from, from, from, from, from, from, from, from, from, from};
+  return v;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
+  return pset1_size4<Packet4f>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
+  return pset1_size4<Packet4i>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8s pset1<Packet8s>(const short int&    from)   {
+  return pset1_size8<Packet8s>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us pset1<Packet8us>(const unsigned short int&    from)   {
+  return pset1_size8<Packet8us>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16c pset1<Packet16c>(const signed char&    from)   {
+  return pset1_size16<Packet16c>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16uc pset1<Packet16uc>(const unsigned char&    from)   {
+  return pset1_size16<Packet16uc>(from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1frombits<Packet4f>(unsigned int from) {
+  return reinterpret_cast<Packet4f>(pset1<Packet4i>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pset1<Packet8bf>(const bfloat16&    from)   {
+  return pset1_size8<Packet8us>(reinterpret_cast<const unsigned short int&>(from));
+}
+
+template<typename Packet> EIGEN_STRONG_INLINE void
+pbroadcast4_common(const __UNPACK_TYPE__(Packet) *a,
+                      Packet& a0, Packet& a1, Packet& a2, Packet& a3)
 {
-  a3 = pload<Packet4f>(a);
+  a3 = pload<Packet>(a);
   a0 = vec_splat(a3, 0);
   a1 = vec_splat(a3, 1);
   a2 = vec_splat(a3, 2);
   a3 = vec_splat(a3, 3);
 }
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  pbroadcast4_common<Packet4f>(a, a0, a1, a2, a3);
+}
 template<> EIGEN_STRONG_INLINE void
 pbroadcast4<Packet4i>(const int *a,
                       Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
 {
-  a3 = pload<Packet4i>(a);
-  a0 = vec_splat(a3, 0);
-  a1 = vec_splat(a3, 1);
-  a2 = vec_splat(a3, 2);
-  a3 = vec_splat(a3, 3);
+  pbroadcast4_common<Packet4i>(a, a0, a1, a2, a3);
+}
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather_common(const __UNPACK_TYPE__(Packet)* from, Index stride)
+{
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[4];
+  a[0] = from[0*stride];
+  a[1] = from[1*stride];
+  a[2] = from[2*stride];
+  a[3] = from[3*stride];
+  return pload<Packet>(a);
 }
 
 template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
 {
-  float EIGEN_ALIGN16 af[4];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  af[2] = from[2*stride];
-  af[3] = from[3*stride];
- return pload<Packet4f>(af);
+  return pgather_common<Packet4f>(from, stride);
 }
+
 template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
 {
-  int EIGEN_ALIGN16 ai[4];
-  ai[0] = from[0*stride];
-  ai[1] = from[1*stride];
-  ai[2] = from[2*stride];
-  ai[3] = from[3*stride];
- return pload<Packet4i>(ai);
+  return pgather_common<Packet4i>(from, stride);
 }
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather_size8(const __UNPACK_TYPE__(Packet)* from, Index stride)
 {
-  float EIGEN_ALIGN16 af[4];
-  pstore<float>(af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-  to[2*stride] = af[2];
-  to[3*stride] = af[3];
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[8];
+  a[0] = from[0*stride];
+  a[1] = from[1*stride];
+  a[2] = from[2*stride];
+  a[3] = from[3*stride];
+  a[4] = from[4*stride];
+  a[5] = from[5*stride];
+  a[6] = from[6*stride];
+  a[7] = from[7*stride];
+  return pload<Packet>(a);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet8s pgather<short int, Packet8s>(const short int* from, Index stride)
+{
+  return pgather_size8<Packet8s>(from, stride);
 }
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+
+template<> EIGEN_DEVICE_FUNC inline Packet8us pgather<unsigned short int, Packet8us>(const unsigned short int* from, Index stride)
 {
-  int EIGEN_ALIGN16 ai[4];
-  pstore<int>((int *)ai, from);
-  to[0*stride] = ai[0];
-  to[1*stride] = ai[1];
-  to[2*stride] = ai[2];
-  to[3*stride] = ai[3];
+  return pgather_size8<Packet8us>(from, stride);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return pset1<Packet4f>(a) + p4f_COUNTDOWN; }
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)   { return pset1<Packet4i>(a) + p4i_COUNTDOWN; }
+template<> EIGEN_DEVICE_FUNC inline Packet8bf pgather<bfloat16, Packet8bf>(const bfloat16* from, Index stride)
+{
+  return pgather_size8<Packet8bf>(from, stride);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return a + b; }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return a + b; }
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather_size16(const __UNPACK_TYPE__(Packet)* from, Index stride)
+{
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[16];
+  a[0] = from[0*stride];
+  a[1] = from[1*stride];
+  a[2] = from[2*stride];
+  a[3] = from[3*stride];
+  a[4] = from[4*stride];
+  a[5] = from[5*stride];
+  a[6] = from[6*stride];
+  a[7] = from[7*stride];
+  a[8] = from[8*stride];
+  a[9] = from[9*stride];
+  a[10] = from[10*stride];
+  a[11] = from[11*stride];
+  a[12] = from[12*stride];
+  a[13] = from[13*stride];
+  a[14] = from[14*stride];
+  a[15] = from[15*stride];
+  return pload<Packet>(a);
+}
+
+
+template<> EIGEN_DEVICE_FUNC inline Packet16c pgather<signed char, Packet16c>(const signed char* from, Index stride)
+{
+  return pgather_size16<Packet16c>(from, stride);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return a - b; }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return a - b; }
+template<> EIGEN_DEVICE_FUNC inline Packet16uc pgather<unsigned char, Packet16uc>(const unsigned char* from, Index stride)
+{
+  return pgather_size16<Packet16uc>(from, stride);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return p4f_ZERO - a; }
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return p4i_ZERO - a; }
+template<typename Packet> EIGEN_DEVICE_FUNC inline void pscatter_size4(__UNPACK_TYPE__(Packet)* to, const Packet& from, Index stride)
+{
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[4];
+  pstore<__UNPACK_TYPE__(Packet)>(a, from);
+  to[0*stride] = a[0];
+  to[1*stride] = a[1];
+  to[2*stride] = a[2];
+  to[3*stride] = a[3];
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  pscatter_size4<Packet4f>(to, from, stride);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b, p4f_MZERO); }
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return a * b; }
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  pscatter_size4<Packet4i>(to, from, stride);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+template<typename Packet> EIGEN_DEVICE_FUNC inline void pscatter_size8(__UNPACK_TYPE__(Packet)* to, const Packet& from, Index stride)
 {
-#ifndef __VSX__  // VSX actually provides a div instruction
-  Packet4f t, y_0, y_1;
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[8];
+  pstore<__UNPACK_TYPE__(Packet)>(a, from);
+  to[0*stride] = a[0];
+  to[1*stride] = a[1];
+  to[2*stride] = a[2];
+  to[3*stride] = a[3];
+  to[4*stride] = a[4];
+  to[5*stride] = a[5];
+  to[6*stride] = a[6];
+  to[7*stride] = a[7];
+}
 
-  // 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);
+template<> EIGEN_DEVICE_FUNC inline void pscatter<short int, Packet8s>(short int* to, const Packet8s& from, Index stride)
+{
+  pscatter_size8<Packet8s>(to, from, stride);
+}
 
-  return vec_madd(a, y_1, p4f_MZERO);
-#else
+template<> EIGEN_DEVICE_FUNC inline void pscatter<unsigned short int, Packet8us>(unsigned short int* to, const Packet8us& from, Index stride)
+{
+  pscatter_size8<Packet8us>(to, from, stride);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<bfloat16, Packet8bf>(bfloat16* to, const Packet8bf& from, Index stride)
+{
+  pscatter_size8<Packet8bf>(to, from, stride);
+}
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline void pscatter_size16(__UNPACK_TYPE__(Packet)* to, const Packet& from, Index stride)
+{
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) a[16];
+  pstore<__UNPACK_TYPE__(Packet)>(a, from);
+  to[0*stride] = a[0];
+  to[1*stride] = a[1];
+  to[2*stride] = a[2];
+  to[3*stride] = a[3];
+  to[4*stride] = a[4];
+  to[5*stride] = a[5];
+  to[6*stride] = a[6];
+  to[7*stride] = a[7];
+  to[8*stride] = a[8];
+  to[9*stride] = a[9];
+  to[10*stride] = a[10];
+  to[11*stride] = a[11];
+  to[12*stride] = a[12];
+  to[13*stride] = a[13];
+  to[14*stride] = a[14];
+  to[15*stride] = a[15];
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<signed char, Packet16c>(signed char* to, const Packet16c& from, Index stride)
+{
+  pscatter_size16<Packet16c>(to, from, stride);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<unsigned char, Packet16uc>(unsigned char* to, const Packet16uc& from, Index stride)
+{
+  pscatter_size16<Packet16uc>(to, from, stride);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f   plset<Packet4f>(const float&     a) { return pset1<Packet4f>(a) + p4f_COUNTDOWN;  }
+template<> EIGEN_STRONG_INLINE Packet4i   plset<Packet4i>(const int&       a) { return pset1<Packet4i>(a) + p4i_COUNTDOWN;  }
+template<> EIGEN_STRONG_INLINE Packet8s   plset<Packet8s>(const short int& a) { return pset1<Packet8s>(a) + p8s_COUNTDOWN; }
+template<> EIGEN_STRONG_INLINE Packet8us  plset<Packet8us>(const unsigned short int& a) { return pset1<Packet8us>(a) + p8us_COUNTDOWN; }
+template<> EIGEN_STRONG_INLINE Packet16c  plset<Packet16c>(const signed char& a)   { return pset1<Packet16c>(a) + p16c_COUNTDOWN; }
+template<> EIGEN_STRONG_INLINE Packet16uc plset<Packet16uc>(const unsigned char& a)   { return pset1<Packet16uc>(a) + p16uc_COUNTDOWN; }
+
+template<> EIGEN_STRONG_INLINE Packet4f   padd<Packet4f>  (const Packet4f&   a, const Packet4f&   b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet4i   padd<Packet4i>  (const Packet4i&   a, const Packet4i&   b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet4ui   padd<Packet4ui>  (const Packet4ui&   a, const Packet4ui&   b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet8s   padd<Packet8s>  (const Packet8s&   a, const Packet8s&   b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet8us  padd<Packet8us> (const Packet8us&  a, const Packet8us&  b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet16c  padd<Packet16c> (const Packet16c&  a, const Packet16c&  b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet16uc padd<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return a + b; }
+
+template<> EIGEN_STRONG_INLINE Packet4f   psub<Packet4f>  (const Packet4f&   a, const Packet4f&   b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet4i   psub<Packet4i>  (const Packet4i&   a, const Packet4i&   b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet8s   psub<Packet8s>  (const Packet8s&   a, const Packet8s&   b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet8us  psub<Packet8us> (const Packet8us&  a, const Packet8us&  b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet16c  psub<Packet16c> (const Packet16c&  a, const Packet16c&  b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet16uc psub<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return a - b; }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return p4f_ZERO - a; }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return p4i_ZERO - a; }
+
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4f   pmul<Packet4f>  (const Packet4f&   a, const Packet4f&   b) { return vec_madd(a,b, p4f_MZERO); }
+template<> EIGEN_STRONG_INLINE Packet4i   pmul<Packet4i>  (const Packet4i&   a, const Packet4i&   b) { return a * b; }
+template<> EIGEN_STRONG_INLINE Packet8s   pmul<Packet8s>  (const Packet8s&   a, const Packet8s&   b) { return vec_mul(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us  pmul<Packet8us> (const Packet8us&  a, const Packet8us&  b) { return vec_mul(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c  pmul<Packet16c> (const Packet16c&  a, const Packet16c&  b) { return vec_mul(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmul<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vec_mul(a,b); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+#ifndef __VSX__  // VSX actually provides a div instruction
+  Packet4f t, y_0, y_1;
+
+  // 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);
+
+  return vec_madd(a, y_1, p4f_MZERO);
+#else
   return vec_div(a, b);
 #endif
 }
@@ -387,85 +826,247 @@ template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, co
 // 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 a*b + c; }
+template<> EIGEN_STRONG_INLINE Packet8s pmadd(const Packet8s& a, const Packet8s& b, const Packet8s& c) { return vec_madd(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet8us pmadd(const Packet8us& a, const Packet8us& b, const Packet8us& c) { return vec_madd(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 Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  #ifdef __VSX__
+  // NOTE: about 10% slower than vec_min, but consistent with std::min and SSE regarding NaN
+  Packet4f ret;
+  __asm__ ("xvcmpgesp %x0,%x1,%x2\n\txxsel %x0,%x1,%x2,%x0" : "=&wa" (ret) : "wa" (a), "wa" (b));
+  return ret;
+  #else
+  return vec_min(a, b);
+  #endif
+}
 template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmin<Packet8s>(const Packet8s& a, const Packet8s& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmin<Packet8us>(const Packet8us& a, const Packet8us& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmin<Packet16c>(const Packet16c& a, const Packet16c& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmin<Packet16uc>(const Packet16uc& a, const Packet16uc& 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 Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  #ifdef __VSX__
+  // NOTE: about 10% slower than vec_max, but consistent with std::max and SSE regarding NaN
+  Packet4f ret;
+  __asm__ ("xvcmpgtsp %x0,%x2,%x1\n\txxsel %x0,%x1,%x2,%x0" : "=&wa" (ret) : "wa" (a), "wa" (b));
+  return ret;
+  #else
+  return vec_max(a, b);
+  #endif
+}
 template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmax<Packet8s>(const Packet8s& a, const Packet8s& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmax<Packet8us>(const Packet8us& a, const Packet8us& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmax<Packet16c>(const Packet16c& a, const Packet16c& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmax<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vec_max(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_le(const Packet4f& a, const Packet4f& b) { return reinterpret_cast<Packet4f>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt(const Packet4f& a, const Packet4f& b) { return reinterpret_cast<Packet4f>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_eq(const Packet4f& a, const Packet4f& b) { return reinterpret_cast<Packet4f>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt_or_nan(const Packet4f& a, const Packet4f& b) {
+  Packet4f c = reinterpret_cast<Packet4f>(vec_cmpge(a,b));
+  return vec_nor(c,c);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_le(const Packet4i& a, const Packet4i& b) { return reinterpret_cast<Packet4i>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_lt(const Packet4i& a, const Packet4i& b) { return reinterpret_cast<Packet4i>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_eq(const Packet4i& a, const Packet4i& b) { return reinterpret_cast<Packet4i>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_le(const Packet8s& a, const Packet8s& b) { return reinterpret_cast<Packet8s>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_lt(const Packet8s& a, const Packet8s& b) { return reinterpret_cast<Packet8s>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_eq(const Packet8s& a, const Packet8s& b) { return reinterpret_cast<Packet8s>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_le(const Packet8us& a, const Packet8us& b) { return reinterpret_cast<Packet8us>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_lt(const Packet8us& a, const Packet8us& b) { return reinterpret_cast<Packet8us>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_eq(const Packet8us& a, const Packet8us& b) { return reinterpret_cast<Packet8us>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_le(const Packet16c& a, const Packet16c& b) { return reinterpret_cast<Packet16c>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_lt(const Packet16c& a, const Packet16c& b) { return reinterpret_cast<Packet16c>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_eq(const Packet16c& a, const Packet16c& b) { return reinterpret_cast<Packet16c>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_le(const Packet16uc& a, const Packet16uc& b) { return reinterpret_cast<Packet16uc>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_lt(const Packet16uc& a, const Packet16uc& b) { return reinterpret_cast<Packet16uc>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_eq(const Packet16uc& a, const Packet16uc& b) { return reinterpret_cast<Packet16uc>(vec_cmpeq(a,b)); }
 
 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 Packet4ui pand<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8us pand<Packet8us>(const Packet8us& a, const Packet8us& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8bf pand<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return pand<Packet8us>(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 Packet8s por<Packet8s>(const Packet8s& a, const Packet8s& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8us por<Packet8us>(const Packet8us& a, const Packet8us& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8bf por<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  return por<Packet8us>(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 Packet8bf pxor<Packet8bf>(const Packet8bf& a, const Packet8bf& b) { 
+  return pxor<Packet8us>(a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_andc(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_andc(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pselect(const Packet4f& mask, const Packet4f& a, const Packet4f& b) {
+  return vec_sel(b, a, reinterpret_cast<Packet4ui>(mask));
+}
 
-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 pround<Packet4f>(const Packet4f& a)
+{
+    Packet4f t = vec_add(reinterpret_cast<Packet4f>(vec_or(vec_and(reinterpret_cast<Packet4ui>(a), p4ui_SIGN), p4ui_PREV0DOT5)), a);
+    Packet4f res;
 
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return vec_round(a); }
+#ifdef __VSX__
+    __asm__("xvrspiz %x0, %x1\n\t"
+        : "=&wa" (res)
+        : "wa" (t));
+#else
+    __asm__("vrfiz %0, %1\n\t"
+        : "=v" (res)
+        : "v" (t));
+#endif
+
+    return res;
+}
 template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a) { return vec_ceil(a); }
 template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return vec_floor(a); }
+template<> EIGEN_STRONG_INLINE Packet4f print<Packet4f>(const Packet4f& a)
+{
+    Packet4f res;
 
-#ifdef _BIG_ENDIAN
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+    __asm__("xvrspic %x0, %x1\n\t"
+        : "=&wa" (res)
+        : "wa" (a));
+
+    return res;
+}
+
+template<typename Packet> EIGEN_STRONG_INLINE Packet ploadu_common(const __UNPACK_TYPE__(Packet)* from)
 {
   EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef _BIG_ENDIAN
   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
+  //TODO: Add static_cast here
+  return (Packet) vec_perm(MSQ, LSQ, mask);           // align the data
+#else
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return vec_xl(0, const_cast<__UNPACK_TYPE__(Packet)*>(from));
+#endif
+}
 
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  return ploadu_common<Packet4f>(from);
 }
 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
+  return ploadu_common<Packet4i>(from);
 }
-#else
-// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
-template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+template<> EIGEN_STRONG_INLINE Packet8s ploadu<Packet8s>(const short int* from)
 {
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return (Packet4i) vec_vsx_ld((long)from & 15, (const int*) _EIGEN_ALIGNED_PTR(from));
+  return ploadu_common<Packet8s>(from);
 }
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+template<> EIGEN_STRONG_INLINE Packet8us ploadu<Packet8us>(const unsigned short int* from)
 {
-  EIGEN_DEBUG_UNALIGNED_LOAD
-  return (Packet4f) vec_vsx_ld((long)from & 15, (const float*) _EIGEN_ALIGNED_PTR(from));
+  return ploadu_common<Packet8us>(from);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf ploadu<Packet8bf>(const bfloat16* from)
+{
+  return ploadu_common<Packet8us>(reinterpret_cast<const unsigned short int*>(from));
+}
+template<> EIGEN_STRONG_INLINE Packet16c ploadu<Packet16c>(const signed char* from)
+{
+  return ploadu_common<Packet16c>(from);
+}
+template<> EIGEN_STRONG_INLINE Packet16uc ploadu<Packet16uc>(const unsigned char* from)
+{
+  return ploadu_common<Packet16uc>(from);
 }
-#endif
 
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+template<typename Packet> EIGEN_STRONG_INLINE Packet ploaddup_common(const __UNPACK_TYPE__(Packet)*   from)
 {
-  Packet4f p;
-  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4f>(from);
-  else                                  p = ploadu<Packet4f>(from);
+  Packet p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet>(from);
+  else                                  p = ploadu<Packet>(from);
   return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
+{
+  return ploaddup_common<Packet4f>(from);
+}
 template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
 {
-  Packet4i p;
-  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet4i>(from);
-  else                                  p = ploadu<Packet4i>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
+  return ploaddup_common<Packet4i>(from);
 }
 
-#ifdef _BIG_ENDIAN
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
+template<> EIGEN_STRONG_INLINE Packet8s ploaddup<Packet8s>(const short int*     from)
+{
+  Packet8s p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet8s>(from);
+  else                                  p = ploadu<Packet8s>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE16_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us ploaddup<Packet8us>(const unsigned short int*     from)
+{
+  Packet8us p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet8us>(from);
+  else                                  p = ploadu<Packet8us>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE16_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8s ploadquad<Packet8s>(const short int*     from)
+{
+  Packet8s p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet8s>(from);
+  else                                  p = ploadu<Packet8s>(from);
+  return vec_perm(p, p, p16uc_QUADRUPLICATE16_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us ploadquad<Packet8us>(const unsigned short int*     from)
+{
+  Packet8us p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet8us>(from);
+  else                                  p = ploadu<Packet8us>(from);
+  return vec_perm(p, p, p16uc_QUADRUPLICATE16_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf ploadquad<Packet8bf>(const bfloat16*     from)
+{
+  return ploadquad<Packet8us>(reinterpret_cast<const unsigned short int*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16c ploaddup<Packet16c>(const signed char*     from)
+{
+  Packet16c p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet16c>(from);
+  else                                  p = ploadu<Packet16c>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE8_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16uc ploaddup<Packet16uc>(const unsigned char*     from)
+{
+  Packet16uc p;
+  if((std::ptrdiff_t(from) % 16) == 0)  p = pload<Packet16uc>(from);
+  else                                  p = ploadu<Packet16uc>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE8_HI);
+}
+
+template<typename Packet> EIGEN_STRONG_INLINE void pstoreu_common(__UNPACK_TYPE__(Packet)*  to, const Packet& from)
 {
   EIGEN_DEBUG_UNALIGNED_STORE
+#ifdef _BIG_ENDIAN
   // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
   // Warning: not thread safe!
   Packet16uc MSQ, LSQ, edges;
@@ -479,45 +1080,69 @@ template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& f
   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
+  vec_st( MSQ, 0, (unsigned char *)to );                   // Store the MSQ part second
+#else
+  vec_xst(from, 0, to);
+#endif
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
+{
+  pstoreu_common<Packet4f>(to, from);
 }
 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
+  pstoreu_common<Packet4i>(to, from);
 }
-#else
-// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from)
+template<> EIGEN_STRONG_INLINE void pstoreu<short int>(short int*      to, const Packet8s& from)
 {
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st(from, (long)to & 15, (int*) _EIGEN_ALIGNED_PTR(to));
+  pstoreu_common<Packet8s>(to, from);
 }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from)
+template<> EIGEN_STRONG_INLINE void pstoreu<unsigned short int>(unsigned short int*      to, const Packet8us& from)
 {
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st(from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+  pstoreu_common<Packet8us>(to, from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<bfloat16>(bfloat16*      to, const Packet8bf& from)
+{
+  pstoreu_common<Packet8us>(reinterpret_cast<unsigned short int*>(to), from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<signed char>(signed char*      to, const Packet16c& from)
+{
+  pstoreu_common<Packet16c>(to, from);
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<unsigned char>(unsigned char*      to, const Packet16uc& from)
+{
+  pstoreu_common<Packet16uc>(to, from);
 }
-#endif
 
 template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr)    { EIGEN_PPC_PREFETCH(addr); }
 template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr)    { EIGEN_PPC_PREFETCH(addr); }
 
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { EIGEN_ALIGN16 float x; vec_ste(a, 0, &x); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { EIGEN_ALIGN16 int   x; vec_ste(a, 0, &x); return x; }
+
+template<typename Packet> EIGEN_STRONG_INLINE __UNPACK_TYPE__(Packet) pfirst_common(const Packet& a) {
+  EIGEN_ALIGN16 __UNPACK_TYPE__(Packet) x;
+  vec_ste(a, 0, &x);
+  return x;
+}
+
+template<> EIGEN_STRONG_INLINE short int pfirst<Packet8s>(const Packet8s& a) {
+  return pfirst_common<Packet8s>(a);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned short int pfirst<Packet8us>(const Packet8us& a) {
+  return pfirst_common<Packet8us>(a);
+}
+
+template<> EIGEN_STRONG_INLINE signed char pfirst<Packet16c>(const Packet16c& a)
+{
+  return pfirst_common<Packet16c>(a);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned char pfirst<Packet16uc>(const Packet16uc& a)
+{
+  return pfirst_common<Packet16uc>(a);
+}
 
 template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
 {
@@ -525,10 +1150,296 @@ template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
 }
 template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
 {
-  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32)); }
+  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+template<> EIGEN_STRONG_INLINE Packet8s preverse(const Packet8s& a)
+{
+  return reinterpret_cast<Packet8s>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE16));
+}
+template<> EIGEN_STRONG_INLINE Packet8us preverse(const Packet8us& a)
+{
+  return reinterpret_cast<Packet8us>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE16));
+}
+template<> EIGEN_STRONG_INLINE Packet16c preverse(const Packet16c& a)
+{
+  return vec_perm(a, a, p16uc_REVERSE8);
+}
+template<> EIGEN_STRONG_INLINE Packet16uc preverse(const Packet16uc& a)
+{
+  return vec_perm(a, a, p16uc_REVERSE8);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf preverse(const Packet8bf& a)
+{
+  return preverse<Packet8us>(a);
+}
 
 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 Packet8s pabs(const Packet8s& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet8us pabs(const Packet8us& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet16c pabs(const Packet16c& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet16uc pabs(const Packet16uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8bf  pabs(const Packet8bf& a) {
+  _EIGEN_DECLARE_CONST_FAST_Packet8us(abs_mask,0x7FFF);
+  return pand<Packet8us>(p8us_abs_mask, a);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet4i parithmetic_shift_right(const Packet4i& a)
+{ return vec_sra(a,reinterpret_cast<Packet4ui>(pset1<Packet4i>(N))); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_right(const Packet4i& a)
+{ return vec_sr(a,reinterpret_cast<Packet4ui>(pset1<Packet4i>(N))); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_left(const Packet4i& a)
+{ return vec_sl(a,reinterpret_cast<Packet4ui>(pset1<Packet4i>(N))); }
+template<int N> EIGEN_STRONG_INLINE Packet4f plogical_shift_left(const Packet4f& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(mask, N);
+  Packet4ui r = vec_sl(reinterpret_cast<Packet4ui>(a), p4ui_mask);
+  return reinterpret_cast<Packet4f>(r);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet4f plogical_shift_right(const Packet4f& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(mask, N);
+  Packet4ui r = vec_sr(reinterpret_cast<Packet4ui>(a), p4ui_mask);
+  return reinterpret_cast<Packet4f>(r);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet4ui plogical_shift_right(const Packet4ui& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(mask, N);
+  return vec_sr(a, p4ui_mask);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet4ui plogical_shift_left(const Packet4ui& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(mask, N);
+  return vec_sl(a, p4ui_mask);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet8us plogical_shift_left(const Packet8us& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet8us(mask, N);
+  return vec_sl(a, p8us_mask);
+}
+template<int N> EIGEN_STRONG_INLINE Packet8us plogical_shift_right(const Packet8us& a)
+{
+  const _EIGEN_DECLARE_CONST_FAST_Packet8us(mask, N);
+  return vec_sr(a, p8us_mask);
+}
+
+EIGEN_STRONG_INLINE Packet4f Bf16ToF32Even(const Packet8bf& bf){
+  return plogical_shift_left<16>(reinterpret_cast<Packet4f>(bf.m_val));
+}
+
+EIGEN_STRONG_INLINE Packet4f Bf16ToF32Odd(const Packet8bf& bf){
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(high_mask, 0xFFFF0000);
+  return pand<Packet4f>(
+    reinterpret_cast<Packet4f>(bf.m_val),
+    reinterpret_cast<Packet4f>(p4ui_high_mask)
+  );
+}
+
+// Simple interleaving of bool masks, prevents true values from being
+// converted to NaNs.
+EIGEN_STRONG_INLINE Packet8bf F32ToBf16Bool(Packet4f even, Packet4f odd) {
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(high_mask, 0xFFFF0000);
+  Packet4f bf_odd, bf_even;
+  bf_odd = pand(reinterpret_cast<Packet4f>(p4ui_high_mask), odd);
+  bf_even = plogical_shift_right<16>(even);
+  return reinterpret_cast<Packet8us>(por<Packet4f>(bf_even, bf_odd));
+}
+
+EIGEN_STRONG_INLINE Packet8bf F32ToBf16(Packet4f p4f){
+  Packet4ui input = reinterpret_cast<Packet4ui>(p4f);
+  Packet4ui lsb = plogical_shift_right<16>(input);
+  lsb = pand<Packet4ui>(lsb, reinterpret_cast<Packet4ui>(p4i_ONE));
+
+  _EIGEN_DECLARE_CONST_FAST_Packet4ui(BIAS,0x7FFFu);
+  Packet4ui rounding_bias = padd<Packet4ui>(lsb, p4ui_BIAS);
+  input = padd<Packet4ui>(input, rounding_bias);
+
+  //Test NaN and Subnormal - Begin
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(exp_mask, 0x7F800000);
+  Packet4ui exp = pand<Packet4ui>(p4ui_exp_mask, reinterpret_cast<Packet4ui>(p4f));
+
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(mantissa_mask, 0x7FFFFF);
+  Packet4ui mantissa = pand<Packet4ui>(p4ui_mantissa_mask, reinterpret_cast<Packet4ui>(p4f));
+
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(max_exp, 0x7F800000);
+  Packet4bi is_max_exp = vec_cmpeq(exp, p4ui_max_exp);
+  Packet4bi is_zero_exp = vec_cmpeq(exp, reinterpret_cast<Packet4ui>(p4i_ZERO));
+
+  Packet4bi is_mant_zero = vec_cmpeq(mantissa, reinterpret_cast<Packet4ui>(p4i_ZERO));
+  Packet4ui nan_selector = pandnot<Packet4ui>(
+      reinterpret_cast<Packet4ui>(is_max_exp),
+      reinterpret_cast<Packet4ui>(is_mant_zero)
+  );
+
+  Packet4ui subnormal_selector = pandnot<Packet4ui>(
+      reinterpret_cast<Packet4ui>(is_zero_exp),
+      reinterpret_cast<Packet4ui>(is_mant_zero)
+  );
+
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(nan, 0x7FC00000);
+  input = vec_sel(input, p4ui_nan, nan_selector);
+  input = vec_sel(input, reinterpret_cast<Packet4ui>(p4f), subnormal_selector);
+  //Test NaN and Subnormal - End
+
+  input = plogical_shift_right<16>(input);
+  return reinterpret_cast<Packet8us>(input);
+}
+
+EIGEN_STRONG_INLINE Packet8bf F32ToBf16(Packet4f even, Packet4f odd){
+  Packet4f bf_odd, bf_even;
+  bf_odd = reinterpret_cast<Packet4f>(F32ToBf16(odd).m_val);
+  bf_odd = plogical_shift_left<16>(bf_odd);
+  bf_even = reinterpret_cast<Packet4f>(F32ToBf16(even).m_val);
+  return reinterpret_cast<Packet8us>(por<Packet4f>(bf_even, bf_odd));
+}
+#define BF16_TO_F32_UNARY_OP_WRAPPER(OP, A) \
+  Packet4f a_even = Bf16ToF32Even(A);\
+  Packet4f a_odd = Bf16ToF32Odd(A);\
+  Packet4f op_even = OP(a_even);\
+  Packet4f op_odd = OP(a_odd);\
+  return F32ToBf16(op_even, op_odd);\
+
+#define BF16_TO_F32_BINARY_OP_WRAPPER(OP, A, B) \
+  Packet4f a_even = Bf16ToF32Even(A);\
+  Packet4f a_odd = Bf16ToF32Odd(A);\
+  Packet4f b_even = Bf16ToF32Even(B);\
+  Packet4f b_odd = Bf16ToF32Odd(B);\
+  Packet4f op_even = OP(a_even, b_even);\
+  Packet4f op_odd = OP(a_odd, b_odd);\
+  return F32ToBf16(op_even, op_odd);\
+
+#define BF16_TO_F32_BINARY_OP_WRAPPER_BOOL(OP, A, B) \
+  Packet4f a_even = Bf16ToF32Even(A);\
+  Packet4f a_odd = Bf16ToF32Odd(A);\
+  Packet4f b_even = Bf16ToF32Even(B);\
+  Packet4f b_odd = Bf16ToF32Odd(B);\
+  Packet4f op_even = OP(a_even, b_even);\
+  Packet4f op_odd = OP(a_odd, b_odd);\
+  return F32ToBf16Bool(op_even, op_odd);\
+
+template<> EIGEN_STRONG_INLINE Packet8bf padd<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(padd<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pmul<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(pmul<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pdiv<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(pdiv<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pnegate<Packet8bf>(const Packet8bf& a) {
+  BF16_TO_F32_UNARY_OP_WRAPPER(pnegate<Packet4f>, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf psub<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(psub<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf psqrt<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(vec_sqrt, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf prsqrt<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(prsqrt<Packet4f>, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pexp<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(pexp_float, a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pldexp<Packet4f>(const Packet4f& a, const Packet4f& exponent) {
+  return pldexp_generic(a,exponent);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pldexp<Packet8bf> (const Packet8bf& a, const Packet8bf& exponent){
+  BF16_TO_F32_BINARY_OP_WRAPPER(pldexp<Packet4f>, a, exponent);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pfrexp<Packet4f>(const Packet4f& a, Packet4f& exponent) {
+  return pfrexp_generic(a,exponent);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pfrexp<Packet8bf> (const Packet8bf& a, Packet8bf& e){
+  Packet4f a_even = Bf16ToF32Even(a);
+  Packet4f a_odd = Bf16ToF32Odd(a);
+  Packet4f e_even;
+  Packet4f e_odd;
+  Packet4f op_even = pfrexp<Packet4f>(a_even, e_even);
+  Packet4f op_odd = pfrexp<Packet4f>(a_odd, e_odd);
+  e = F32ToBf16(e_even, e_odd);
+  return F32ToBf16(op_even, op_odd);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf psin<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(psin_float, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pcos<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(pcos_float, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf plog<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(plog_float, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pfloor<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(pfloor<Packet4f>, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pceil<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(pceil<Packet4f>, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pround<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(pround<Packet4f>, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf print<Packet8bf> (const Packet8bf& a){
+  BF16_TO_F32_UNARY_OP_WRAPPER(print<Packet4f>, a);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pmadd(const Packet8bf& a, const Packet8bf& b, const Packet8bf& c) {
+  Packet4f a_even = Bf16ToF32Even(a);
+  Packet4f a_odd = Bf16ToF32Odd(a);
+  Packet4f b_even = Bf16ToF32Even(b);
+  Packet4f b_odd = Bf16ToF32Odd(b);
+  Packet4f c_even = Bf16ToF32Even(c);
+  Packet4f c_odd = Bf16ToF32Odd(c);
+  Packet4f pmadd_even = pmadd<Packet4f>(a_even, b_even, c_even);
+  Packet4f pmadd_odd = pmadd<Packet4f>(a_odd, b_odd, c_odd);
+  return F32ToBf16(pmadd_even, pmadd_odd);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pmin<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(pmin<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pmax<Packet8bf>(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER(pmax<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_lt(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER_BOOL(pcmp_lt<Packet4f>, a, b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_lt_or_nan(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER_BOOL(pcmp_lt_or_nan<Packet4f>, a, b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_le(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER_BOOL(pcmp_le<Packet4f>, a, b);
+}
+template<> EIGEN_STRONG_INLINE Packet8bf pcmp_eq(const Packet8bf& a, const Packet8bf& b) {
+  BF16_TO_F32_BINARY_OP_WRAPPER_BOOL(pcmp_eq<Packet4f>, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 pfirst(const Packet8bf& a) {
+  return Eigen::bfloat16_impl::raw_uint16_to_bfloat16((pfirst<Packet8us>(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf ploaddup<Packet8bf>(const  bfloat16*     from)
+{
+  return ploaddup<Packet8us>(reinterpret_cast<const unsigned short int*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf plset<Packet8bf>(const bfloat16& a) {
+  bfloat16 countdown[8] = { bfloat16(0), bfloat16(1), bfloat16(2), bfloat16(3),
+                            bfloat16(4), bfloat16(5), bfloat16(6), bfloat16(7) };
+  return padd<Packet8bf>(pset1<Packet8bf>(a), pload<Packet8bf>(countdown));
+}
 
 template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
 {
@@ -540,181 +1451,389 @@ template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
   return pfirst(sum);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i sum;
+  sum = vec_sums(a, p4i_ZERO);
+#ifdef _BIG_ENDIAN
+  sum = vec_sld(sum, p4i_ZERO, 12);
+#else
+  sum = vec_sld(p4i_ZERO, sum, 4);
+#endif
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux<Packet8bf>(const Packet8bf& a)
+{
+  float redux_even = predux<Packet4f>(Bf16ToF32Even(a));
+  float redux_odd  = predux<Packet4f>(Bf16ToF32Odd(a));
+  float f32_result = redux_even + redux_odd;
+  return bfloat16(f32_result);
+}
+template<typename Packet> EIGEN_STRONG_INLINE __UNPACK_TYPE__(Packet) predux_size8(const Packet& a)
+{
+  union{
+    Packet v;
+    __UNPACK_TYPE__(Packet) n[8];
+  } vt;
+  vt.v = a;
+
+  EIGEN_ALIGN16 int first_loader[4] = { vt.n[0], vt.n[1], vt.n[2], vt.n[3] };
+  EIGEN_ALIGN16 int second_loader[4] = { vt.n[4], vt.n[5], vt.n[6], vt.n[7] };
+  Packet4i first_half  = pload<Packet4i>(first_loader);
+  Packet4i second_half = pload<Packet4i>(second_loader);
+
+  return static_cast<__UNPACK_TYPE__(Packet)>(predux(first_half) + predux(second_half));
+}
+
+template<> EIGEN_STRONG_INLINE short int predux<Packet8s>(const Packet8s& a)
+{
+  return predux_size8<Packet8s>(a);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned short int predux<Packet8us>(const Packet8us& a)
+{
+  return predux_size8<Packet8us>(a);
+}
+
+template<typename Packet> EIGEN_STRONG_INLINE __UNPACK_TYPE__(Packet) predux_size16(const Packet& a)
+{
+  union{
+    Packet v;
+    __UNPACK_TYPE__(Packet) n[16];
+  } vt;
+  vt.v = a;
+
+  EIGEN_ALIGN16 int first_loader[4] = { vt.n[0], vt.n[1], vt.n[2], vt.n[3] };
+  EIGEN_ALIGN16 int second_loader[4] = { vt.n[4], vt.n[5], vt.n[6], vt.n[7] };
+  EIGEN_ALIGN16 int third_loader[4] = { vt.n[8], vt.n[9], vt.n[10], vt.n[11] };
+  EIGEN_ALIGN16 int fourth_loader[4] = { vt.n[12], vt.n[13], vt.n[14], vt.n[15] };
+
+  Packet4i first_quarter = pload<Packet4i>(first_loader);
+  Packet4i second_quarter = pload<Packet4i>(second_loader);
+  Packet4i third_quarter = pload<Packet4i>(third_loader);
+  Packet4i fourth_quarter = pload<Packet4i>(fourth_loader);
+
+  return static_cast<__UNPACK_TYPE__(Packet)>(predux(first_quarter) + predux(second_quarter)
+		                  + predux(third_quarter) + predux(fourth_quarter));
+}
+
+template<> EIGEN_STRONG_INLINE signed char predux<Packet16c>(const Packet16c& a)
+{
+  return predux_size16<Packet16c>(a);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned char predux<Packet16uc>(const Packet16uc& a)
+{
+  return predux_size16<Packet16uc>(a);
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f prod;
+  prod = pmul(a, vec_sld(a, a, 8));
+  return pfirst(pmul(prod, 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];
+}
+
+template<> EIGEN_STRONG_INLINE short int predux_mul<Packet8s>(const Packet8s& a)
+{
+  Packet8s pair, quad, octo;
+
+  pair = vec_mul(a, vec_sld(a, a, 8));
+  quad = vec_mul(pair, vec_sld(pair, pair, 4));
+  octo = vec_mul(quad, vec_sld(quad, quad, 2));
+
+  return pfirst(octo);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned short int predux_mul<Packet8us>(const Packet8us& a)
+{
+  Packet8us pair, quad, octo;
+
+  pair = vec_mul(a, vec_sld(a, a, 8));
+  quad = vec_mul(pair, vec_sld(pair, pair, 4));
+  octo = vec_mul(quad, vec_sld(quad, quad, 2));
+
+  return pfirst(octo);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_mul<Packet8bf>(const Packet8bf& a)
+{
+  float redux_even = predux_mul<Packet4f>(Bf16ToF32Even(a));
+  float redux_odd  = predux_mul<Packet4f>(Bf16ToF32Odd(a));
+  float f32_result = redux_even * redux_odd;
+  return bfloat16(f32_result);
+}
+
+
+template<> EIGEN_STRONG_INLINE signed char predux_mul<Packet16c>(const Packet16c& a)
+{
+  Packet16c pair, quad, octo, result;
+
+  pair = vec_mul(a, vec_sld(a, a, 8));
+  quad = vec_mul(pair, vec_sld(pair, pair, 4));
+  octo = vec_mul(quad, vec_sld(quad, quad, 2));
+  result = vec_mul(octo, vec_sld(octo, octo, 1));
+
+  return pfirst(result);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned char predux_mul<Packet16uc>(const Packet16uc& a)
+{
+  Packet16uc pair, quad, octo, result;
+
+  pair = vec_mul(a, vec_sld(a, a, 8));
+  quad = vec_mul(pair, vec_sld(pair, pair, 4));
+  octo = vec_mul(quad, vec_sld(quad, quad, 2));
+  result = vec_mul(octo, vec_sld(octo, octo, 1));
+
+  return pfirst(result);
+}
+
+// min
+template<typename Packet> EIGEN_STRONG_INLINE
+__UNPACK_TYPE__(Packet) predux_min4(const Packet& a)
+{
+  Packet 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 float predux_min<Packet4f>(const Packet4f& a)
+{
+  return predux_min4<Packet4f>(a);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  return predux_min4<Packet4i>(a);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_min<Packet8bf>(const Packet8bf& a)
+{
+  float redux_even = predux_min<Packet4f>(Bf16ToF32Even(a));
+  float redux_odd  = predux_min<Packet4f>(Bf16ToF32Odd(a));
+  float f32_result = (std::min)(redux_even, redux_odd);
+  return bfloat16(f32_result);
+}
+
+template<> EIGEN_STRONG_INLINE short int predux_min<Packet8s>(const Packet8s& a)
+{
+  Packet8s pair, quad, octo;
+  
+  //pair = { Min(a0,a4), Min(a1,a5), Min(a2,a6), Min(a3,a7) }
+  pair = vec_min(a, vec_sld(a, a, 8)); 
+
+  //quad = { Min(a0, a4, a2, a6), Min(a1, a5, a3, a7) }
+  quad = vec_min(pair, vec_sld(pair, pair, 4));
+
+  //octo = { Min(a0, a4, a2, a6, a1, a5, a3, a7) }
+  octo = vec_min(quad, vec_sld(quad, quad, 2));
+  return pfirst(octo);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned short int predux_min<Packet8us>(const Packet8us& a)
+{
+  Packet8us pair, quad, octo;
+  
+  //pair = { Min(a0,a4), Min(a1,a5), Min(a2,a6), Min(a3,a7) }
+  pair = vec_min(a, vec_sld(a, a, 8)); 
+
+  //quad = { Min(a0, a4, a2, a6), Min(a1, a5, a3, a7) }
+  quad = vec_min(pair, vec_sld(pair, pair, 4));
+
+  //octo = { Min(a0, a4, a2, a6, a1, a5, a3, a7) }
+  octo = vec_min(quad, vec_sld(quad, quad, 2));
+  return pfirst(octo);
+}
+
+template<> EIGEN_STRONG_INLINE signed char predux_min<Packet16c>(const Packet16c& a)
+{
+  Packet16c pair, quad, octo, result;
+
+  pair = vec_min(a, vec_sld(a, a, 8));
+  quad = vec_min(pair, vec_sld(pair, pair, 4));
+  octo = vec_min(quad, vec_sld(quad, quad, 2));
+  result = vec_min(octo, vec_sld(octo, octo, 1));
+
+  return pfirst(result);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned char predux_min<Packet16uc>(const Packet16uc& a)
+{
+  Packet16uc pair, quad, octo, result;
+
+  pair = vec_min(a, vec_sld(a, a, 8));
+  quad = vec_min(pair, vec_sld(pair, pair, 4));
+  octo = vec_min(quad, vec_sld(quad, quad, 2));
+  result = vec_min(octo, vec_sld(octo, octo, 1));
+
+  return pfirst(result);
+}
+// max
+template<typename Packet> EIGEN_STRONG_INLINE __UNPACK_TYPE__(Packet) predux_max4(const Packet& a)
+{
+  Packet 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 float predux_max<Packet4f>(const Packet4f& a)
+{
+  return predux_max4<Packet4f>(a);
+}
+
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  return predux_max4<Packet4i>(a);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_max<Packet8bf>(const Packet8bf& a)
+{
+  float redux_even = predux_max<Packet4f>(Bf16ToF32Even(a));
+  float redux_odd  = predux_max<Packet4f>(Bf16ToF32Odd(a));
+  float f32_result = (std::max)(redux_even, redux_odd);
+  return bfloat16(f32_result);
+}
+
+template<> EIGEN_STRONG_INLINE short int predux_max<Packet8s>(const Packet8s& a)
+{
+  Packet8s pair, quad, octo;
+  
+  //pair = { Max(a0,a4), Max(a1,a5), Max(a2,a6), Max(a3,a7) }
+  pair = vec_max(a, vec_sld(a, a, 8)); 
+
+  //quad = { Max(a0, a4, a2, a6), Max(a1, a5, a3, a7) }
+  quad = vec_max(pair, vec_sld(pair, pair, 4));
+
+  //octo = { Max(a0, a4, a2, a6, a1, a5, a3, a7) }
+  octo = vec_max(quad, vec_sld(quad, quad, 2));
+  return pfirst(octo);
+}
+
+template<> EIGEN_STRONG_INLINE unsigned short int predux_max<Packet8us>(const Packet8us& a)
 {
-  Packet4f v[4], sum[4];
+  Packet8us pair, quad, octo;
+  
+  //pair = { Max(a0,a4), Max(a1,a5), Max(a2,a6), Max(a3,a7) }
+  pair = vec_max(a, vec_sld(a, a, 8)); 
 
-  // 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]);
+  //quad = { Max(a0, a4, a2, a6), Max(a1, a5, a3, a7) }
+  quad = vec_max(pair, vec_sld(pair, pair, 4));
 
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = sum[0] + sum[1];
-  // Lines 2+3
-  sum[1] = sum[2] + sum[3];
-  // Add the results
-  sum[0] = sum[0] + sum[1];
-
-  return sum[0];
+  //octo = { Max(a0, a4, a2, a6, a1, a5, a3, a7) }
+  octo = vec_max(quad, vec_sld(quad, quad, 2));
+  return pfirst(octo);
 }
 
-template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+template<> EIGEN_STRONG_INLINE signed char predux_max<Packet16c>(const Packet16c& a)
 {
-  Packet4i sum;
-  sum = vec_sums(a, p4i_ZERO);
-#ifdef _BIG_ENDIAN
-  sum = vec_sld(sum, p4i_ZERO, 12);
-#else
-  sum = vec_sld(p4i_ZERO, sum, 4);
-#endif
-  return pfirst(sum);
+  Packet16c pair, quad, octo, result;
+
+  pair = vec_max(a, vec_sld(a, a, 8));
+  quad = vec_max(pair, vec_sld(pair, pair, 4));
+  octo = vec_max(quad, vec_sld(quad, quad, 2));
+  result = vec_max(octo, vec_sld(octo, octo, 1));
+
+  return pfirst(result);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+template<> EIGEN_STRONG_INLINE unsigned char predux_max<Packet16uc>(const Packet16uc& a)
 {
-  Packet4i v[4], sum[4];
+  Packet16uc pair, quad, octo, result;
 
-  // 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]);
+  pair = vec_max(a, vec_sld(a, a, 8));
+  quad = vec_max(pair, vec_sld(pair, pair, 4));
+  octo = vec_max(quad, vec_sld(quad, quad, 2));
+  result = vec_max(octo, vec_sld(octo, octo, 1));
 
-  // Now do the summation:
-  // Lines 0+1
-  sum[0] = sum[0] + sum[1];
-  // Lines 2+3
-  sum[1] = sum[2] + sum[3];
-  // Add the results
-  sum[0] = sum[0] + sum[1];
-
-  return sum[0];
+  return pfirst(result);
 }
 
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+template<> EIGEN_STRONG_INLINE bool predux_any(const Packet4f& x)
 {
-  Packet4f prod;
-  prod = pmul(a, vec_sld(a, a, 8));
-  return pfirst(pmul(prod, vec_sld(prod, prod, 4)));
+  return vec_any_ne(x, pzero(x));
 }
 
-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];
+template <typename T> EIGEN_DEVICE_FUNC inline void
+ptranpose_common(PacketBlock<T,4>& kernel){
+  T t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
 }
 
-// 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);
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  ptranpose_common<Packet4f>(kernel);
 }
 
-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);
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  ptranpose_common<Packet4i>(kernel);
 }
 
-// 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);
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8s,4>& kernel) {
+  Packet8s t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
 }
 
-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);
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8us,4>& kernel) {
+  Packet8us t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
 }
 
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-#ifdef _BIG_ENDIAN
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-#else
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(second, first, 12); break;
-    case 2:
-      first = vec_sld(second, first, 8); break;
-    case 3:
-      first = vec_sld(second, first, 4); break;
-    }
-#endif
-  }
-};
 
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-#ifdef _BIG_ENDIAN
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-#else
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(second, first, 12); break;
-    case 2:
-      first = vec_sld(second, first, 8); break;
-    case 3:
-      first = vec_sld(second, first, 4); break;
-    }
-#endif
-  }
-};
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8bf,4>& kernel) {
+  Packet8us t0, t1, t2, t3;
+
+  t0 = vec_mergeh(kernel.packet[0].m_val, kernel.packet[2].m_val);
+  t1 = vec_mergel(kernel.packet[0].m_val, kernel.packet[2].m_val);
+  t2 = vec_mergeh(kernel.packet[1].m_val, kernel.packet[3].m_val);
+  t3 = vec_mergel(kernel.packet[1].m_val, kernel.packet[3].m_val);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
 
 EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  Packet4f t0, t1, t2, t3;
+ptranspose(PacketBlock<Packet16c,4>& kernel) {
+  Packet16c t0, t1, t2, t3;
   t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
   t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
   t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
@@ -725,9 +1844,10 @@ ptranspose(PacketBlock<Packet4f,4>& kernel) {
   kernel.packet[3] = vec_mergel(t1, t3);
 }
 
+
 EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  Packet4i t0, t1, t2, t3;
+ptranspose(PacketBlock<Packet16uc,4>& kernel) {
+  Packet16uc t0, t1, t2, t3;
   t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
   t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
   t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
@@ -738,18 +1858,398 @@ ptranspose(PacketBlock<Packet4i,4>& kernel) {
   kernel.packet[3] = vec_mergel(t1, t3);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8s,8>& kernel) {
+  Packet8s v[8], sum[8];
+
+  v[0] = vec_mergeh(kernel.packet[0], kernel.packet[4]);
+  v[1] = vec_mergel(kernel.packet[0], kernel.packet[4]);
+  v[2] = vec_mergeh(kernel.packet[1], kernel.packet[5]);
+  v[3] = vec_mergel(kernel.packet[1], kernel.packet[5]);
+  v[4] = vec_mergeh(kernel.packet[2], kernel.packet[6]);
+  v[5] = vec_mergel(kernel.packet[2], kernel.packet[6]);
+  v[6] = vec_mergeh(kernel.packet[3], kernel.packet[7]);
+  v[7] = vec_mergel(kernel.packet[3], kernel.packet[7]);
+  sum[0] = vec_mergeh(v[0], v[4]);
+  sum[1] = vec_mergel(v[0], v[4]);
+  sum[2] = vec_mergeh(v[1], v[5]);
+  sum[3] = vec_mergel(v[1], v[5]);
+  sum[4] = vec_mergeh(v[2], v[6]);
+  sum[5] = vec_mergel(v[2], v[6]);
+  sum[6] = vec_mergeh(v[3], v[7]);
+  sum[7] = vec_mergel(v[3], v[7]);
+
+  kernel.packet[0] = vec_mergeh(sum[0], sum[4]);
+  kernel.packet[1] = vec_mergel(sum[0], sum[4]);
+  kernel.packet[2] = vec_mergeh(sum[1], sum[5]);
+  kernel.packet[3] = vec_mergel(sum[1], sum[5]);
+  kernel.packet[4] = vec_mergeh(sum[2], sum[6]);
+  kernel.packet[5] = vec_mergel(sum[2], sum[6]);
+  kernel.packet[6] = vec_mergeh(sum[3], sum[7]);
+  kernel.packet[7] = vec_mergel(sum[3], sum[7]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8us,8>& kernel) {
+  Packet8us v[8], sum[8];
+
+  v[0] = vec_mergeh(kernel.packet[0], kernel.packet[4]);
+  v[1] = vec_mergel(kernel.packet[0], kernel.packet[4]);
+  v[2] = vec_mergeh(kernel.packet[1], kernel.packet[5]);
+  v[3] = vec_mergel(kernel.packet[1], kernel.packet[5]);
+  v[4] = vec_mergeh(kernel.packet[2], kernel.packet[6]);
+  v[5] = vec_mergel(kernel.packet[2], kernel.packet[6]);
+  v[6] = vec_mergeh(kernel.packet[3], kernel.packet[7]);
+  v[7] = vec_mergel(kernel.packet[3], kernel.packet[7]);
+  sum[0] = vec_mergeh(v[0], v[4]);
+  sum[1] = vec_mergel(v[0], v[4]);
+  sum[2] = vec_mergeh(v[1], v[5]);
+  sum[3] = vec_mergel(v[1], v[5]);
+  sum[4] = vec_mergeh(v[2], v[6]);
+  sum[5] = vec_mergel(v[2], v[6]);
+  sum[6] = vec_mergeh(v[3], v[7]);
+  sum[7] = vec_mergel(v[3], v[7]);
+
+  kernel.packet[0] = vec_mergeh(sum[0], sum[4]);
+  kernel.packet[1] = vec_mergel(sum[0], sum[4]);
+  kernel.packet[2] = vec_mergeh(sum[1], sum[5]);
+  kernel.packet[3] = vec_mergel(sum[1], sum[5]);
+  kernel.packet[4] = vec_mergeh(sum[2], sum[6]);
+  kernel.packet[5] = vec_mergel(sum[2], sum[6]);
+  kernel.packet[6] = vec_mergeh(sum[3], sum[7]);
+  kernel.packet[7] = vec_mergel(sum[3], sum[7]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8bf,8>& kernel) {
+  Packet8bf v[8], sum[8];
+
+  v[0] = vec_mergeh(kernel.packet[0].m_val, kernel.packet[4].m_val);
+  v[1] = vec_mergel(kernel.packet[0].m_val, kernel.packet[4].m_val);
+  v[2] = vec_mergeh(kernel.packet[1].m_val, kernel.packet[5].m_val);
+  v[3] = vec_mergel(kernel.packet[1].m_val, kernel.packet[5].m_val);
+  v[4] = vec_mergeh(kernel.packet[2].m_val, kernel.packet[6].m_val);
+  v[5] = vec_mergel(kernel.packet[2].m_val, kernel.packet[6].m_val);
+  v[6] = vec_mergeh(kernel.packet[3].m_val, kernel.packet[7].m_val);
+  v[7] = vec_mergel(kernel.packet[3].m_val, kernel.packet[7].m_val);
+  sum[0] = vec_mergeh(v[0].m_val, v[4].m_val);
+  sum[1] = vec_mergel(v[0].m_val, v[4].m_val);
+  sum[2] = vec_mergeh(v[1].m_val, v[5].m_val);
+  sum[3] = vec_mergel(v[1].m_val, v[5].m_val);
+  sum[4] = vec_mergeh(v[2].m_val, v[6].m_val);
+  sum[5] = vec_mergel(v[2].m_val, v[6].m_val);
+  sum[6] = vec_mergeh(v[3].m_val, v[7].m_val);
+  sum[7] = vec_mergel(v[3].m_val, v[7].m_val);
+
+  kernel.packet[0] = vec_mergeh(sum[0].m_val, sum[4].m_val);
+  kernel.packet[1] = vec_mergel(sum[0].m_val, sum[4].m_val);
+  kernel.packet[2] = vec_mergeh(sum[1].m_val, sum[5].m_val);
+  kernel.packet[3] = vec_mergel(sum[1].m_val, sum[5].m_val);
+  kernel.packet[4] = vec_mergeh(sum[2].m_val, sum[6].m_val);
+  kernel.packet[5] = vec_mergel(sum[2].m_val, sum[6].m_val);
+  kernel.packet[6] = vec_mergeh(sum[3].m_val, sum[7].m_val);
+  kernel.packet[7] = vec_mergel(sum[3].m_val, sum[7].m_val);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet16c,16>& kernel) {
+  Packet16c step1[16], step2[16], step3[16];
+
+  step1[0] = vec_mergeh(kernel.packet[0], kernel.packet[8]);
+  step1[1] = vec_mergel(kernel.packet[0], kernel.packet[8]);
+  step1[2] = vec_mergeh(kernel.packet[1], kernel.packet[9]);
+  step1[3] = vec_mergel(kernel.packet[1], kernel.packet[9]);
+  step1[4] = vec_mergeh(kernel.packet[2], kernel.packet[10]);
+  step1[5] = vec_mergel(kernel.packet[2], kernel.packet[10]);
+  step1[6] = vec_mergeh(kernel.packet[3], kernel.packet[11]);
+  step1[7] = vec_mergel(kernel.packet[3], kernel.packet[11]);
+  step1[8] = vec_mergeh(kernel.packet[4], kernel.packet[12]);
+  step1[9] = vec_mergel(kernel.packet[4], kernel.packet[12]);
+  step1[10] = vec_mergeh(kernel.packet[5], kernel.packet[13]);
+  step1[11] = vec_mergel(kernel.packet[5], kernel.packet[13]);
+  step1[12] = vec_mergeh(kernel.packet[6], kernel.packet[14]);
+  step1[13] = vec_mergel(kernel.packet[6], kernel.packet[14]);
+  step1[14] = vec_mergeh(kernel.packet[7], kernel.packet[15]);
+  step1[15] = vec_mergel(kernel.packet[7], kernel.packet[15]);
+
+  step2[0]  = vec_mergeh(step1[0], step1[8]);
+  step2[1]  = vec_mergel(step1[0], step1[8]);
+  step2[2]  = vec_mergeh(step1[1], step1[9]);
+  step2[3]  = vec_mergel(step1[1], step1[9]);
+  step2[4]  = vec_mergeh(step1[2], step1[10]);
+  step2[5]  = vec_mergel(step1[2], step1[10]);
+  step2[6]  = vec_mergeh(step1[3], step1[11]);
+  step2[7]  = vec_mergel(step1[3], step1[11]);
+  step2[8]  = vec_mergeh(step1[4], step1[12]);
+  step2[9]  = vec_mergel(step1[4], step1[12]);
+  step2[10] = vec_mergeh(step1[5], step1[13]);
+  step2[11] = vec_mergel(step1[5], step1[13]);
+  step2[12] = vec_mergeh(step1[6], step1[14]);
+  step2[13] = vec_mergel(step1[6], step1[14]);
+  step2[14] = vec_mergeh(step1[7], step1[15]);
+  step2[15] = vec_mergel(step1[7], step1[15]);
+
+  step3[0]  = vec_mergeh(step2[0], step2[8]);
+  step3[1]  = vec_mergel(step2[0], step2[8]);
+  step3[2]  = vec_mergeh(step2[1], step2[9]);
+  step3[3]  = vec_mergel(step2[1], step2[9]);
+  step3[4]  = vec_mergeh(step2[2], step2[10]);
+  step3[5]  = vec_mergel(step2[2], step2[10]);
+  step3[6]  = vec_mergeh(step2[3], step2[11]);
+  step3[7]  = vec_mergel(step2[3], step2[11]);
+  step3[8]  = vec_mergeh(step2[4], step2[12]);
+  step3[9]  = vec_mergel(step2[4], step2[12]);
+  step3[10] = vec_mergeh(step2[5], step2[13]);
+  step3[11] = vec_mergel(step2[5], step2[13]);
+  step3[12] = vec_mergeh(step2[6], step2[14]);
+  step3[13] = vec_mergel(step2[6], step2[14]);
+  step3[14] = vec_mergeh(step2[7], step2[15]);
+  step3[15] = vec_mergel(step2[7], step2[15]);
+
+  kernel.packet[0]  = vec_mergeh(step3[0], step3[8]);
+  kernel.packet[1]  = vec_mergel(step3[0], step3[8]);
+  kernel.packet[2]  = vec_mergeh(step3[1], step3[9]);
+  kernel.packet[3]  = vec_mergel(step3[1], step3[9]);
+  kernel.packet[4]  = vec_mergeh(step3[2], step3[10]);
+  kernel.packet[5]  = vec_mergel(step3[2], step3[10]);
+  kernel.packet[6]  = vec_mergeh(step3[3], step3[11]);
+  kernel.packet[7]  = vec_mergel(step3[3], step3[11]);
+  kernel.packet[8]  = vec_mergeh(step3[4], step3[12]);
+  kernel.packet[9]  = vec_mergel(step3[4], step3[12]);
+  kernel.packet[10] = vec_mergeh(step3[5], step3[13]);
+  kernel.packet[11] = vec_mergel(step3[5], step3[13]);
+  kernel.packet[12] = vec_mergeh(step3[6], step3[14]);
+  kernel.packet[13] = vec_mergel(step3[6], step3[14]);
+  kernel.packet[14] = vec_mergeh(step3[7], step3[15]);
+  kernel.packet[15] = vec_mergel(step3[7], step3[15]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet16uc,16>& kernel) {
+  Packet16uc step1[16], step2[16], step3[16];
+
+  step1[0] = vec_mergeh(kernel.packet[0], kernel.packet[8]);
+  step1[1] = vec_mergel(kernel.packet[0], kernel.packet[8]);
+  step1[2] = vec_mergeh(kernel.packet[1], kernel.packet[9]);
+  step1[3] = vec_mergel(kernel.packet[1], kernel.packet[9]);
+  step1[4] = vec_mergeh(kernel.packet[2], kernel.packet[10]);
+  step1[5] = vec_mergel(kernel.packet[2], kernel.packet[10]);
+  step1[6] = vec_mergeh(kernel.packet[3], kernel.packet[11]);
+  step1[7] = vec_mergel(kernel.packet[3], kernel.packet[11]);
+  step1[8] = vec_mergeh(kernel.packet[4], kernel.packet[12]);
+  step1[9] = vec_mergel(kernel.packet[4], kernel.packet[12]);
+  step1[10] = vec_mergeh(kernel.packet[5], kernel.packet[13]);
+  step1[11] = vec_mergel(kernel.packet[5], kernel.packet[13]);
+  step1[12] = vec_mergeh(kernel.packet[6], kernel.packet[14]);
+  step1[13] = vec_mergel(kernel.packet[6], kernel.packet[14]);
+  step1[14] = vec_mergeh(kernel.packet[7], kernel.packet[15]);
+  step1[15] = vec_mergel(kernel.packet[7], kernel.packet[15]);
+
+  step2[0]  = vec_mergeh(step1[0], step1[8]);
+  step2[1]  = vec_mergel(step1[0], step1[8]);
+  step2[2]  = vec_mergeh(step1[1], step1[9]);
+  step2[3]  = vec_mergel(step1[1], step1[9]);
+  step2[4]  = vec_mergeh(step1[2], step1[10]);
+  step2[5]  = vec_mergel(step1[2], step1[10]);
+  step2[6]  = vec_mergeh(step1[3], step1[11]);
+  step2[7]  = vec_mergel(step1[3], step1[11]);
+  step2[8]  = vec_mergeh(step1[4], step1[12]);
+  step2[9]  = vec_mergel(step1[4], step1[12]);
+  step2[10] = vec_mergeh(step1[5], step1[13]);
+  step2[11] = vec_mergel(step1[5], step1[13]);
+  step2[12] = vec_mergeh(step1[6], step1[14]);
+  step2[13] = vec_mergel(step1[6], step1[14]);
+  step2[14] = vec_mergeh(step1[7], step1[15]);
+  step2[15] = vec_mergel(step1[7], step1[15]);
+
+  step3[0]  = vec_mergeh(step2[0], step2[8]);
+  step3[1]  = vec_mergel(step2[0], step2[8]);
+  step3[2]  = vec_mergeh(step2[1], step2[9]);
+  step3[3]  = vec_mergel(step2[1], step2[9]);
+  step3[4]  = vec_mergeh(step2[2], step2[10]);
+  step3[5]  = vec_mergel(step2[2], step2[10]);
+  step3[6]  = vec_mergeh(step2[3], step2[11]);
+  step3[7]  = vec_mergel(step2[3], step2[11]);
+  step3[8]  = vec_mergeh(step2[4], step2[12]);
+  step3[9]  = vec_mergel(step2[4], step2[12]);
+  step3[10] = vec_mergeh(step2[5], step2[13]);
+  step3[11] = vec_mergel(step2[5], step2[13]);
+  step3[12] = vec_mergeh(step2[6], step2[14]);
+  step3[13] = vec_mergel(step2[6], step2[14]);
+  step3[14] = vec_mergeh(step2[7], step2[15]);
+  step3[15] = vec_mergel(step2[7], step2[15]);
+
+  kernel.packet[0]  = vec_mergeh(step3[0], step3[8]);
+  kernel.packet[1]  = vec_mergel(step3[0], step3[8]);
+  kernel.packet[2]  = vec_mergeh(step3[1], step3[9]);
+  kernel.packet[3]  = vec_mergel(step3[1], step3[9]);
+  kernel.packet[4]  = vec_mergeh(step3[2], step3[10]);
+  kernel.packet[5]  = vec_mergel(step3[2], step3[10]);
+  kernel.packet[6]  = vec_mergeh(step3[3], step3[11]);
+  kernel.packet[7]  = vec_mergel(step3[3], step3[11]);
+  kernel.packet[8]  = vec_mergeh(step3[4], step3[12]);
+  kernel.packet[9]  = vec_mergel(step3[4], step3[12]);
+  kernel.packet[10] = vec_mergeh(step3[5], step3[13]);
+  kernel.packet[11] = vec_mergel(step3[5], step3[13]);
+  kernel.packet[12] = vec_mergeh(step3[6], step3[14]);
+  kernel.packet[13] = vec_mergel(step3[6], step3[14]);
+  kernel.packet[14] = vec_mergeh(step3[7], step3[15]);
+  kernel.packet[15] = vec_mergel(step3[7], step3[15]);
+}
+
+template<typename Packet> EIGEN_STRONG_INLINE
+Packet pblend4(const Selector<4>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) {
   Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
   Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
   return vec_sel(elsePacket, thenPacket, mask);
 }
 
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  return pblend4<Packet4i>(ifPacket, thenPacket, elsePacket);
+}
+
 template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
-  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
-  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
+  return pblend4<Packet4f>(ifPacket, thenPacket, elsePacket);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8s pblend(const Selector<8>& ifPacket, const Packet8s& thenPacket, const Packet8s& elsePacket) {
+  Packet8us select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3],
+                       ifPacket.select[4], ifPacket.select[5], ifPacket.select[6], ifPacket.select[7] };
+  Packet8us mask = reinterpret_cast<Packet8us>(vec_cmpeq(select, p8us_ONE));
+  Packet8s result = vec_sel(elsePacket, thenPacket, mask);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us pblend(const Selector<8>& ifPacket, const Packet8us& thenPacket, const Packet8us& elsePacket) {
+  Packet8us select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3],
+                       ifPacket.select[4], ifPacket.select[5], ifPacket.select[6], ifPacket.select[7] };
+  Packet8us mask = reinterpret_cast<Packet8us>(vec_cmpeq(reinterpret_cast<Packet8us>(select), p8us_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pblend(const Selector<8>& ifPacket, const Packet8bf& thenPacket, const Packet8bf& elsePacket) {
+  return pblend<Packet8us>(ifPacket, thenPacket, elsePacket);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16c pblend(const Selector<16>& ifPacket, const Packet16c& thenPacket, const Packet16c& elsePacket) {
+  Packet16uc select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3],
+                       ifPacket.select[4], ifPacket.select[5], ifPacket.select[6], ifPacket.select[7],
+                       ifPacket.select[8], ifPacket.select[9], ifPacket.select[10], ifPacket.select[11],
+                       ifPacket.select[12], ifPacket.select[13], ifPacket.select[14], ifPacket.select[15] };
+
+  Packet16uc mask = reinterpret_cast<Packet16uc>(vec_cmpeq(reinterpret_cast<Packet16uc>(select), p16uc_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16uc pblend(const Selector<16>& ifPacket, const Packet16uc& thenPacket, const Packet16uc& elsePacket) {
+  Packet16uc select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3],
+                       ifPacket.select[4], ifPacket.select[5], ifPacket.select[6], ifPacket.select[7],
+                       ifPacket.select[8], ifPacket.select[9], ifPacket.select[10], ifPacket.select[11],
+                       ifPacket.select[12], ifPacket.select[13], ifPacket.select[14], ifPacket.select[15] };
+
+  Packet16uc mask = reinterpret_cast<Packet16uc>(vec_cmpeq(reinterpret_cast<Packet16uc>(select), p16uc_ONE));
   return vec_sel(elsePacket, thenPacket, mask);
 }
 
+template <>
+struct type_casting_traits<float, int> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<int, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<bfloat16, unsigned short int> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<unsigned short int, bfloat16> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+  return vec_cts(a,0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4ui pcast<Packet4f, Packet4ui>(const Packet4f& a) {
+  return vec_ctu(a,0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+  return vec_ctf(a,0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4ui, Packet4f>(const Packet4ui& a) {
+  return vec_ctf(a,0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8us pcast<Packet8bf, Packet8us>(const Packet8bf& a) {
+  Packet4f float_even = Bf16ToF32Even(a);
+  Packet4f float_odd = Bf16ToF32Odd(a);
+  Packet4ui int_even = pcast<Packet4f, Packet4ui>(float_even);
+  Packet4ui int_odd = pcast<Packet4f, Packet4ui>(float_odd);
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(low_mask, 0x0000FFFF);
+  Packet4ui low_even = pand<Packet4ui>(int_even, p4ui_low_mask);
+  Packet4ui low_odd = pand<Packet4ui>(int_odd, p4ui_low_mask);
+
+  //Check values that are bigger than USHRT_MAX (0xFFFF)
+  Packet4bi overflow_selector;
+  if(vec_any_gt(int_even, p4ui_low_mask)){
+    overflow_selector = vec_cmpgt(int_even, p4ui_low_mask);
+    low_even = vec_sel(low_even, p4ui_low_mask, overflow_selector);
+  }
+  if(vec_any_gt(int_odd, p4ui_low_mask)){
+    overflow_selector = vec_cmpgt(int_odd, p4ui_low_mask);
+    low_odd = vec_sel(low_even, p4ui_low_mask, overflow_selector);
+  }
+
+  low_odd = plogical_shift_left<16>(low_odd);
+
+  Packet4ui int_final = por<Packet4ui>(low_even, low_odd);
+  return reinterpret_cast<Packet8us>(int_final);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8bf pcast<Packet8us, Packet8bf>(const Packet8us& a) {
+  //short -> int -> float -> bfloat16
+  const _EIGEN_DECLARE_CONST_FAST_Packet4ui(low_mask, 0x0000FFFF);
+  Packet4ui int_cast = reinterpret_cast<Packet4ui>(a);
+  Packet4ui int_even = pand<Packet4ui>(int_cast, p4ui_low_mask);
+  Packet4ui int_odd = plogical_shift_right<16>(int_cast);
+  Packet4f float_even = pcast<Packet4ui, Packet4f>(int_even);
+  Packet4f float_odd = pcast<Packet4ui, Packet4f>(int_odd);
+  return F32ToBf16(float_even, float_odd);
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i,Packet4f>(const Packet4f& a) {
+  return reinterpret_cast<Packet4i>(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preinterpret<Packet4f,Packet4i>(const Packet4i& a) {
+  return reinterpret_cast<Packet4f>(a);
+}
+
+
 
 //---------- double ----------
 #ifdef __VSX__
@@ -764,9 +2264,12 @@ typedef __vector __bool long         Packet2bl;
 
 static Packet2l  p2l_ONE  = { 1, 1 };
 static Packet2l  p2l_ZERO = reinterpret_cast<Packet2l>(p4i_ZERO);
-static Packet2d  p2d_ONE  = { 1.0, 1.0 }; 
+static Packet2ul p2ul_SIGN = { 0x8000000000000000ull, 0x8000000000000000ull };
+static Packet2ul p2ul_PREV0DOT5 = { 0x3FDFFFFFFFFFFFFFull, 0x3FDFFFFFFFFFFFFFull };
+static Packet2d  p2d_ONE  = { 1.0, 1.0 };
 static Packet2d  p2d_ZERO = reinterpret_cast<Packet2d>(p4f_ZERO);
-static Packet2d  p2d_MZERO = { -0.0, -0.0 };
+static Packet2d  p2d_MZERO = { numext::bit_cast<double>(0x8000000000000000ull),
+                               numext::bit_cast<double>(0x8000000000000000ull) };
 
 #ifdef _BIG_ENDIAN
 static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ZERO), reinterpret_cast<Packet4f>(p2d_ONE), 8));
@@ -774,16 +2277,9 @@ static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_c
 static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ONE), reinterpret_cast<Packet4f>(p2d_ZERO), 8));
 #endif
 
-template<int index> Packet2d vec_splat_dbl(Packet2d& a);
-
-template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<0>(Packet2d& a)
-{
-  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_HI));
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<1>(Packet2d& a)
+template<int index> Packet2d vec_splat_dbl(Packet2d& a)
 {
-  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_LO));
+  return vec_splat(a, index);
 }
 
 template<> struct packet_traits<double> : default_packet_traits
@@ -812,12 +2308,13 @@ template<> struct packet_traits<double> : default_packet_traits
     HasRound = 1,
     HasFloor = 1,
     HasCeil = 1,
+    HasRint = 1,
     HasNegate = 1,
     HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet2d half; };
 
 inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
 {
@@ -845,21 +2342,13 @@ inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
 template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
 {
   EIGEN_DEBUG_ALIGNED_LOAD
-#ifdef __VSX__
-  return vec_vsx_ld(0, from);
-#else
-  return vec_ld(0, from);
-#endif
+  return vec_xl(0, const_cast<double *>(from)); // cast needed by Clang
 }
 
 template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
 {
   EIGEN_DEBUG_ALIGNED_STORE
-#ifdef __VSX__
-  vec_vsx_st(from, 0, to);
-#else
-  vec_st(from, 0, to);
-#endif
+  vec_xst(from, 0, to);
 }
 
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) {
@@ -867,28 +2356,32 @@ template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) {
   return v;
 }
 
+template<> EIGEN_STRONG_INLINE Packet2d pset1frombits<Packet2d>(unsigned long from) {
+  Packet2l v = {static_cast<long long>(from), static_cast<long long>(from)};
+  return reinterpret_cast<Packet2d>(v);
+}
+
 template<> EIGEN_STRONG_INLINE void
 pbroadcast4<Packet2d>(const double *a,
                       Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
 {
-  a1 = pload<Packet2d>(a);
-  a0 = vec_splat_dbl<0>(a1);
-  a1 = vec_splat_dbl<1>(a1);
-  a3 = pload<Packet2d>(a+2);
-  a2 = vec_splat_dbl<0>(a3);
-  a3 = vec_splat_dbl<1>(a3);
+  //This way is faster than vec_splat (at least for doubles in Power 9)
+  a0 = pset1<Packet2d>(a[0]);
+  a1 = pset1<Packet2d>(a[1]);
+  a2 = pset1<Packet2d>(a[2]);
+  a3 = pset1<Packet2d>(a[3]);
 }
 
 template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
 {
-  double EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 double af[2];
   af[0] = from[0*stride];
   af[1] = from[1*stride];
  return pload<Packet2d>(af);
 }
 template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
 {
-  double EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 double af[2];
   pstore<double>(af, from);
   to[0*stride] = af[0];
   to[1*stride] = af[1];
@@ -910,9 +2403,29 @@ template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const
 // for some weird raisons, it has to be overloaded for packet of integers
 template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
 
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  // NOTE: about 10% slower than vec_min, but consistent with std::min and SSE regarding NaN
+  Packet2d ret;
+  __asm__ ("xvcmpgedp %x0,%x1,%x2\n\txxsel %x0,%x1,%x2,%x0" : "=&wa" (ret) : "wa" (a), "wa" (b));
+  return ret;
+ }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  // NOTE: about 10% slower than vec_max, but consistent with std::max and SSE regarding NaN
+  Packet2d ret;
+  __asm__ ("xvcmpgtdp %x0,%x2,%x1\n\txxsel %x0,%x1,%x2,%x0" : "=&wa" (ret) : "wa" (a), "wa" (b));
+  return ret;
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_le(const Packet2d& a, const Packet2d& b) { return reinterpret_cast<Packet2d>(vec_cmple(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt(const Packet2d& a, const Packet2d& b) { return reinterpret_cast<Packet2d>(vec_cmplt(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_eq(const Packet2d& a, const Packet2d& b) { return reinterpret_cast<Packet2d>(vec_cmpeq(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt_or_nan(const Packet2d& a, const Packet2d& b) {
+  Packet2d c = reinterpret_cast<Packet2d>(vec_cmpge(a,b));
+  return vec_nor(c,c);
+}
 
 template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
 
@@ -922,14 +2435,34 @@ template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const
 
 template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
 
-template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a)
+{
+    Packet2d t = vec_add(reinterpret_cast<Packet2d>(vec_or(vec_and(reinterpret_cast<Packet2ul>(a), p2ul_SIGN), p2ul_PREV0DOT5)), a);
+    Packet2d res;
+
+    __asm__("xvrdpiz %x0, %x1\n\t"
+        : "=&wa" (res)
+        : "wa" (t));
+
+    return res;
+}
 template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
 template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
+template<> EIGEN_STRONG_INLINE Packet2d print<Packet2d>(const Packet2d& a)
+{
+    Packet2d res;
+
+    __asm__("xvrdpic %x0, %x1\n\t"
+        : "=&wa" (res)
+        : "wa" (a));
+
+    return res;
+}
 
 template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
 {
-  EIGEN_DEBUG_ALIGNED_LOAD
-  return (Packet2d) vec_vsx_ld((long)from & 15, (const double*) _EIGEN_ALIGNED_PTR(from));
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return vec_xl(0, const_cast<double*>(from));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
@@ -942,13 +2475,13 @@ template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
 
 template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from)
 {
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_vsx_st((Packet4f)from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+  EIGEN_DEBUG_UNALIGNED_STORE
+  vec_xst(from, 0, to);
 }
 
 template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_PPC_PREFETCH(addr); }
 
-template<> EIGEN_STRONG_INLINE double  pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore<double>(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE double  pfirst<Packet2d>(const Packet2d& a) { EIGEN_ALIGN16 double x[2]; pstore<double>(x, a); return x[0]; }
 
 template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
 {
@@ -956,6 +2489,177 @@ template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
 }
 template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vec_abs(a); }
 
+// VSX support varies between different compilers and even different
+// versions of the same compiler.  For gcc version >= 4.9.3, we can use
+// vec_cts to efficiently convert Packet2d to Packet2l.  Otherwise, use
+// a slow version that works with older compilers. 
+// Update: apparently vec_cts/vec_ctf intrinsics for 64-bit doubles
+// are buggy, https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70963
+template<>
+inline Packet2l pcast<Packet2d, Packet2l>(const Packet2d& x) {
+#if EIGEN_GNUC_AT_LEAST(5, 4) || \
+    (EIGEN_GNUC_AT(6, 1) && __GNUC_PATCHLEVEL__ >= 1)
+  return vec_cts(x, 0);    // TODO: check clang version.
+#else
+  double tmp[2];
+  memcpy(tmp, &x, sizeof(tmp));
+  Packet2l l = { static_cast<long long>(tmp[0]),
+                 static_cast<long long>(tmp[1]) };
+  return l;
+#endif
+}
+
+template<>
+inline Packet2d pcast<Packet2l, Packet2d>(const Packet2l& x) {
+  unsigned long long tmp[2];
+  memcpy(tmp, &x, sizeof(tmp));
+  Packet2d d = { static_cast<double>(tmp[0]),
+                 static_cast<double>(tmp[1]) };
+  return d;
+}
+
+
+// Packet2l shifts.
+// For POWER8 we simply use vec_sr/l. 
+//
+// Things are more complicated for POWER7. There is actually a
+// vec_xxsxdi intrinsic but it is not supported by some gcc versions.
+// So we need to shift by N % 32 and rearrage bytes.
+#ifdef __POWER8_VECTOR__
+
+template<int N>
+EIGEN_STRONG_INLINE Packet2l plogical_shift_left(const Packet2l& a) {
+  const Packet2ul shift = { N, N };
+  return vec_sl(a, shift); 
+}
+
+template<int N>
+EIGEN_STRONG_INLINE Packet2l plogical_shift_right(const Packet2l& a) {
+  const Packet2ul shift = { N, N };
+  return vec_sr(a, shift); 
+}
+
+#else
+
+// Shifts [A, B, C, D] to [B, 0, D, 0].
+// Used to implement left shifts for Packet2l.
+EIGEN_ALWAYS_INLINE Packet4i shift_even_left(const Packet4i& a) {
+  static const Packet16uc perm = {
+      0x14, 0x15, 0x16, 0x17, 0x00, 0x01, 0x02, 0x03, 
+      0x1c, 0x1d, 0x1e, 0x1f, 0x08, 0x09, 0x0a, 0x0b };
+  #ifdef  _BIG_ENDIAN
+    return vec_perm(p4i_ZERO, a, perm);
+  #else
+    return vec_perm(a, p4i_ZERO, perm);
+  #endif
+}
+
+// Shifts [A, B, C, D] to [0, A, 0, C].
+// Used to implement right shifts for Packet2l.
+EIGEN_ALWAYS_INLINE Packet4i shift_odd_right(const Packet4i& a) {
+  static const Packet16uc perm = {
+      0x04, 0x05, 0x06, 0x07, 0x10, 0x11, 0x12, 0x13, 
+      0x0c, 0x0d, 0x0e, 0x0f, 0x18, 0x19, 0x1a, 0x1b };
+  #ifdef  _BIG_ENDIAN
+    return vec_perm(p4i_ZERO, a, perm);
+  #else
+    return vec_perm(a, p4i_ZERO, perm);
+  #endif
+}
+
+template<int N, typename EnableIf = void>
+struct plogical_shift_left_impl;
+
+template<int N>
+struct plogical_shift_left_impl<N, typename enable_if<(N < 32) && (N >= 0)>::type> {
+  static EIGEN_STRONG_INLINE Packet2l run(const Packet2l& a) {
+    static const unsigned n = static_cast<unsigned>(N);
+    const Packet4ui shift = {n, n, n, n};
+    const Packet4i ai = reinterpret_cast<Packet4i>(a);
+    static const unsigned m = static_cast<unsigned>(32 - N);
+    const Packet4ui shift_right = {m, m, m, m};
+    const Packet4i out_hi = vec_sl(ai, shift);
+    const Packet4i out_lo = shift_even_left(vec_sr(ai, shift_right));
+    return reinterpret_cast<Packet2l>(por<Packet4i>(out_hi, out_lo));
+  }
+};
+
+template<int N>
+struct plogical_shift_left_impl<N, typename enable_if<(N >= 32)>::type> {
+  static EIGEN_STRONG_INLINE Packet2l run(const Packet2l& a) {
+    static const unsigned m = static_cast<unsigned>(N - 32);
+    const Packet4ui shift = {m, m, m, m};
+    const Packet4i ai = reinterpret_cast<Packet4i>(a);
+    return reinterpret_cast<Packet2l>(shift_even_left(vec_sl(ai, shift)));
+  }
+};
+
+template<int N>
+EIGEN_STRONG_INLINE Packet2l plogical_shift_left(const Packet2l& a) {
+  return plogical_shift_left_impl<N>::run(a); 
+}
+
+template<int N, typename EnableIf = void>
+struct plogical_shift_right_impl;
+
+template<int N>
+struct plogical_shift_right_impl<N, typename enable_if<(N < 32) && (N >= 0)>::type> {
+  static EIGEN_STRONG_INLINE Packet2l run(const Packet2l& a) {
+    static const unsigned n = static_cast<unsigned>(N);
+    const Packet4ui shift = {n, n, n, n};
+    const Packet4i ai = reinterpret_cast<Packet4i>(a);
+    static const unsigned m = static_cast<unsigned>(32 - N);
+    const Packet4ui shift_left = {m, m, m, m};
+    const Packet4i out_lo = vec_sr(ai, shift);
+    const Packet4i out_hi = shift_odd_right(vec_sl(ai, shift_left));
+    return reinterpret_cast<Packet2l>(por<Packet4i>(out_hi, out_lo));
+  }
+};
+
+template<int N>
+struct plogical_shift_right_impl<N, typename enable_if<(N >= 32)>::type> {
+  static EIGEN_STRONG_INLINE Packet2l run(const Packet2l& a) {
+    static const unsigned m = static_cast<unsigned>(N - 32);
+    const Packet4ui shift = {m, m, m, m};
+    const Packet4i ai = reinterpret_cast<Packet4i>(a);
+    return reinterpret_cast<Packet2l>(shift_odd_right(vec_sr(ai, shift)));
+  }
+};
+
+template<int N>
+EIGEN_STRONG_INLINE Packet2l plogical_shift_right(const Packet2l& a) {
+  return plogical_shift_right_impl<N>::run(a); 
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pldexp<Packet2d>(const Packet2d& a, const Packet2d& exponent) {
+  // Clamp exponent to [-2099, 2099]
+  const Packet2d max_exponent = pset1<Packet2d>(2099.0);
+  const Packet2l e = pcast<Packet2d, Packet2l>(pmin(pmax(exponent, pnegate(max_exponent)), max_exponent));
+
+  // Split 2^e into four factors and multiply:
+  const Packet2l  bias = { 1023, 1023 };
+  Packet2l b = plogical_shift_right<2>(e);  // floor(e/4)
+  Packet2d c = reinterpret_cast<Packet2d>(plogical_shift_left<52>(b + bias));
+  Packet2d out = pmul(pmul(pmul(a, c), c), c); // a * 2^(3b)
+  b = psub(psub(psub(e, b), b), b);  // e - 3b
+  c = reinterpret_cast<Packet2d>(plogical_shift_left<52>(b + bias)); // 2^(e - 3b)
+  out = pmul(out, c); // a * 2^e
+  return out;
+}
+
+
+// Extract exponent without existence of Packet2l.
+template<>
+EIGEN_STRONG_INLINE  
+Packet2d pfrexp_generic_get_biased_exponent(const Packet2d& a) {
+  return pcast<Packet2l, Packet2d>(plogical_shift_right<52>(reinterpret_cast<Packet2l>(pabs(a))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pfrexp<Packet2d> (const Packet2d& a, Packet2d& exponent) {
+  return pfrexp_generic(a, exponent);
+}
+
 template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
 {
   Packet2d b, sum;
@@ -964,20 +2668,6 @@ template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
   return pfirst<Packet2d>(sum);
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  Packet2d v[2], sum;
-  v[0] = vecs[0] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[0]), reinterpret_cast<Packet4f>(vecs[0]), 8));
-  v[1] = vecs[1] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[1]), reinterpret_cast<Packet4f>(vecs[1]), 8));
- 
-#ifdef _BIG_ENDIAN
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[0]), reinterpret_cast<Packet4f>(v[1]), 8));
-#else
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[1]), reinterpret_cast<Packet4f>(v[0]), 8));
-#endif
-
-  return sum;
-}
 // Other reduction functions:
 // mul
 template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
@@ -997,20 +2687,6 @@ template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
   return pfirst(pmax(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
 }
 
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset == 1)
-#ifdef _BIG_ENDIAN
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(first), reinterpret_cast<Packet4ui>(second), 8));
-#else
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(second), reinterpret_cast<Packet4ui>(first), 8));
-#endif
-  }
-};
-
 EIGEN_DEVICE_FUNC inline void
 ptranspose(PacketBlock<Packet2d,2>& kernel) {
   Packet2d t0, t1;
@@ -1022,9 +2698,11 @@ ptranspose(PacketBlock<Packet2d,2>& kernel) {
 
 template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
   Packet2l select = { ifPacket.select[0], ifPacket.select[1] };
-  Packet2bl mask = vec_cmpeq(reinterpret_cast<Packet2d>(select), reinterpret_cast<Packet2d>(p2l_ONE));
+  Packet2bl mask = reinterpret_cast<Packet2bl>( vec_cmpeq(reinterpret_cast<Packet2d>(select), reinterpret_cast<Packet2d>(p2l_ONE)) );
   return vec_sel(elsePacket, thenPacket, mask);
 }
+
+
 #endif // __VSX__
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Complex.h
index 57d1201f44..45f6ddb949 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Complex.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
+// Copyright (C) 2021 C. Antonio Sanchez <cantonios@google.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,94 +11,259 @@
 #ifndef EIGEN_COMPLEX_CUDA_H
 #define EIGEN_COMPLEX_CUDA_H
 
-// clang-format off
+// Many std::complex methods such as operator+, operator-, operator* and
+// operator/ are not constexpr. Due to this, GCC and older versions of clang do
+// not treat them as device functions and thus Eigen functors making use of
+// these operators fail to compile. Here, we manually specialize these
+// operators and functors for complex types when building for CUDA to enable
+// their use on-device.
+//
+// NOTES:
+//  - Compound assignment operators +=,-=,*=,/=(Scalar) will not work on device,
+//    since they are already specialized in the standard. Using them will result
+//    in silent kernel failures.
+//  - Compiling with MSVC and using +=,-=,*=,/=(std::complex<Scalar>) will lead
+//    to duplicate definition errors, since these are already specialized in
+//    Visual Studio's <complex> header (contrary to the standard).  This is
+//    preferable to removing such definitions, which will lead to silent kernel
+//    failures.
+//  - Compiling with ICC requires defining _USE_COMPLEX_SPECIALIZATION_ prior
+//    to the first inclusion of <complex>.
+
+#if defined(EIGEN_CUDACC) && defined(EIGEN_GPU_COMPILE_PHASE)
+    
+// ICC already specializes std::complex<float> and std::complex<double>
+// operators, preventing us from making them device functions here.
+// This will lead to silent runtime errors if the operators are used on device.
+//
+// To allow std::complex operator use on device, define _OVERRIDE_COMPLEX_SPECIALIZATION_
+// prior to first inclusion of <complex>.  This prevents ICC from adding
+// its own specializations, so our custom ones below can be used instead.
+#if !(defined(EIGEN_COMP_ICC) && defined(_USE_COMPLEX_SPECIALIZATION_))
+
+// Import Eigen's internal operator specializations.
+#define EIGEN_USING_STD_COMPLEX_OPERATORS           \
+  using Eigen::complex_operator_detail::operator+;  \
+  using Eigen::complex_operator_detail::operator-;  \
+  using Eigen::complex_operator_detail::operator*;  \
+  using Eigen::complex_operator_detail::operator/;  \
+  using Eigen::complex_operator_detail::operator+=; \
+  using Eigen::complex_operator_detail::operator-=; \
+  using Eigen::complex_operator_detail::operator*=; \
+  using Eigen::complex_operator_detail::operator/=; \
+  using Eigen::complex_operator_detail::operator==; \
+  using Eigen::complex_operator_detail::operator!=;
 
 namespace Eigen {
 
-namespace internal {
+// Specialized std::complex overloads.
+namespace complex_operator_detail {
 
-#if defined(EIGEN_CUDACC) && defined(EIGEN_USE_GPU)
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+std::complex<T> complex_multiply(const std::complex<T>& a, const std::complex<T>& b) {
+  const T a_real = numext::real(a);
+  const T a_imag = numext::imag(a);
+  const T b_real = numext::real(b);
+  const T b_imag = numext::imag(b);
+  return std::complex<T>(
+      a_real * b_real - a_imag * b_imag,
+      a_imag * b_real + a_real * b_imag);
+}
 
-// Many std::complex methods such as operator+, operator-, operator* and
-// operator/ are not constexpr. Due to this, clang does not treat them as device
-// functions and thus Eigen functors making use of these operators fail to
-// compile. Here, we manually specialize these functors for complex types when
-// building for CUDA to avoid non-constexpr methods.
-
-// Sum
-template<typename T> struct scalar_sum_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    return std::complex<T>(numext::real(a) + numext::real(b),
-                           numext::imag(a) + numext::imag(b));
-  }
-};
-
-template<typename T> struct scalar_sum_op<std::complex<T>, std::complex<T> > : scalar_sum_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Difference
-template<typename T> struct scalar_difference_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    return std::complex<T>(numext::real(a) - numext::real(b),
-                           numext::imag(a) - numext::imag(b));
-  }
-};
-
-template<typename T> struct scalar_difference_op<std::complex<T>, std::complex<T> > : scalar_difference_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Product
-template<typename T> struct scalar_product_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  enum {
-    Vectorizable = packet_traits<std::complex<T> >::HasMul
-  };
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    const T a_real = numext::real(a);
-    const T a_imag = numext::imag(a);
-    const T b_real = numext::real(b);
-    const T b_imag = numext::imag(b);
-    return std::complex<T>(a_real * b_real - a_imag * b_imag,
-                           a_real * b_imag + a_imag * b_real);
-  }
-};
-
-template<typename T> struct scalar_product_op<std::complex<T>, std::complex<T> > : scalar_product_op<const std::complex<T>, const std::complex<T> > {};
-
-
-// Quotient
-template<typename T> struct scalar_quotient_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
-  enum {
-    Vectorizable = packet_traits<std::complex<T> >::HasDiv
-  };
-  typedef typename std::complex<T> result_type;
-
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
-    const T a_real = numext::real(a);
-    const T a_imag = numext::imag(a);
-    const T b_real = numext::real(b);
-    const T b_imag = numext::imag(b);
-    const T norm = T(1) / (b_real * b_real + b_imag * b_imag);
-    return std::complex<T>((a_real * b_real + a_imag * b_imag) * norm,
-                           (a_imag * b_real - a_real * b_imag) * norm);
-  }
-};
-
-template<typename T> struct scalar_quotient_op<std::complex<T>, std::complex<T> > : scalar_quotient_op<const std::complex<T>, const std::complex<T> > {};
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+std::complex<T> complex_divide_fast(const std::complex<T>& a, const std::complex<T>& b) {
+  const T a_real = numext::real(a);
+  const T a_imag = numext::imag(a);
+  const T b_real = numext::real(b);
+  const T b_imag = numext::imag(b);
+  const T norm = (b_real * b_real + b_imag * b_imag);
+  return std::complex<T>((a_real * b_real + a_imag * b_imag) / norm,
+                          (a_imag * b_real - a_real * b_imag) / norm);
+}
 
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+std::complex<T> complex_divide_stable(const std::complex<T>& a, const std::complex<T>& b) {
+  const T a_real = numext::real(a);
+  const T a_imag = numext::imag(a);
+  const T b_real = numext::real(b);
+  const T b_imag = numext::imag(b);
+  // Smith's complex division (https://arxiv.org/pdf/1210.4539.pdf),
+  // guards against over/under-flow.
+  const bool scale_imag = numext::abs(b_imag) <= numext::abs(b_real);
+  const T rscale = scale_imag ? T(1) : b_real / b_imag;
+  const T iscale = scale_imag ? b_imag / b_real : T(1);
+  const T denominator = b_real * rscale + b_imag * iscale;
+  return std::complex<T>((a_real * rscale + a_imag * iscale) / denominator, 
+                         (a_imag * rscale - a_real * iscale) / denominator);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+std::complex<T> complex_divide(const std::complex<T>& a, const std::complex<T>& b) {
+#if EIGEN_FAST_MATH
+  return complex_divide_fast(a, b);
+#else
+  return complex_divide_stable(a, b);
 #endif
+}
+
+// NOTE: We cannot specialize compound assignment operators with Scalar T,
+//         (i.e.  operator@=(const T&), for @=+,-,*,/)
+//       since they are already specialized for float/double/long double within
+//       the standard <complex> header. We also do not specialize the stream
+//       operators.
+#define EIGEN_CREATE_STD_COMPLEX_OPERATOR_SPECIALIZATIONS(T)                                    \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator+(const std::complex<T>& a) { return a; }                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator-(const std::complex<T>& a) {                                           \
+  return std::complex<T>(-numext::real(a), -numext::imag(a));                                   \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator+(const std::complex<T>& a, const std::complex<T>& b) {                 \
+  return std::complex<T>(numext::real(a) + numext::real(b), numext::imag(a) + numext::imag(b)); \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator+(const std::complex<T>& a, const T& b) {                               \
+  return std::complex<T>(numext::real(a) + b, numext::imag(a));                                 \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator+(const T& a, const std::complex<T>& b) {                               \
+  return std::complex<T>(a + numext::real(b), numext::imag(b));                                 \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator-(const std::complex<T>& a, const std::complex<T>& b) {                 \
+  return std::complex<T>(numext::real(a) - numext::real(b), numext::imag(a) - numext::imag(b)); \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator-(const std::complex<T>& a, const T& b) {                               \
+  return std::complex<T>(numext::real(a) - b, numext::imag(a));                                 \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator-(const T& a, const std::complex<T>& b) {                               \
+  return std::complex<T>(a - numext::real(b), -numext::imag(b));                                \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator*(const std::complex<T>& a, const std::complex<T>& b) {                 \
+  return complex_multiply(a, b);                                                                \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator*(const std::complex<T>& a, const T& b) {                               \
+  return std::complex<T>(numext::real(a) * b, numext::imag(a) * b);                             \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator*(const T& a, const std::complex<T>& b) {                               \
+  return std::complex<T>(a * numext::real(b), a * numext::imag(b));                             \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator/(const std::complex<T>& a, const std::complex<T>& b) {                 \
+  return complex_divide(a, b);                                                                  \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator/(const std::complex<T>& a, const T& b) {                               \
+  return std::complex<T>(numext::real(a) / b, numext::imag(a) / b);                             \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T> operator/(const T& a, const std::complex<T>& b) {                               \
+  return complex_divide(std::complex<T>(a, 0), b);                                              \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T>& operator+=(std::complex<T>& a, const std::complex<T>& b) {                     \
+  numext::real_ref(a) += numext::real(b);                                                       \
+  numext::imag_ref(a) += numext::imag(b);                                                       \
+  return a;                                                                                     \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T>& operator-=(std::complex<T>& a, const std::complex<T>& b) {                     \
+  numext::real_ref(a) -= numext::real(b);                                                       \
+  numext::imag_ref(a) -= numext::imag(b);                                                       \
+  return a;                                                                                     \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T>& operator*=(std::complex<T>& a, const std::complex<T>& b) {                     \
+  a = complex_multiply(a, b);                                                                   \
+  return a;                                                                                     \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+std::complex<T>& operator/=(std::complex<T>& a, const std::complex<T>& b) {                     \
+  a = complex_divide(a, b);                                                                     \
+  return  a;                                                                                    \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator==(const std::complex<T>& a, const std::complex<T>& b) {                           \
+  return numext::real(a) == numext::real(b) && numext::imag(a) == numext::imag(b);              \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator==(const std::complex<T>& a, const T& b) {                                         \
+  return numext::real(a) == b && numext::imag(a) == 0;                                          \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator==(const T& a, const std::complex<T>& b) {                                         \
+  return a  == numext::real(b) && 0 == numext::imag(b);                                         \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator!=(const std::complex<T>& a, const std::complex<T>& b) {                           \
+  return !(a == b);                                                                             \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator!=(const std::complex<T>& a, const T& b) {                                         \
+  return !(a == b);                                                                             \
+}                                                                                               \
+                                                                                                \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                                                           \
+bool operator!=(const T& a, const std::complex<T>& b) {                                         \
+  return !(a == b);                                                                             \
+}
+
+// Do not specialize for long double, since that reduces to double on device.
+EIGEN_CREATE_STD_COMPLEX_OPERATOR_SPECIALIZATIONS(float)
+EIGEN_CREATE_STD_COMPLEX_OPERATOR_SPECIALIZATIONS(double)
+
+#undef EIGEN_CREATE_STD_COMPLEX_OPERATOR_SPECIALIZATIONS
+
+  
+}  // namespace complex_operator_detail
+
+EIGEN_USING_STD_COMPLEX_OPERATORS
+
+namespace numext {
+EIGEN_USING_STD_COMPLEX_OPERATORS
+}  // namespace numext
+
+namespace internal {
+EIGEN_USING_STD_COMPLEX_OPERATORS
+
+}  // namespace internal
+}  // namespace Eigen
 
-} // end namespace internal
+#endif  // !(EIGEN_COMP_ICC && _USE_COMPLEX_SPECIALIZATION_)
 
-} // end namespace Eigen
+#endif  // EIGEN_CUDACC && EIGEN_GPU_COMPILE_PHASE
 
-#endif // EIGEN_COMPLEX_CUDA_H
+#endif  // EIGEN_COMPLEX_CUDA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Half.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Half.h
deleted file mode 100644
index ee24e615a5..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/Half.h
+++ /dev/null
@@ -1,666 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-//
-// The conversion routines are Copyright (c) Fabian Giesen, 2016.
-// The original license follows:
-//
-// Copyright (c) Fabian Giesen, 2016
-// All rights reserved.
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted.
-// 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
-// HOLDER 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.
-
-
-// Standard 16-bit float type, mostly useful for GPUs. Defines a new
-// type Eigen::half (inheriting from CUDA's __half struct) with
-// operator overloads such that it behaves basically as an arithmetic
-// type. It will be quite slow on CPUs (so it is recommended to stay
-// in fp32 for CPUs, except for simple parameter conversions, I/O
-// to disk and the likes), but fast on GPUs.
-
-
-#ifndef EIGEN_HALF_CUDA_H
-#define EIGEN_HALF_CUDA_H
-
-#if __cplusplus > 199711L
-#define EIGEN_EXPLICIT_CAST(tgt_type) explicit operator tgt_type()
-#else
-#define EIGEN_EXPLICIT_CAST(tgt_type) operator tgt_type()
-#endif
-
-
-namespace Eigen {
-
-struct half;
-
-namespace half_impl {
-
-#if !defined(EIGEN_HAS_CUDA_FP16)
-// Make our own __half_raw definition that is similar to CUDA's.
-struct __half_raw {
-  EIGEN_DEVICE_FUNC __half_raw() : x(0) {}
-  explicit EIGEN_DEVICE_FUNC __half_raw(unsigned short raw) : x(raw) {}
-  unsigned short x;
-};
-#elif defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER < 90000
-// In CUDA < 9.0, __half is the equivalent of CUDA 9's __half_raw
-typedef __half __half_raw;
-#endif
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw raw_uint16_to_half(unsigned short x);
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw float_to_half_rtne(float ff);
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half_raw h);
-
-struct half_base : public __half_raw {
-  EIGEN_DEVICE_FUNC half_base() {}
-  EIGEN_DEVICE_FUNC half_base(const half_base& h) : __half_raw(h) {}
-  EIGEN_DEVICE_FUNC half_base(const __half_raw& h) : __half_raw(h) {}
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER >= 90000
-  EIGEN_DEVICE_FUNC half_base(const __half& h) : __half_raw(*(__half_raw*)&h) {}
-#endif
-};
-
-} // namespace half_impl
-
-// Class definition.
-struct half : public half_impl::half_base {
-  #if !defined(EIGEN_HAS_CUDA_FP16) || (defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER < 90000)
-    typedef half_impl::__half_raw __half_raw;
-  #endif
-
-  EIGEN_DEVICE_FUNC half() {}
-
-  EIGEN_DEVICE_FUNC half(const __half_raw& h) : half_impl::half_base(h) {}
-  EIGEN_DEVICE_FUNC half(const half& h) : half_impl::half_base(h) {}
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDACC_VER) && EIGEN_CUDACC_VER >= 90000
-  EIGEN_DEVICE_FUNC half(const __half& h) : half_impl::half_base(h) {}
-#endif
-
-  explicit EIGEN_DEVICE_FUNC half(bool b)
-      : half_impl::half_base(half_impl::raw_uint16_to_half(b ? 0x3c00 : 0)) {}
-  template<class T>
-  explicit EIGEN_DEVICE_FUNC half(const T& val)
-      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(val))) {}
-  explicit EIGEN_DEVICE_FUNC half(float f)
-      : half_impl::half_base(half_impl::float_to_half_rtne(f)) {}
-
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(bool) const {
-    // +0.0 and -0.0 become false, everything else becomes true.
-    return (x & 0x7fff) != 0;
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(signed char) const {
-    return static_cast<signed char>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned char) const {
-    return static_cast<unsigned char>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(short) const {
-    return static_cast<short>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned short) const {
-    return static_cast<unsigned short>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(int) const {
-    return static_cast<int>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned int) const {
-    return static_cast<unsigned int>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long) const {
-    return static_cast<long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long) const {
-    return static_cast<unsigned long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long long) const {
-    return static_cast<long long>(half_impl::half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long long) const {
-    return static_cast<unsigned long long>(half_to_float(*this));
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(float) const {
-    return half_impl::half_to_float(*this);
-  }
-  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(double) const {
-    return static_cast<double>(half_impl::half_to_float(*this));
-  }
-
-  EIGEN_DEVICE_FUNC half& operator=(const half& other) {
-    x = other.x;
-    return *this;
-  }
-};
-
-namespace half_impl {
-
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-
-// Intrinsics for native fp16 support. Note that on current hardware,
-// these are no faster than fp32 arithmetic (you need to use the half2
-// versions to get the ALU speed increased), but you do save the
-// conversion steps back and forth.
-
-__device__ half operator + (const half& a, const half& b) {
-  return __hadd(a, b);
-}
-__device__ half operator * (const half& a, const half& b) {
-  return __hmul(a, b);
-}
-__device__ half operator - (const half& a, const half& b) {
-  return __hsub(a, b);
-}
-__device__ half operator / (const half& a, const half& b) {
-  float num = __half2float(a);
-  float denom = __half2float(b);
-  return __float2half(num / denom);
-}
-__device__ half operator - (const half& a) {
-  return __hneg(a);
-}
-__device__ half& operator += (half& a, const half& b) {
-  a = a + b;
-  return a;
-}
-__device__ half& operator *= (half& a, const half& b) {
-  a = a * b;
-  return a;
-}
-__device__ half& operator -= (half& a, const half& b) {
-  a = a - b;
-  return a;
-}
-__device__ half& operator /= (half& a, const half& b) {
-  a = a / b;
-  return a;
-}
-__device__ bool operator == (const half& a, const half& b) {
-  return __heq(a, b);
-}
-__device__ bool operator != (const half& a, const half& b) {
-  return __hne(a, b);
-}
-__device__ bool operator < (const half& a, const half& b) {
-  return __hlt(a, b);
-}
-__device__ bool operator <= (const half& a, const half& b) {
-  return __hle(a, b);
-}
-__device__ bool operator > (const half& a, const half& b) {
-  return __hgt(a, b);
-}
-__device__ bool operator >= (const half& a, const half& b) {
-  return __hge(a, b);
-}
-
-#else  // Emulate support for half floats
-
-// Definitions for CPUs and older CUDA, mostly working through conversion
-// to/from fp32.
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
-  return half(float(a) + float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
-  return half(float(a) * float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
-  return half(float(a) - float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
-  return half(float(a) / float(b));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
-  half result;
-  result.x = a.x ^ 0x8000;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
-  a = half(float(a) + float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
-  a = half(float(a) * float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
-  a = half(float(a) - float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
-  a = half(float(a) / float(b));
-  return a;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
-  return float(a) == float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
-  return float(a) != float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
-  return float(a) < float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
-  return float(a) <= float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
-  return float(a) > float(b);
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
-  return float(a) >= float(b);
-}
-
-#endif  // Emulate support for half floats
-
-// Division by an index. Do it in full float precision to avoid accuracy
-// issues in converting the denominator to half.
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, Index b) {
-  return half(static_cast<float>(a) / static_cast<float>(b));
-}
-
-// Conversion routines, including fallbacks for the host or older CUDA.
-// Note that newer Intel CPUs (Haswell or newer) have vectorized versions of
-// these in hardware. If we need more performance on older/other CPUs, they are
-// also possible to vectorize directly.
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw raw_uint16_to_half(unsigned short x) {
-  __half_raw h;
-  h.x = x;
-  return h;
-}
-
-union FP32 {
-  unsigned int u;
-  float f;
-};
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw float_to_half_rtne(float ff) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-  __half tmp_ff = __float2half(ff);
-  return *(__half_raw*)&tmp_ff;
-
-#elif defined(EIGEN_HAS_FP16_C)
-  __half_raw h;
-  h.x = _cvtss_sh(ff, 0);
-  return h;
-
-#else
-  FP32 f; f.f = ff;
-
-  const FP32 f32infty = { 255 << 23 };
-  const FP32 f16max = { (127 + 16) << 23 };
-  const FP32 denorm_magic = { ((127 - 15) + (23 - 10) + 1) << 23 };
-  unsigned int sign_mask = 0x80000000u;
-  __half_raw o;
-  o.x = static_cast<unsigned short>(0x0u);
-
-  unsigned int sign = f.u & sign_mask;
-  f.u ^= sign;
-
-  // NOTE all the integer compares in this function can be safely
-  // compiled into signed compares since all operands are below
-  // 0x80000000. Important if you want fast straight SSE2 code
-  // (since there's no unsigned PCMPGTD).
-
-  if (f.u >= f16max.u) {  // result is Inf or NaN (all exponent bits set)
-    o.x = (f.u > f32infty.u) ? 0x7e00 : 0x7c00; // NaN->qNaN and Inf->Inf
-  } else {  // (De)normalized number or zero
-    if (f.u < (113 << 23)) {  // resulting FP16 is subnormal or zero
-      // use a magic value to align our 10 mantissa bits at the bottom of
-      // the float. as long as FP addition is round-to-nearest-even this
-      // just works.
-      f.f += denorm_magic.f;
-
-      // and one integer subtract of the bias later, we have our final float!
-      o.x = static_cast<unsigned short>(f.u - denorm_magic.u);
-    } else {
-      unsigned int mant_odd = (f.u >> 13) & 1; // resulting mantissa is odd
-
-      // update exponent, rounding bias part 1
-      f.u += ((unsigned int)(15 - 127) << 23) + 0xfff;
-      // rounding bias part 2
-      f.u += mant_odd;
-      // take the bits!
-      o.x = static_cast<unsigned short>(f.u >> 13);
-    }
-  }
-
-  o.x |= static_cast<unsigned short>(sign >> 16);
-  return o;
-#endif
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half_raw h) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-  return __half2float(h);
-
-#elif defined(EIGEN_HAS_FP16_C)
-  return _cvtsh_ss(h.x);
-
-#else
-  const FP32 magic = { 113 << 23 };
-  const unsigned int shifted_exp = 0x7c00 << 13; // exponent mask after shift
-  FP32 o;
-
-  o.u = (h.x & 0x7fff) << 13;             // exponent/mantissa bits
-  unsigned int exp = shifted_exp & o.u;   // just the exponent
-  o.u += (127 - 15) << 23;                // exponent adjust
-
-  // handle exponent special cases
-  if (exp == shifted_exp) {     // Inf/NaN?
-    o.u += (128 - 16) << 23;    // extra exp adjust
-  } else if (exp == 0) {        // Zero/Denormal?
-    o.u += 1 << 23;             // extra exp adjust
-    o.f -= magic.f;             // renormalize
-  }
-
-  o.u |= (h.x & 0x8000) << 16;    // sign bit
-  return o.f;
-#endif
-}
-
-// --- standard functions ---
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const half& a) {
-  return (a.x & 0x7fff) == 0x7c00;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const half& a) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-  return __hisnan(a);
-#else
-  return (a.x & 0x7fff) > 0x7c00;
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const half& a) {
-  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half abs(const half& a) {
-  half result;
-  result.x = a.x & 0x7FFF;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half exp(const half& a) {
-#if EIGEN_CUDACC_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 530
-  return half(hexp(a));
-#else
-   return half(::expf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half expm1(const half& a) {
-  return half(numext::expm1(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log(const half& a) {
-#if defined(EIGEN_HAS_CUDA_FP16) && EIGEN_CUDACC_VER >= 80000 && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-  return half(::hlog(a));
-#else
-  return half(::logf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log1p(const half& a) {
-  return half(numext::log1p(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log10(const half& a) {
-  return half(::log10f(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sqrt(const half& a) {
-#if EIGEN_CUDACC_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 530
-  return half(hsqrt(a));
-#else
-    return half(::sqrtf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half pow(const half& a, const half& b) {
-  return half(::powf(float(a), float(b)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sin(const half& a) {
-  return half(::sinf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half cos(const half& a) {
-  return half(::cosf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tan(const half& a) {
-  return half(::tanf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tanh(const half& a) {
-  return half(::tanhf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half floor(const half& a) {
-#if EIGEN_CUDACC_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 300
-  return half(hfloor(a));
-#else
-  return half(::floorf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half ceil(const half& a) {
-#if EIGEN_CUDACC_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 300
-  return half(hceil(a));
-#else
-  return half(::ceilf(float(a)));
-#endif
-}
-
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (min)(const half& a, const half& b) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-  return __hlt(b, a) ? b : a;
-#else
-  const float f1 = static_cast<float>(a);
-  const float f2 = static_cast<float>(b);
-  return f2 < f1 ? b : a;
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (max)(const half& a, const half& b) {
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-  return __hlt(a, b) ? b : a;
-#else
-  const float f1 = static_cast<float>(a);
-  const float f2 = static_cast<float>(b);
-  return f1 < f2 ? b : a;
-#endif
-}
-
-EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const half& v) {
-  os << static_cast<float>(v);
-  return os;
-}
-
-} // end namespace half_impl
-
-// import Eigen::half_impl::half into Eigen namespace
-// using half_impl::half;
-
-namespace internal {
-
-template<>
-struct random_default_impl<half, false, false>
-{
-  static inline half run(const half& x, const half& y)
-  {
-    return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));
-  }
-  static inline half run()
-  {
-    return run(half(-1.f), half(1.f));
-  }
-};
-
-template<> struct is_arithmetic<half> { enum { value = true }; };
-
-} // end namespace internal
-
-}  // end namespace Eigen
-
-namespace std {
-template<>
-struct numeric_limits<Eigen::half> {
-  static const bool is_specialized = true;
-  static const bool is_signed = true;
-  static const bool is_integer = false;
-  static const bool is_exact = false;
-  static const bool has_infinity = true;
-  static const bool has_quiet_NaN = true;
-  static const bool has_signaling_NaN = true;
-  static const float_denorm_style has_denorm = denorm_present;
-  static const bool has_denorm_loss = false;
-  static const std::float_round_style round_style = std::round_to_nearest;
-  static const bool is_iec559 = false;
-  static const bool is_bounded = false;
-  static const bool is_modulo = false;
-  static const int digits = 11;
-  static const int digits10 = 3;      // according to http://half.sourceforge.net/structstd_1_1numeric__limits_3_01half__float_1_1half_01_4.html
-  static const int max_digits10 = 5;  // according to http://half.sourceforge.net/structstd_1_1numeric__limits_3_01half__float_1_1half_01_4.html
-  static const int radix = 2;
-  static const int min_exponent = -13;
-  static const int min_exponent10 = -4;
-  static const int max_exponent = 16;
-  static const int max_exponent10 = 4;
-  static const bool traps = true;
-  static const bool tinyness_before = false;
-
-  static Eigen::half (min)() { return Eigen::half_impl::raw_uint16_to_half(0x400); }
-  static Eigen::half lowest() { return Eigen::half_impl::raw_uint16_to_half(0xfbff); }
-  static Eigen::half (max)() { return Eigen::half_impl::raw_uint16_to_half(0x7bff); }
-  static Eigen::half epsilon() { return Eigen::half_impl::raw_uint16_to_half(0x0800); }
-  static Eigen::half round_error() { return Eigen::half(0.5); }
-  static Eigen::half infinity() { return Eigen::half_impl::raw_uint16_to_half(0x7c00); }
-  static Eigen::half quiet_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7e00); }
-  static Eigen::half signaling_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7e00); }
-  static Eigen::half denorm_min() { return Eigen::half_impl::raw_uint16_to_half(0x1); }
-};
-}
-
-namespace Eigen {
-
-template<> struct NumTraits<Eigen::half>
-    : GenericNumTraits<Eigen::half>
-{
-  enum {
-    IsSigned = true,
-    IsInteger = false,
-    IsComplex = false,
-    RequireInitialization = false
-  };
-
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half epsilon() {
-    return half_impl::raw_uint16_to_half(0x0800);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half dummy_precision() { return Eigen::half(1e-2f); }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half highest() {
-    return half_impl::raw_uint16_to_half(0x7bff);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half lowest() {
-    return half_impl::raw_uint16_to_half(0xfbff);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half infinity() {
-    return half_impl::raw_uint16_to_half(0x7c00);
-  }
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half quiet_NaN() {
-    return half_impl::raw_uint16_to_half(0x7c01);
-  }
-};
-
-} // end namespace Eigen
-
-// C-like standard mathematical functions and trancendentals.
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half fabsh(const Eigen::half& a) {
-  Eigen::half result;
-  result.x = a.x & 0x7FFF;
-  return result;
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half exph(const Eigen::half& a) {
-  return Eigen::half(::expf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half logh(const Eigen::half& a) {
-#if EIGEN_CUDACC_VER >= 80000 && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530
-  return Eigen::half(::hlog(a));
-#else
-  return Eigen::half(::logf(float(a)));
-#endif
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half sqrth(const Eigen::half& a) {
-  return Eigen::half(::sqrtf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half powh(const Eigen::half& a, const Eigen::half& b) {
-  return Eigen::half(::powf(float(a), float(b)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half floorh(const Eigen::half& a) {
-  return Eigen::half(::floorf(float(a)));
-}
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half ceilh(const Eigen::half& a) {
-  return Eigen::half(::ceilf(float(a)));
-}
-
-namespace std {
-
-#if __cplusplus > 199711L
-template <>
-struct hash<Eigen::half> {
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::half& a) const {
-    return static_cast<std::size_t>(a.x);
-  }
-};
-#endif
-
-} // end namespace std
-
-
-// Add the missing shfl_xor intrinsic
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor(Eigen::half var, int laneMask, int width=warpSize) {
-  #if EIGEN_CUDACC_VER < 90000
-  return static_cast<Eigen::half>(__shfl_xor(static_cast<float>(var), laneMask, width));
-  #else
-  return static_cast<Eigen::half>(__shfl_xor_sync(0xFFFFFFFF, static_cast<float>(var), laneMask, width));
-  #endif
-}
-#endif
-
-// ldg() has an overload for __half_raw, but we also need one for Eigen::half.
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350
-EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half __ldg(const Eigen::half* ptr) {
-  return Eigen::half_impl::raw_uint16_to_half(
-      __ldg(reinterpret_cast<const unsigned short*>(ptr)));
-}
-#endif
-
-
-#if defined(EIGEN_CUDA_ARCH)
-namespace Eigen {
-namespace numext {
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isnan)(const Eigen::half& h) {
-  return (half_impl::isnan)(h);
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isinf)(const Eigen::half& h) {
-  return (half_impl::isinf)(h);
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
-bool (isfinite)(const Eigen::half& h) {
-  return (half_impl::isfinite)(h);
-}
-
-} // namespace Eigen
-}  // namespace numext
-#endif
-
-#endif // EIGEN_HALF_CUDA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMath.h
deleted file mode 100644
index 97a8abe591..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMath.h
+++ /dev/null
@@ -1,333 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_CUDA_H
-#define EIGEN_PACKET_MATH_CUDA_H
-
-namespace Eigen {
-
-namespace internal {
-
-// Make sure this is only available when targeting a GPU: we don't want to
-// introduce conflicts between these packet_traits definitions and the ones
-// we'll use on the host side (SSE, AVX, ...)
-#if defined(EIGEN_CUDACC) && defined(EIGEN_USE_GPU)
-template<> struct is_arithmetic<float4>  { enum { value = true }; };
-template<> struct is_arithmetic<double2> { enum { value = true }; };
-
-template<> struct packet_traits<float> : default_packet_traits
-{
-  typedef float4 type;
-  typedef float4 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasLGamma = 1,
-    HasDiGamma = 1,
-    HasZeta = 1,
-    HasPolygamma = 1,
-    HasErf = 1,
-    HasErfc = 1,
-    HasIGamma = 1,
-    HasIGammac = 1,
-    HasBetaInc = 1,
-
-    HasBlend = 0,
-  };
-};
-
-template<> struct packet_traits<double> : default_packet_traits
-{
-  typedef double2 type;
-  typedef double2 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 0,
-
-    HasDiv  = 1,
-    HasLog  = 1,
-    HasExp  = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    HasLGamma = 1,
-    HasDiGamma = 1,
-    HasZeta = 1,
-    HasPolygamma = 1,
-    HasErf = 1,
-    HasErfc = 1,
-    HasIGamma = 1,
-    HasIGammac = 1,
-    HasBetaInc = 1,
-
-    HasBlend = 0,
-  };
-};
-
-
-template<> struct unpacket_traits<float4>  { typedef float  type; enum {size=4, alignment=Aligned16}; typedef float4 half; };
-template<> struct unpacket_traits<double2> { typedef double type; enum {size=2, alignment=Aligned16}; typedef double2 half; };
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pset1<float4>(const float&  from) {
-  return make_float4(from, from, from, from);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pset1<double2>(const double& from) {
-  return make_double2(from, from);
-}
-
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 plset<float4>(const float& a) {
-  return make_float4(a, a+1, a+2, a+3);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 plset<double2>(const double& a) {
-  return make_double2(a, a+1);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 padd<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 padd<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x+b.x, a.y+b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 psub<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 psub<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x-b.x, a.y-b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pnegate(const float4& a) {
-  return make_float4(-a.x, -a.y, -a.z, -a.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pnegate(const double2& a) {
-  return make_double2(-a.x, -a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pconj(const float4& a) { return a; }
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pconj(const double2& a) { return a; }
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmul<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x*b.x, a.y*b.y, a.z*b.z, a.w*b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmul<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x*b.x, a.y*b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pdiv<float4>(const float4& a, const float4& b) {
-  return make_float4(a.x/b.x, a.y/b.y, a.z/b.z, a.w/b.w);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pdiv<double2>(const double2& a, const double2& b) {
-  return make_double2(a.x/b.x, a.y/b.y);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmin<float4>(const float4& a, const float4& b) {
-  return make_float4(fminf(a.x, b.x), fminf(a.y, b.y), fminf(a.z, b.z), fminf(a.w, b.w));
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmin<double2>(const double2& a, const double2& b) {
-  return make_double2(fmin(a.x, b.x), fmin(a.y, b.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmax<float4>(const float4& a, const float4& b) {
-  return make_float4(fmaxf(a.x, b.x), fmaxf(a.y, b.y), fmaxf(a.z, b.z), fmaxf(a.w, b.w));
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmax<double2>(const double2& a, const double2& b) {
-  return make_double2(fmax(a.x, b.x), fmax(a.y, b.y));
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pload<float4>(const float* from) {
-  return *reinterpret_cast<const float4*>(from);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pload<double2>(const double* from) {
-  return *reinterpret_cast<const double2*>(from);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploadu<float4>(const float* from) {
-  return make_float4(from[0], from[1], from[2], from[3]);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploadu<double2>(const double* from) {
-  return make_double2(from[0], from[1]);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploaddup<float4>(const float*   from) {
-  return make_float4(from[0], from[0], from[1], from[1]);
-}
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploaddup<double2>(const double*  from) {
-  return make_double2(from[0], from[0]);
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<float>(float*   to, const float4& from) {
-  *reinterpret_cast<float4*>(to) = from;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<double>(double* to, const double2& from) {
-  *reinterpret_cast<double2*>(to) = from;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const float4& from) {
-  to[0] = from.x;
-  to[1] = from.y;
-  to[2] = from.z;
-  to[3] = from.w;
-}
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const double2& from) {
-  to[0] = from.x;
-  to[1] = from.y;
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Aligned>(const float* from) {
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350
-  return __ldg((const float4*)from);
-#else
-  return make_float4(from[0], from[1], from[2], from[3]);
-#endif
-}
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Aligned>(const double* from) {
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350
-  return __ldg((const double2*)from);
-#else
-  return make_double2(from[0], from[1]);
-#endif
-}
-
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Unaligned>(const float* from) {
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350
-  return make_float4(__ldg(from+0), __ldg(from+1), __ldg(from+2), __ldg(from+3));
-#else
-  return make_float4(from[0], from[1], from[2], from[3]);
-#endif
-}
-template<>
-EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Unaligned>(const double* from) {
-#if defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350
-  return make_double2(__ldg(from+0), __ldg(from+1));
-#else
-  return make_double2(from[0], from[1]);
-#endif
-}
-
-template<> EIGEN_DEVICE_FUNC inline float4 pgather<float, float4>(const float* from, Index stride) {
-  return make_float4(from[0*stride], from[1*stride], from[2*stride], from[3*stride]);
-}
-
-template<> EIGEN_DEVICE_FUNC inline double2 pgather<double, double2>(const double* from, Index stride) {
-  return make_double2(from[0*stride], from[1*stride]);
-}
-
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, float4>(float* to, const float4& from, Index stride) {
-  to[stride*0] = from.x;
-  to[stride*1] = from.y;
-  to[stride*2] = from.z;
-  to[stride*3] = from.w;
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, double2>(double* to, const double2& from, Index stride) {
-  to[stride*0] = from.x;
-  to[stride*1] = from.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  pfirst<float4>(const float4& a) {
-  return a.x;
-}
-template<> EIGEN_DEVICE_FUNC inline double pfirst<double2>(const double2& a) {
-  return a.x;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux<float4>(const float4& a) {
-  return a.x + a.y + a.z + a.w;
-}
-template<> EIGEN_DEVICE_FUNC inline double predux<double2>(const double2& a) {
-  return a.x + a.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_max<float4>(const float4& a) {
-  return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_max<double2>(const double2& a) {
-  return fmax(a.x, a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_min<float4>(const float4& a) {
-  return fminf(fminf(a.x, a.y), fminf(a.z, a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_min<double2>(const double2& a) {
-  return fmin(a.x, a.y);
-}
-
-template<> EIGEN_DEVICE_FUNC inline float  predux_mul<float4>(const float4& a) {
-  return a.x * a.y * a.z * a.w;
-}
-template<> EIGEN_DEVICE_FUNC inline double predux_mul<double2>(const double2& a) {
-  return a.x * a.y;
-}
-
-template<> EIGEN_DEVICE_FUNC inline float4  pabs<float4>(const float4& a) {
-  return make_float4(fabsf(a.x), fabsf(a.y), fabsf(a.z), fabsf(a.w));
-}
-template<> EIGEN_DEVICE_FUNC inline double2 pabs<double2>(const double2& a) {
-  return make_double2(fabs(a.x), fabs(a.y));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<float4,4>& kernel) {
-  float tmp = kernel.packet[0].y;
-  kernel.packet[0].y = kernel.packet[1].x;
-  kernel.packet[1].x = tmp;
-
-  tmp = kernel.packet[0].z;
-  kernel.packet[0].z = kernel.packet[2].x;
-  kernel.packet[2].x = tmp;
-
-  tmp = kernel.packet[0].w;
-  kernel.packet[0].w = kernel.packet[3].x;
-  kernel.packet[3].x = tmp;
-
-  tmp = kernel.packet[1].z;
-  kernel.packet[1].z = kernel.packet[2].y;
-  kernel.packet[2].y = tmp;
-
-  tmp = kernel.packet[1].w;
-  kernel.packet[1].w = kernel.packet[3].y;
-  kernel.packet[3].y = tmp;
-
-  tmp = kernel.packet[2].w;
-  kernel.packet[2].w = kernel.packet[3].z;
-  kernel.packet[3].z = tmp;
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<double2,2>& kernel) {
-  double tmp = kernel.packet[0].y;
-  kernel.packet[0].y = kernel.packet[1].x;
-  kernel.packet[1].x = tmp;
-}
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-
-#endif // EIGEN_PACKET_MATH_CUDA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMathHalf.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
deleted file mode 100644
index ce48e4b317..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
+++ /dev/null
@@ -1,1133 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PACKET_MATH_HALF_CUDA_H
-#define EIGEN_PACKET_MATH_HALF_CUDA_H
-
-
-namespace Eigen {
-namespace internal {
-
-// Most of the following operations require arch >= 3.0
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDACC) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-
-template<> struct is_arithmetic<half2> { enum { value = true }; };
-
-template<> struct packet_traits<Eigen::half> : default_packet_traits
-{
-  typedef half2 type;
-  typedef half2 half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=2,
-    HasHalfPacket = 0,
-    HasAdd    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasSqrt   = 1,
-    HasRsqrt  = 1,
-    HasExp    = 1,
-    HasExpm1  = 1,
-    HasLog    = 1,
-    HasLog1p  = 1
-  };
-};
-
-template<> struct unpacket_traits<half2> { typedef Eigen::half type; enum {size=2, alignment=Aligned16}; typedef half2 half; };
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pset1<half2>(const Eigen::half& from) {
-  return __half2half2(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pload<half2>(const Eigen::half* from) {
-  return *reinterpret_cast<const half2*>(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 ploadu<half2>(const Eigen::half* from) {
-  return __halves2half2(from[0], from[1]);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 ploaddup<half2>(const Eigen::half*  from) {
-  return __halves2half2(from[0], from[0]);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const half2& from) {
-  *reinterpret_cast<half2*>(to) = from;
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const half2& from) {
-  to[0] = __low2half(from);
-  to[1] = __high2half(from);
-}
-
-template<>
- __device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Aligned>(const Eigen::half* from) {
-#if EIGEN_CUDA_ARCH >= 350
-   return __ldg((const half2*)from);
-#else
-  return __halves2half2(*(from+0), *(from+1));
-#endif
-}
-
-template<>
-__device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Unaligned>(const Eigen::half* from) {
-#if EIGEN_CUDA_ARCH >= 350
-   return __halves2half2(__ldg(from+0), __ldg(from+1));
-#else
-  return __halves2half2(*(from+0), *(from+1));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pgather<Eigen::half, half2>(const Eigen::half* from, Index stride) {
-  return __halves2half2(from[0*stride], from[1*stride]);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE void pscatter<Eigen::half, half2>(Eigen::half* to, const half2& from, Index stride) {
-  to[stride*0] = __low2half(from);
-  to[stride*1] = __high2half(from);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half pfirst<half2>(const half2& a) {
-  return __low2half(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pabs<half2>(const half2& a) {
-  half2 result;
-  unsigned temp = *(reinterpret_cast<const unsigned*>(&(a)));
-  *(reinterpret_cast<unsigned*>(&(result))) = temp & 0x7FFF7FFF;
-  return result;
-}
-
-
-__device__ EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<half2,2>& kernel) {
-  __half a1 = __low2half(kernel.packet[0]);
-  __half a2 = __high2half(kernel.packet[0]);
-  __half b1 = __low2half(kernel.packet[1]);
-  __half b2 = __high2half(kernel.packet[1]);
-  kernel.packet[0] = __halves2half2(a1, b1);
-  kernel.packet[1] = __halves2half2(a2, b2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plset<half2>(const Eigen::half& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __halves2half2(a, __hadd(a, __float2half(1.0f)));
-#else
-  float f = __half2float(a) + 1.0f;
-  return __halves2half2(a, __float2half(f));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 padd<half2>(const half2& a, const half2& b) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hadd2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 + b1;
-  float r2 = a2 + b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 psub<half2>(const half2& a, const half2& b) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hsub2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 - b1;
-  float r2 = a2 - b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pnegate(const half2& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hneg2(a);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return __floats2half2_rn(-a1, -a2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pconj(const half2& a) { return a; }
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmul<half2>(const half2& a, const half2& b) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hmul2(a, b);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 * b1;
-  float r2 = a2 * b2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmadd<half2>(const half2& a, const half2& b, const half2& c) {
-#if EIGEN_CUDA_ARCH >= 530
-   return __hfma2(a, b, c);
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float c1 = __low2float(c);
-  float c2 = __high2float(c);
-  float r1 = a1 * b1 + c1;
-  float r2 = a2 * b2 + c2;
-  return __floats2half2_rn(r1, r2);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pdiv<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  float r1 = a1 / b1;
-  float r2 = a2 / b2;
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmin<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
-  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
-  return __halves2half2(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pmax<half2>(const half2& a, const half2& b) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float b1 = __low2float(b);
-  float b2 = __high2float(b);
-  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
-  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
-  return __halves2half2(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux<half2>(const half2& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hadd(__low2half(a), __high2half(a));
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 + a2)));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_max<half2>(const half2& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  __half first = __low2half(a);
-  __half second = __high2half(a);
-  return __hgt(first, second) ? first : second;
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return a1 > a2 ? __low2half(a) : __high2half(a);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_min<half2>(const half2& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  __half first = __low2half(a);
-  __half second = __high2half(a);
-  return __hlt(first, second) ? first : second;
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return a1 < a2 ? __low2half(a) : __high2half(a);
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_mul<half2>(const half2& a) {
-#if EIGEN_CUDA_ARCH >= 530
-  return __hmul(__low2half(a), __high2half(a));
-#else
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 * a2)));
-#endif
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plog1p<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = log1pf(a1);
-  float r2 = log1pf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pexpm1<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = expm1f(a1);
-  float r2 = expm1f(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-#if EIGEN_CUDACC_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 530
-
-template<>  __device__ EIGEN_STRONG_INLINE
-half2 plog<half2>(const half2& a) {
-  return h2log(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 pexp<half2>(const half2& a) {
-  return h2exp(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 psqrt<half2>(const half2& a) {
-  return h2sqrt(a);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE
-half2 prsqrt<half2>(const half2& a) {
-  return h2rsqrt(a);
-}
-
-#else
-
-template<> __device__ EIGEN_STRONG_INLINE half2 plog<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = logf(a1);
-  float r2 = logf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 pexp<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = expf(a1);
-  float r2 = expf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 psqrt<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = sqrtf(a1);
-  float r2 = sqrtf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-template<> __device__ EIGEN_STRONG_INLINE half2 prsqrt<half2>(const half2& a) {
-  float a1 = __low2float(a);
-  float a2 = __high2float(a);
-  float r1 = rsqrtf(a1);
-  float r2 = rsqrtf(a2);
-  return __floats2half2_rn(r1, r2);
-}
-
-#endif
-
-#elif defined EIGEN_VECTORIZE_AVX512
-
-typedef struct {
-  __m256i x;
-} Packet16h;
-
-
-template<> struct is_arithmetic<Packet16h> { enum { value = true }; };
-
-template <>
-struct packet_traits<half> : default_packet_traits {
-  typedef Packet16h type;
-  // There is no half-size packet for Packet16h.
-  typedef Packet16h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 16,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet16h> { typedef Eigen::half type; enum {size=16, alignment=Aligned32}; typedef Packet16h half; };
-
-template<> EIGEN_STRONG_INLINE Packet16h pset1<Packet16h>(const Eigen::half& from) {
-  Packet16h result;
-  result.x = _mm256_set1_epi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet16h>(const Packet16h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm256_extract_epi16(from.x, 0)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pload<Packet16h>(const Eigen::half* from) {
-  Packet16h result;
-  result.x = _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h ploadu<Packet16h>(const Eigen::half* from) {
-  Packet16h result;
-  result.x = _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet16h& from) {
-  _mm256_store_si256((__m256i*)to, from.x);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet16h& from) {
-  _mm256_storeu_si256((__m256i*)to, from.x);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h
-ploadquad(const Eigen::half* from) {
-  Packet16h result;
-  unsigned short a = from[0].x;
-  unsigned short b = from[1].x;
-  unsigned short c = from[2].x;
-  unsigned short d = from[3].x;
-  result.x = _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
-  return result;
-}
-
-EIGEN_STRONG_INLINE Packet16f half2float(const Packet16h& a) {
-#ifdef EIGEN_HAS_FP16_C
-  return _mm512_cvtph_ps(a.x);
-#else
-  EIGEN_ALIGN64 half aux[16];
-  pstore(aux, a);
-  float f0(aux[0]);
-  float f1(aux[1]);
-  float f2(aux[2]);
-  float f3(aux[3]);
-  float f4(aux[4]);
-  float f5(aux[5]);
-  float f6(aux[6]);
-  float f7(aux[7]);
-  float f8(aux[8]);
-  float f9(aux[9]);
-  float fa(aux[10]);
-  float fb(aux[11]);
-  float fc(aux[12]);
-  float fd(aux[13]);
-  float fe(aux[14]);
-  float ff(aux[15]);
-
-  return _mm512_set_ps(
-      ff, fe, fd, fc, fb, fa, f9, f8, f7, f6, f5, f4, f3, f2, f1, f0);
-#endif
-}
-
-EIGEN_STRONG_INLINE Packet16h float2half(const Packet16f& a) {
-#ifdef EIGEN_HAS_FP16_C
-  Packet16h result;
-  result.x = _mm512_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
-  return result;
-#else
-  EIGEN_ALIGN64 float aux[16];
-  pstore(aux, a);
-  half h0(aux[0]);
-  half h1(aux[1]);
-  half h2(aux[2]);
-  half h3(aux[3]);
-  half h4(aux[4]);
-  half h5(aux[5]);
-  half h6(aux[6]);
-  half h7(aux[7]);
-  half h8(aux[8]);
-  half h9(aux[9]);
-  half ha(aux[10]);
-  half hb(aux[11]);
-  half hc(aux[12]);
-  half hd(aux[13]);
-  half he(aux[14]);
-  half hf(aux[15]);
-
-  Packet16h result;
-  result.x = _mm256_set_epi16(
-      hf.x, he.x, hd.x, hc.x, hb.x, ha.x, h9.x, h8.x,
-      h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
-  return result;
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  Packet16f af = half2float(a);
-  Packet16f bf = half2float(b);
-  Packet16f rf = padd(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  Packet16f af = half2float(a);
-  Packet16f bf = half2float(b);
-  Packet16f rf = pmul(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& from) {
-  Packet16f from_float = half2float(from);
-  return half(predux(from_float));
-}
-
-template<> EIGEN_STRONG_INLINE Packet16h pgather<Eigen::half, Packet16h>(const Eigen::half* from, Index stride)
-{
-  Packet16h result;
-  result.x = _mm256_set_epi16(
-      from[15*stride].x, from[14*stride].x, from[13*stride].x, from[12*stride].x,
-      from[11*stride].x, from[10*stride].x, from[9*stride].x, from[8*stride].x,
-      from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x,
-      from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<half, Packet16h>(half* to, const Packet16h& from, Index stride)
-{
-  EIGEN_ALIGN64 half aux[16];
-  pstore(aux, from);
-  to[stride*0].x = aux[0].x;
-  to[stride*1].x = aux[1].x;
-  to[stride*2].x = aux[2].x;
-  to[stride*3].x = aux[3].x;
-  to[stride*4].x = aux[4].x;
-  to[stride*5].x = aux[5].x;
-  to[stride*6].x = aux[6].x;
-  to[stride*7].x = aux[7].x;
-  to[stride*8].x = aux[8].x;
-  to[stride*9].x = aux[9].x;
-  to[stride*10].x = aux[10].x;
-  to[stride*11].x = aux[11].x;
-  to[stride*12].x = aux[12].x;
-  to[stride*13].x = aux[13].x;
-  to[stride*14].x = aux[14].x;
-  to[stride*15].x = aux[15].x;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,16>& kernel) {
-  __m256i a = kernel.packet[0].x;
-  __m256i b = kernel.packet[1].x;
-  __m256i c = kernel.packet[2].x;
-  __m256i d = kernel.packet[3].x;
-  __m256i e = kernel.packet[4].x;
-  __m256i f = kernel.packet[5].x;
-  __m256i g = kernel.packet[6].x;
-  __m256i h = kernel.packet[7].x;
-  __m256i i = kernel.packet[8].x;
-  __m256i j = kernel.packet[9].x;
-  __m256i k = kernel.packet[10].x;
-  __m256i l = kernel.packet[11].x;
-  __m256i m = kernel.packet[12].x;
-  __m256i n = kernel.packet[13].x;
-  __m256i o = kernel.packet[14].x;
-  __m256i p = kernel.packet[15].x;
-
-  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
-  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
-  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
-  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
-  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
-  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
-  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
-  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
-
-  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
-  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
-  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
-  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
-  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
-  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
-  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
-  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
-
-  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
-  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
-  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
-  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
-  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
-  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
-  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
-  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
-
-  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
-  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
-  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
-  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
-  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
-  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
-  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
-  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
-
-  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
-  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
-  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
-  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
-  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
-  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
-  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
-  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
-  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
-  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
-  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
-  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
-  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
-  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
-  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
-  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
-
-  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
-  __m256i a_p_0 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
-  __m256i a_p_1 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
-  __m256i a_p_2 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
-  __m256i a_p_3 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
-  __m256i a_p_4 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
-  __m256i a_p_5 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
-  __m256i a_p_6 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
-  __m256i a_p_7 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
-  __m256i a_p_8 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
-  __m256i a_p_9 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
-  __m256i a_p_a = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
-  __m256i a_p_b = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
-  __m256i a_p_c = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
-  __m256i a_p_d = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
-  __m256i a_p_e = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
-  __m256i a_p_f = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
-
-  kernel.packet[0].x = a_p_0;
-  kernel.packet[1].x = a_p_1;
-  kernel.packet[2].x = a_p_2;
-  kernel.packet[3].x = a_p_3;
-  kernel.packet[4].x = a_p_4;
-  kernel.packet[5].x = a_p_5;
-  kernel.packet[6].x = a_p_6;
-  kernel.packet[7].x = a_p_7;
-  kernel.packet[8].x = a_p_8;
-  kernel.packet[9].x = a_p_9;
-  kernel.packet[10].x = a_p_a;
-  kernel.packet[11].x = a_p_b;
-  kernel.packet[12].x = a_p_c;
-  kernel.packet[13].x = a_p_d;
-  kernel.packet[14].x = a_p_e;
-  kernel.packet[15].x = a_p_f;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,8>& kernel) {
-  EIGEN_ALIGN64 half in[8][16];
-  pstore<half>(in[0], kernel.packet[0]);
-  pstore<half>(in[1], kernel.packet[1]);
-  pstore<half>(in[2], kernel.packet[2]);
-  pstore<half>(in[3], kernel.packet[3]);
-  pstore<half>(in[4], kernel.packet[4]);
-  pstore<half>(in[5], kernel.packet[5]);
-  pstore<half>(in[6], kernel.packet[6]);
-  pstore<half>(in[7], kernel.packet[7]);
-
-  EIGEN_ALIGN64 half out[8][16];
-
-  for (int i = 0; i < 8; ++i) {
-    for (int j = 0; j < 8; ++j) {
-      out[i][j] = in[j][2*i];
-    }
-    for (int j = 0; j < 8; ++j) {
-      out[i][j+8] = in[j][2*i+1];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet16h>(out[0]);
-  kernel.packet[1] = pload<Packet16h>(out[1]);
-  kernel.packet[2] = pload<Packet16h>(out[2]);
-  kernel.packet[3] = pload<Packet16h>(out[3]);
-  kernel.packet[4] = pload<Packet16h>(out[4]);
-  kernel.packet[5] = pload<Packet16h>(out[5]);
-  kernel.packet[6] = pload<Packet16h>(out[6]);
-  kernel.packet[7] = pload<Packet16h>(out[7]);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet16h,4>& kernel) {
-  EIGEN_ALIGN64 half in[4][16];
-  pstore<half>(in[0], kernel.packet[0]);
-  pstore<half>(in[1], kernel.packet[1]);
-  pstore<half>(in[2], kernel.packet[2]);
-  pstore<half>(in[3], kernel.packet[3]);
-
-  EIGEN_ALIGN64 half out[4][16];
-
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      out[i][j] = in[j][4*i];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+4] = in[j][4*i+1];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+8] = in[j][4*i+2];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+12] = in[j][4*i+3];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet16h>(out[0]);
-  kernel.packet[1] = pload<Packet16h>(out[1]);
-  kernel.packet[2] = pload<Packet16h>(out[2]);
-  kernel.packet[3] = pload<Packet16h>(out[3]);
-}
-
-
-#elif defined EIGEN_VECTORIZE_AVX
-
-typedef struct {
-  __m128i x;
-} Packet8h;
-
-
-template<> struct is_arithmetic<Packet8h> { enum { value = true }; };
-
-template <>
-struct packet_traits<Eigen::half> : default_packet_traits {
-  typedef Packet8h type;
-  // There is no half-size packet for Packet8h.
-  typedef Packet8h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 8,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet8h> { typedef Eigen::half type; enum {size=8, alignment=Aligned16}; typedef Packet8h half; };
-
-template<> EIGEN_STRONG_INLINE Packet8h pset1<Packet8h>(const Eigen::half& from) {
-  Packet8h result;
-  result.x = _mm_set1_epi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8h>(const Packet8h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_extract_epi16(from.x, 0)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pload<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  result.x = _mm_load_si128(reinterpret_cast<const __m128i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h ploadu<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  result.x = _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8h& from) {
-  _mm_store_si128(reinterpret_cast<__m128i*>(to), from.x);
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8h& from) {
-  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from.x);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h
-ploadquad<Packet8h>(const Eigen::half* from) {
-  Packet8h result;
-  unsigned short a = from[0].x;
-  unsigned short b = from[1].x;
-  result.x = _mm_set_epi16(b, b, b, b, a, a, a, a);
-  return result;
-}
-
-EIGEN_STRONG_INLINE Packet8f half2float(const Packet8h& a) {
-#ifdef EIGEN_HAS_FP16_C
-  return _mm256_cvtph_ps(a.x);
-#else
-  EIGEN_ALIGN32 Eigen::half aux[8];
-  pstore(aux, a);
-  float f0(aux[0]);
-  float f1(aux[1]);
-  float f2(aux[2]);
-  float f3(aux[3]);
-  float f4(aux[4]);
-  float f5(aux[5]);
-  float f6(aux[6]);
-  float f7(aux[7]);
-
-  return _mm256_set_ps(f7, f6, f5, f4, f3, f2, f1, f0);
-#endif
-}
-
-EIGEN_STRONG_INLINE Packet8h float2half(const Packet8f& a) {
-#ifdef EIGEN_HAS_FP16_C
-  Packet8h result;
-  result.x = _mm256_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
-  return result;
-#else
-  EIGEN_ALIGN32 float aux[8];
-  pstore(aux, a);
-  Eigen::half h0(aux[0]);
-  Eigen::half h1(aux[1]);
-  Eigen::half h2(aux[2]);
-  Eigen::half h3(aux[3]);
-  Eigen::half h4(aux[4]);
-  Eigen::half h5(aux[5]);
-  Eigen::half h6(aux[6]);
-  Eigen::half h7(aux[7]);
-
-  Packet8h result;
-  result.x = _mm_set_epi16(h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
-  return result;
-#endif
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pconj(const Packet8h& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  Packet8f af = half2float(a);
-  Packet8f bf = half2float(b);
-  Packet8f rf = padd(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  Packet8f af = half2float(a);
-  Packet8f bf = half2float(b);
-  Packet8f rf = pmul(af, bf);
-  return float2half(rf);
-}
-
-template<> EIGEN_STRONG_INLINE Packet8h pgather<Eigen::half, Packet8h>(const Eigen::half* from, Index stride)
-{
-  Packet8h result;
-  result.x = _mm_set_epi16(from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x, from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8h>(Eigen::half* to, const Packet8h& from, Index stride)
-{
-  EIGEN_ALIGN32 Eigen::half aux[8];
-  pstore(aux, from);
-  to[stride*0].x = aux[0].x;
-  to[stride*1].x = aux[1].x;
-  to[stride*2].x = aux[2].x;
-  to[stride*3].x = aux[3].x;
-  to[stride*4].x = aux[4].x;
-  to[stride*5].x = aux[5].x;
-  to[stride*6].x = aux[6].x;
-  to[stride*7].x = aux[7].x;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_max<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_min<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8h>(const Packet8h& a) {
-  Packet8f af = half2float(a);
-  float reduced = predux_mul<Packet8f>(af);
-  return Eigen::half(reduced);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet8h,8>& kernel) {
-  __m128i a = kernel.packet[0].x;
-  __m128i b = kernel.packet[1].x;
-  __m128i c = kernel.packet[2].x;
-  __m128i d = kernel.packet[3].x;
-  __m128i e = kernel.packet[4].x;
-  __m128i f = kernel.packet[5].x;
-  __m128i g = kernel.packet[6].x;
-  __m128i h = kernel.packet[7].x;
-
-  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
-  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
-  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
-  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
-  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
-  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
-  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
-  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
-
-  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
-  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
-  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
-  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
-  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
-  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
-  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
-  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
-
-  __m128i a0b0c0d0e0f0g0h0 = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
-  __m128i a1b1c1d1e1f1g1h1 = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
-  __m128i a2b2c2d2e2f2g2h2 = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
-  __m128i a3b3c3d3e3f3g3h3 = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
-  __m128i a4b4c4d4e4f4g4h4 = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
-  __m128i a5b5c5d5e5f5g5h5 = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
-  __m128i a6b6c6d6e6f6g6h6 = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
-  __m128i a7b7c7d7e7f7g7h7 = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
-
-  kernel.packet[0].x = a0b0c0d0e0f0g0h0;
-  kernel.packet[1].x = a1b1c1d1e1f1g1h1;
-  kernel.packet[2].x = a2b2c2d2e2f2g2h2;
-  kernel.packet[3].x = a3b3c3d3e3f3g3h3;
-  kernel.packet[4].x = a4b4c4d4e4f4g4h4;
-  kernel.packet[5].x = a5b5c5d5e5f5g5h5;
-  kernel.packet[6].x = a6b6c6d6e6f6g6h6;
-  kernel.packet[7].x = a7b7c7d7e7f7g7h7;
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet8h,4>& kernel) {
-  EIGEN_ALIGN32 Eigen::half in[4][8];
-  pstore<Eigen::half>(in[0], kernel.packet[0]);
-  pstore<Eigen::half>(in[1], kernel.packet[1]);
-  pstore<Eigen::half>(in[2], kernel.packet[2]);
-  pstore<Eigen::half>(in[3], kernel.packet[3]);
-
-  EIGEN_ALIGN32 Eigen::half out[4][8];
-
-  for (int i = 0; i < 4; ++i) {
-    for (int j = 0; j < 4; ++j) {
-      out[i][j] = in[j][2*i];
-    }
-    for (int j = 0; j < 4; ++j) {
-      out[i][j+4] = in[j][2*i+1];
-    }
-  }
-
-  kernel.packet[0] = pload<Packet8h>(out[0]);
-  kernel.packet[1] = pload<Packet8h>(out[1]);
-  kernel.packet[2] = pload<Packet8h>(out[2]);
-  kernel.packet[3] = pload<Packet8h>(out[3]);
-}
-
-
-// Disable the following code since it's broken on too many platforms / compilers.
-//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
-#elif 0
-
-typedef struct {
-  __m64 x;
-} Packet4h;
-
-
-template<> struct is_arithmetic<Packet4h> { enum { value = true }; };
-
-template <>
-struct packet_traits<Eigen::half> : default_packet_traits {
-  typedef Packet4h type;
-  // There is no half-size packet for Packet4h.
-  typedef Packet4h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket = 0,
-    HasAdd    = 0,
-    HasSub    = 0,
-    HasMul    = 0,
-    HasNegate = 0,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
-    HasConj   = 0,
-    HasSetLinear = 0,
-    HasDiv = 0,
-    HasSqrt = 0,
-    HasRsqrt = 0,
-    HasExp = 0,
-    HasLog = 0,
-    HasBlend = 0
-  };
-};
-
-
-template<> struct unpacket_traits<Packet4h> { typedef Eigen::half type; enum {size=4, alignment=Aligned16}; typedef Packet4h half; };
-
-template<> EIGEN_STRONG_INLINE Packet4h pset1<Packet4h>(const Eigen::half& from) {
-  Packet4h result;
-  result.x = _mm_set1_pi16(from.x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h>(const Packet4h& from) {
-  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_cvtsi64_si32(from.x)));
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pconj(const Packet4h& a) { return a; }
-
-template<> EIGEN_STRONG_INLINE Packet4h padd<Packet4h>(const Packet4h& a, const Packet4h& b) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  __int64_t b64 = _mm_cvtm64_si64(b.x);
-
-  Eigen::half h[4];
-
-  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
-  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
-  h[0] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
-  h[1] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
-  h[2] = ha + hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
-  h[3] = ha + hb;
-  Packet4h result;
-  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pmul<Packet4h>(const Packet4h& a, const Packet4h& b) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  __int64_t b64 = _mm_cvtm64_si64(b.x);
-
-  Eigen::half h[4];
-
-  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
-  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
-  h[0] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
-  h[1] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
-  h[2] = ha * hb;
-  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
-  h[3] = ha * hb;
-  Packet4h result;
-  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pload<Packet4h>(const Eigen::half* from) {
-  Packet4h result;
-  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h ploadu<Packet4h>(const Eigen::half* from) {
-  Packet4h result;
-  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4h& from) {
-  __int64_t r = _mm_cvtm64_si64(from.x);
-  *(reinterpret_cast<__int64_t*>(to)) = r;
-}
-
-template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4h& from) {
-  __int64_t r = _mm_cvtm64_si64(from.x);
-  *(reinterpret_cast<__int64_t*>(to)) = r;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h
-ploadquad<Packet4h>(const Eigen::half* from) {
-  return pset1<Packet4h>(*from);
-}
-
-template<> EIGEN_STRONG_INLINE Packet4h pgather<Eigen::half, Packet4h>(const Eigen::half* from, Index stride)
-{
-  Packet4h result;
-  result.x = _mm_set_pi16(from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
-  return result;
-}
-
-template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h>(Eigen::half* to, const Packet4h& from, Index stride)
-{
-  __int64_t a = _mm_cvtm64_si64(from.x);
-  to[stride*0].x = static_cast<unsigned short>(a);
-  to[stride*1].x = static_cast<unsigned short>(a >> 16);
-  to[stride*2].x = static_cast<unsigned short>(a >> 32);
-  to[stride*3].x = static_cast<unsigned short>(a >> 48);
-}
-
-EIGEN_STRONG_INLINE void
-ptranspose(PacketBlock<Packet4h,4>& kernel) {
-  __m64 T0 = _mm_unpacklo_pi16(kernel.packet[0].x, kernel.packet[1].x);
-  __m64 T1 = _mm_unpacklo_pi16(kernel.packet[2].x, kernel.packet[3].x);
-  __m64 T2 = _mm_unpackhi_pi16(kernel.packet[0].x, kernel.packet[1].x);
-  __m64 T3 = _mm_unpackhi_pi16(kernel.packet[2].x, kernel.packet[3].x);
-
-  kernel.packet[0].x = _mm_unpacklo_pi32(T0, T1);
-  kernel.packet[1].x = _mm_unpackhi_pi32(T0, T1);
-  kernel.packet[2].x = _mm_unpacklo_pi32(T2, T3);
-  kernel.packet[3].x = _mm_unpackhi_pi32(T2, T3);
-}
-
-#endif
-
-}
-}
-
-#endif // EIGEN_PACKET_MATH_HALF_CUDA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/TypeCasting.h
deleted file mode 100644
index 30f870c3d1..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/TypeCasting.h
+++ /dev/null
@@ -1,212 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TYPE_CASTING_CUDA_H
-#define EIGEN_TYPE_CASTING_CUDA_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<>
-struct scalar_cast_op<float, Eigen::half> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef Eigen::half result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const float& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-      return __float2half(a);
-    #else
-      return Eigen::half(a);
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<float, Eigen::half> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-template<>
-struct scalar_cast_op<int, Eigen::half> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef Eigen::half result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const int& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-      return __float2half(static_cast<float>(a));
-    #else
-      return Eigen::half(static_cast<float>(a));
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<int, Eigen::half> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-template<>
-struct scalar_cast_op<Eigen::half, float> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef float result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::half& a) const {
-    #if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-      return __half2float(a);
-    #else
-      return static_cast<float>(a);
-    #endif
-  }
-};
-
-template<>
-struct functor_traits<scalar_cast_op<Eigen::half, float> >
-{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
-
-
-
-#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 2,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<half2, float4>(const half2& a, const half2& b) {
-  float2 r1 = __half22float2(a);
-  float2 r2 = __half22float2(b);
-  return make_float4(r1.x, r1.y, r2.x, r2.y);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 2
-  };
-};
-
-template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcast<float4, half2>(const float4& a) {
-  // Simply discard the second half of the input
-  return __floats2half2_rn(a.x, a.y);
-}
-
-#elif defined EIGEN_VECTORIZE_AVX512
-template <>
-struct type_casting_traits<half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16h, Packet16f>(const Packet16h& a) {
-  return half2float(a);
-}
-
-template <>
-struct type_casting_traits<float, half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet16h pcast<Packet16f, Packet16h>(const Packet16f& a) {
-  return float2half(a);
-}
-
-#elif defined EIGEN_VECTORIZE_AVX
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8h, Packet8f>(const Packet8h& a) {
-  return half2float(a);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet8h pcast<Packet8f, Packet8h>(const Packet8f& a) {
-  return float2half(a);
-}
-
-// Disable the following code since it's broken on too many platforms / compilers.
-//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
-#elif 0
-
-template <>
-struct type_casting_traits<Eigen::half, float> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4h, Packet4f>(const Packet4h& a) {
-  __int64_t a64 = _mm_cvtm64_si64(a.x);
-  Eigen::half h = raw_uint16_to_half(static_cast<unsigned short>(a64));
-  float f1 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
-  float f2 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
-  float f3 = static_cast<float>(h);
-  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
-  float f4 = static_cast<float>(h);
-  return _mm_set_ps(f4, f3, f2, f1);
-}
-
-template <>
-struct type_casting_traits<float, Eigen::half> {
-  enum {
-    VectorizedCast = 1,
-    SrcCoeffRatio = 1,
-    TgtCoeffRatio = 1
-  };
-};
-
-template<> EIGEN_STRONG_INLINE Packet4h pcast<Packet4f, Packet4h>(const Packet4f& a) {
-  EIGEN_ALIGN16 float aux[4];
-  pstore(aux, a);
-  Eigen::half h0(aux[0]);
-  Eigen::half h1(aux[1]);
-  Eigen::half h2(aux[2]);
-  Eigen::half h3(aux[3]);
-
-  Packet4h result;
-  result.x = _mm_set_pi16(h3.x, h2.x, h1.x, h0.x);
-  return result;
-}
-
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_TYPE_CASTING_CUDA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/BFloat16.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/BFloat16.h
new file mode 100644
index 0000000000..f21d1a0a32
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/BFloat16.h
@@ -0,0 +1,688 @@
+/* Copyright 2017 The TensorFlow Authors. All Rights Reserved.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+==============================================================================*/
+
+#ifndef EIGEN_BFLOAT16_H
+#define EIGEN_BFLOAT16_H
+
+#define BF16_PACKET_FUNCTION(PACKET_F, PACKET_BF16, METHOD)         \
+  template <>                                                       \
+  EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED  \
+  PACKET_BF16 METHOD<PACKET_BF16>(const PACKET_BF16& _x) {          \
+    return F32ToBf16(METHOD<PACKET_F>(Bf16ToF32(_x)));              \
+  }
+
+namespace Eigen {
+
+struct bfloat16;
+
+namespace bfloat16_impl {
+
+// Make our own __bfloat16_raw definition.
+struct __bfloat16_raw {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __bfloat16_raw() : value(0) {}
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __bfloat16_raw(unsigned short raw) : value(raw) {}
+  unsigned short value;
+};
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __bfloat16_raw raw_uint16_to_bfloat16(unsigned short value);
+template <bool AssumeArgumentIsNormalOrInfinityOrZero>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw float_to_bfloat16_rtne(float ff);
+// Forward declarations of template specializations, to avoid Visual C++ 2019 errors, saying:
+// > error C2908: explicit specialization; 'float_to_bfloat16_rtne' has already been instantiated
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw float_to_bfloat16_rtne<false>(float ff);
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw float_to_bfloat16_rtne<true>(float ff);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float bfloat16_to_float(__bfloat16_raw h);
+
+struct bfloat16_base : public __bfloat16_raw {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16_base() {}
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16_base(const __bfloat16_raw& h) : __bfloat16_raw(h) {}
+};
+
+} // namespace bfloat16_impl
+
+// Class definition.
+struct bfloat16 : public bfloat16_impl::bfloat16_base {
+
+  typedef bfloat16_impl::__bfloat16_raw __bfloat16_raw;
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16() {}
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16(const __bfloat16_raw& h) : bfloat16_impl::bfloat16_base(h) {}
+
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16(bool b)
+      : bfloat16_impl::bfloat16_base(bfloat16_impl::raw_uint16_to_bfloat16(b ? 0x3f80 : 0)) {}
+
+  template<class T>
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16(T val)
+      : bfloat16_impl::bfloat16_base(bfloat16_impl::float_to_bfloat16_rtne<internal::is_integral<T>::value>(static_cast<float>(val))) {}
+
+  explicit EIGEN_DEVICE_FUNC bfloat16(float f)
+      : bfloat16_impl::bfloat16_base(bfloat16_impl::float_to_bfloat16_rtne<false>(f)) {}
+
+  // Following the convention of numpy, converting between complex and
+  // float will lead to loss of imag value.
+  template<typename RealScalar>
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR bfloat16(const std::complex<RealScalar>& val)
+      : bfloat16_impl::bfloat16_base(bfloat16_impl::float_to_bfloat16_rtne<false>(static_cast<float>(val.real()))) {}
+
+  EIGEN_DEVICE_FUNC operator float() const {  // NOLINT: Allow implicit conversion to float, because it is lossless.
+    return bfloat16_impl::bfloat16_to_float(*this);
+  }
+};
+} // namespace Eigen
+
+namespace std {
+template<>
+struct numeric_limits<Eigen::bfloat16> {
+  static const bool is_specialized = true;
+  static const bool is_signed = true;
+  static const bool is_integer = false;
+  static const bool is_exact = false;
+  static const bool has_infinity = true;
+  static const bool has_quiet_NaN = true;
+  static const bool has_signaling_NaN = true;
+  static const float_denorm_style has_denorm = std::denorm_absent;
+  static const bool has_denorm_loss = false;
+  static const std::float_round_style round_style = numeric_limits<float>::round_style;
+  static const bool is_iec559 = false;
+  static const bool is_bounded = true;
+  static const bool is_modulo = false;
+  static const int digits = 8;
+  static const int digits10 = 2;
+  static const int max_digits10 = 4;
+  static const int radix = 2;
+  static const int min_exponent = numeric_limits<float>::min_exponent;
+  static const int min_exponent10 = numeric_limits<float>::min_exponent10;
+  static const int max_exponent = numeric_limits<float>::max_exponent;
+  static const int max_exponent10 = numeric_limits<float>::max_exponent10;
+  static const bool traps = numeric_limits<float>::traps;
+  static const bool tinyness_before = numeric_limits<float>::tinyness_before;
+
+  static Eigen::bfloat16 (min)() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x0080); }
+  static Eigen::bfloat16 lowest() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0xff7f); }
+  static Eigen::bfloat16 (max)() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x7f7f); }
+  static Eigen::bfloat16 epsilon() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x3c00); }
+  static Eigen::bfloat16 round_error() { return Eigen::bfloat16(0x3f00); }
+  static Eigen::bfloat16 infinity() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x7f80); }
+  static Eigen::bfloat16 quiet_NaN() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x7fc0); }
+  static Eigen::bfloat16 signaling_NaN() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x7f81); }
+  static Eigen::bfloat16 denorm_min() { return Eigen::bfloat16_impl::raw_uint16_to_bfloat16(0x0001); }
+};
+
+// If std::numeric_limits<T> is specialized, should also specialize
+// std::numeric_limits<const T>, std::numeric_limits<volatile T>, and
+// std::numeric_limits<const volatile T>
+// https://stackoverflow.com/a/16519653/
+template<>
+struct numeric_limits<const Eigen::bfloat16> : numeric_limits<Eigen::bfloat16> {};
+template<>
+struct numeric_limits<volatile Eigen::bfloat16> : numeric_limits<Eigen::bfloat16> {};
+template<>
+struct numeric_limits<const volatile Eigen::bfloat16> : numeric_limits<Eigen::bfloat16> {};
+} // namespace std
+
+namespace Eigen {
+
+namespace bfloat16_impl {
+
+// We need to distinguish ‘clang as the CUDA compiler’ from ‘clang as the host compiler,
+// invoked by NVCC’ (e.g. on MacOS). The former needs to see both host and device implementation
+// of the functions, while the latter can only deal with one of them.
+#if !defined(EIGEN_HAS_NATIVE_BF16) || (EIGEN_COMP_CLANG && !EIGEN_COMP_NVCC) // Emulate support for bfloat16 floats
+
+#if EIGEN_COMP_CLANG && defined(EIGEN_CUDACC)
+// We need to provide emulated *host-side* BF16 operators for clang.
+#pragma push_macro("EIGEN_DEVICE_FUNC")
+#undef EIGEN_DEVICE_FUNC
+#if defined(EIGEN_HAS_CUDA_BF16) && defined(EIGEN_HAS_NATIVE_BF16)
+#define EIGEN_DEVICE_FUNC __host__
+#else // both host and device need emulated ops.
+#define EIGEN_DEVICE_FUNC __host__ __device__
+#endif
+#endif
+
+// Definitions for CPUs, mostly working through conversion
+// to/from fp32.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator + (const bfloat16& a, const bfloat16& b) {
+  return bfloat16(float(a) + float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator + (const bfloat16& a, const int& b) {
+  return bfloat16(float(a) + static_cast<float>(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator + (const int& a, const bfloat16& b) {
+  return bfloat16(static_cast<float>(a) + float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator * (const bfloat16& a, const bfloat16& b) {
+  return bfloat16(float(a) * float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator - (const bfloat16& a, const bfloat16& b) {
+  return bfloat16(float(a) - float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator / (const bfloat16& a, const bfloat16& b) {
+  return bfloat16(float(a) / float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator - (const bfloat16& a) {
+  bfloat16 result;
+  result.value = a.value ^ 0x8000;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16& operator += (bfloat16& a, const bfloat16& b) {
+  a = bfloat16(float(a) + float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16& operator *= (bfloat16& a, const bfloat16& b) {
+  a = bfloat16(float(a) * float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16& operator -= (bfloat16& a, const bfloat16& b) {
+  a = bfloat16(float(a) - float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16& operator /= (bfloat16& a, const bfloat16& b) {
+  a = bfloat16(float(a) / float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator++(bfloat16& a) {
+  a += bfloat16(1);
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator--(bfloat16& a) {
+  a -= bfloat16(1);
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator++(bfloat16& a, int) {
+  bfloat16 original_value = a;
+  ++a;
+  return original_value;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator--(bfloat16& a, int) {
+  bfloat16 original_value = a;
+  --a;
+  return original_value;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const bfloat16& a, const bfloat16& b) {
+  return numext::equal_strict(float(a),float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const bfloat16& a, const bfloat16& b) {
+  return numext::not_equal_strict(float(a), float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const bfloat16& a, const bfloat16& b) {
+  return float(a) < float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const bfloat16& a, const bfloat16& b) {
+  return float(a) <= float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const bfloat16& a, const bfloat16& b) {
+  return float(a) > float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const bfloat16& a, const bfloat16& b) {
+  return float(a) >= float(b);
+}
+
+#if EIGEN_COMP_CLANG && defined(EIGEN_CUDACC)
+#pragma pop_macro("EIGEN_DEVICE_FUNC")
+#endif
+#endif  // Emulate support for bfloat16 floats
+
+// Division by an index. Do it in full float precision to avoid accuracy
+// issues in converting the denominator to bfloat16.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 operator / (const bfloat16& a, Index b) {
+  return bfloat16(static_cast<float>(a) / static_cast<float>(b));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw truncate_to_bfloat16(const float v) {
+  __bfloat16_raw output;
+  if (Eigen::numext::isnan EIGEN_NOT_A_MACRO(v)) {
+    output.value = std::signbit(v) ? 0xFFC0: 0x7FC0;
+    return output;
+  }
+  output.value = static_cast<numext::uint16_t>(numext::bit_cast<numext::uint32_t>(v) >> 16);
+  return output;
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __bfloat16_raw raw_uint16_to_bfloat16(numext::uint16_t value) {
+  return __bfloat16_raw(value);
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR numext::uint16_t raw_bfloat16_as_uint16(const __bfloat16_raw& bf) {
+  return bf.value;
+}
+
+// float_to_bfloat16_rtne template specialization that does not make any
+// assumption about the value of its function argument (ff).
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw float_to_bfloat16_rtne<false>(float ff) {
+#if (defined(EIGEN_HAS_CUDA_BF16) && defined(EIGEN_HAS_HIP_BF16))
+  // Nothing to do here
+#else
+  __bfloat16_raw output;
+
+  if (Eigen::numext::isnan EIGEN_NOT_A_MACRO(ff)) {
+    // If the value is a NaN, squash it to a qNaN with msb of fraction set,
+    // this makes sure after truncation we don't end up with an inf.
+    //
+    // qNaN magic: All exponent bits set + most significant bit of fraction
+    // set.
+    output.value = std::signbit(ff) ? 0xFFC0: 0x7FC0;
+  } else {
+    // Fast rounding algorithm that rounds a half value to nearest even. This
+    // reduces expected error when we convert a large number of floats. Here
+    // is how it works:
+    //
+    // Definitions:
+    // To convert a float 32 to bfloat16, a float 32 can be viewed as 32 bits
+    // with the following tags:
+    //
+    // Sign |  Exp (8 bits) | Frac (23 bits)
+    //  S     EEEEEEEE         FFFFFFLRTTTTTTTTTTTTTTT
+    //
+    //  S: Sign bit.
+    //  E: Exponent bits.
+    //  F: First 6 bits of fraction.
+    //  L: Least significant bit of resulting bfloat16 if we truncate away the
+    //  rest of the float32. This is also the 7th bit of fraction
+    //  R: Rounding bit, 8th bit of fraction.
+    //  T: Sticky bits, rest of fraction, 15 bits.
+    //
+    // To round half to nearest even, there are 3 cases where we want to round
+    // down (simply truncate the result of the bits away, which consists of
+    // rounding bit and sticky bits) and two cases where we want to round up
+    // (truncate then add one to the result).
+    //
+    // The fast converting algorithm simply adds lsb (L) to 0x7fff (15 bits of
+    // 1s) as the rounding bias, adds the rounding bias to the input, then
+    // truncates the last 16 bits away.
+    //
+    // To understand how it works, we can analyze this algorithm case by case:
+    //
+    // 1. L = 0, R = 0:
+    //   Expect: round down, this is less than half value.
+    //
+    //   Algorithm:
+    //   - Rounding bias: 0x7fff + 0 = 0x7fff
+    //   - Adding rounding bias to input may create any carry, depending on
+    //   whether there is any value set to 1 in T bits.
+    //   - R may be set to 1 if there is a carry.
+    //   - L remains 0.
+    //   - Note that this case also handles Inf and -Inf, where all fraction
+    //   bits, including L, R and Ts are all 0. The output remains Inf after
+    //   this algorithm.
+    //
+    // 2. L = 1, R = 0:
+    //   Expect: round down, this is less than half value.
+    //
+    //   Algorithm:
+    //   - Rounding bias: 0x7fff + 1 = 0x8000
+    //   - Adding rounding bias to input doesn't change sticky bits but
+    //   adds 1 to rounding bit.
+    //   - L remains 1.
+    //
+    // 3. L = 0, R = 1, all of T are 0:
+    //   Expect: round down, this is exactly at half, the result is already
+    //   even (L=0).
+    //
+    //   Algorithm:
+    //   - Rounding bias: 0x7fff + 0 = 0x7fff
+    //   - Adding rounding bias to input sets all sticky bits to 1, but
+    //   doesn't create a carry.
+    //   - R remains 1.
+    //   - L remains 0.
+    //
+    // 4. L = 1, R = 1:
+    //   Expect: round up, this is exactly at half, the result needs to be
+    //   round to the next even number.
+    //
+    //   Algorithm:
+    //   - Rounding bias: 0x7fff + 1 = 0x8000
+    //   - Adding rounding bias to input doesn't change sticky bits, but
+    //   creates a carry from rounding bit.
+    //   - The carry sets L to 0, creates another carry bit and propagate
+    //   forward to F bits.
+    //   - If all the F bits are 1, a carry then propagates to the exponent
+    //   bits, which then creates the minimum value with the next exponent
+    //   value. Note that we won't have the case where exponents are all 1,
+    //   since that's either a NaN (handled in the other if condition) or inf
+    //   (handled in case 1).
+    //
+    // 5. L = 0, R = 1, any of T is 1:
+    //   Expect: round up, this is greater than half.
+    //
+    //   Algorithm:
+    //   - Rounding bias: 0x7fff + 0 = 0x7fff
+    //   - Adding rounding bias to input creates a carry from sticky bits,
+    //   sets rounding bit to 0, then create another carry.
+    //   - The second carry sets L to 1.
+    //
+    // Examples:
+    //
+    //  Exact half value that is already even:
+    //    Input:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit) | Frac (last 16 bit)
+    //     S     E E E E E E E E      F F F F F F L     RTTTTTTTTTTTTTTT
+    //     0     0 0 0 0 0 0 0 0      0 0 0 0 0 1 0     1000000000000000
+    //
+    //     This falls into case 3. We truncate the rest of 16 bits and no
+    //     carry is created into F and L:
+    //
+    //    Output:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit)
+    //     S     E E E E E E E E      F F F F F F L
+    //     0     0 0 0 0 0 0 0 0      0 0 0 0 0 1 0
+    //
+    //  Exact half value, round to next even number:
+    //    Input:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit) | Frac (last 16 bit)
+    //     S     E E E E E E E E      F F F F F F L     RTTTTTTTTTTTTTTT
+    //     0     0 0 0 0 0 0 0 0      0 0 0 0 0 0 1     1000000000000000
+    //
+    //     This falls into case 4. We create a carry from R and T,
+    //     which then propagates into L and F:
+    //
+    //    Output:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit)
+    //     S     E E E E E E E E      F F F F F F L
+    //     0     0 0 0 0 0 0 0 0      0 0 0 0 0 1 0
+    //
+    //
+    //  Max denormal value round to min normal value:
+    //    Input:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit) | Frac (last 16 bit)
+    //     S     E E E E E E E E      F F F F F F L     RTTTTTTTTTTTTTTT
+    //     0     0 0 0 0 0 0 0 0      1 1 1 1 1 1 1     1111111111111111
+    //
+    //     This falls into case 4. We create a carry from R and T,
+    //     propagate into L and F, which then propagates into exponent
+    //     bits:
+    //
+    //    Output:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit)
+    //     S     E E E E E E E E      F F F F F F L
+    //     0     0 0 0 0 0 0 0 1      0 0 0 0 0 0 0
+    //
+    //  Max normal value round to Inf:
+    //    Input:
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit) | Frac (last 16 bit)
+    //     S     E E E E E E E E      F F F F F F L     RTTTTTTTTTTTTTTT
+    //     0     1 1 1 1 1 1 1 0      1 1 1 1 1 1 1     1111111111111111
+    //
+    //     This falls into case 4. We create a carry from R and T,
+    //     propagate into L and F, which then propagates into exponent
+    //     bits:
+    //
+    //    Sign |  Exp (8 bit)     | Frac (first 7 bit)
+    //     S     E E E E E E E E      F F F F F F L
+    //     0     1 1 1 1 1 1 1 1      0 0 0 0 0 0 0
+
+    // At this point, ff must be either a normal float, or +/-infinity.
+    output = float_to_bfloat16_rtne<true>(ff);
+  }
+  return output;
+#endif
+}
+
+// float_to_bfloat16_rtne template specialization that assumes that its function
+// argument (ff) is either a normal floating point number, or +/-infinity, or
+// zero. Used to improve the runtime performance of conversion from an integer
+// type to bfloat16.
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __bfloat16_raw float_to_bfloat16_rtne<true>(float ff) {
+#if (defined(EIGEN_HAS_CUDA_BF16) && defined(EIGEN_HAS_HIP_BF16))
+    // Nothing to do here
+#else
+    numext::uint32_t input = numext::bit_cast<numext::uint32_t>(ff);
+    __bfloat16_raw output;
+
+    // Least significant bit of resulting bfloat.
+    numext::uint32_t lsb = (input >> 16) & 1;
+    numext::uint32_t rounding_bias = 0x7fff + lsb;
+    input += rounding_bias;
+    output.value = static_cast<numext::uint16_t>(input >> 16);
+    return output;
+#endif
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float bfloat16_to_float(__bfloat16_raw h) {
+    return numext::bit_cast<float>(static_cast<numext::uint32_t>(h.value) << 16);
+}
+// --- standard functions ---
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const bfloat16& a) {
+  EIGEN_USING_STD(isinf);
+  return (isinf)(float(a));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const bfloat16& a) {
+  EIGEN_USING_STD(isnan);
+  return (isnan)(float(a));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const bfloat16& a) {
+  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 abs(const bfloat16& a) {
+  bfloat16 result;
+  result.value = a.value & 0x7FFF;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 exp(const bfloat16& a) {
+   return bfloat16(::expf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 expm1(const bfloat16& a) {
+  return bfloat16(numext::expm1(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 log(const bfloat16& a) {
+  return bfloat16(::logf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 log1p(const bfloat16& a) {
+  return bfloat16(numext::log1p(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 log10(const bfloat16& a) {
+  return bfloat16(::log10f(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 log2(const bfloat16& a) {
+  return bfloat16(static_cast<float>(EIGEN_LOG2E) * ::logf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 sqrt(const bfloat16& a) {
+    return bfloat16(::sqrtf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 pow(const bfloat16& a, const bfloat16& b) {
+  return bfloat16(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 sin(const bfloat16& a) {
+  return bfloat16(::sinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 cos(const bfloat16& a) {
+  return bfloat16(::cosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 tan(const bfloat16& a) {
+  return bfloat16(::tanf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 asin(const bfloat16& a) {
+  return bfloat16(::asinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 acos(const bfloat16& a) {
+  return bfloat16(::acosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 atan(const bfloat16& a) {
+  return bfloat16(::atanf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 sinh(const bfloat16& a) {
+  return bfloat16(::sinhf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 cosh(const bfloat16& a) {
+  return bfloat16(::coshf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 tanh(const bfloat16& a) {
+  return bfloat16(::tanhf(float(a)));
+}
+#if EIGEN_HAS_CXX11_MATH
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 asinh(const bfloat16& a) {
+  return bfloat16(::asinhf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 acosh(const bfloat16& a) {
+  return bfloat16(::acoshf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 atanh(const bfloat16& a) {
+  return bfloat16(::atanhf(float(a)));
+}
+#endif
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 floor(const bfloat16& a) {
+  return bfloat16(::floorf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 ceil(const bfloat16& a) {
+  return bfloat16(::ceilf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 rint(const bfloat16& a) {
+  return bfloat16(::rintf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 round(const bfloat16& a) {
+  return bfloat16(::roundf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 fmod(const bfloat16& a, const bfloat16& b) {
+  return bfloat16(::fmodf(float(a), float(b)));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 (min)(const bfloat16& a, const bfloat16& b) {
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f2 < f1 ? b : a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 (max)(const bfloat16& a, const bfloat16& b) {
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f1 < f2 ? b : a;
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 fmin(const bfloat16& a, const bfloat16& b) {
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return bfloat16(::fminf(f1, f2));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bfloat16 fmax(const bfloat16& a, const bfloat16& b) {
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return bfloat16(::fmaxf(f1, f2));
+}
+
+#ifndef EIGEN_NO_IO
+EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const bfloat16& v) {
+  os << static_cast<float>(v);
+  return os;
+}
+#endif
+
+} // namespace bfloat16_impl
+
+namespace internal {
+
+template<>
+struct random_default_impl<bfloat16, false, false>
+{
+  static inline bfloat16 run(const bfloat16& x, const bfloat16& y)
+  {
+    return x + (y-x) * bfloat16(float(std::rand()) / float(RAND_MAX));
+  }
+  static inline bfloat16 run()
+  {
+    return run(bfloat16(-1.f), bfloat16(1.f));
+  }
+};
+
+template<> struct is_arithmetic<bfloat16> { enum { value = true }; };
+
+} // namespace internal
+
+template<> struct NumTraits<Eigen::bfloat16>
+    : GenericNumTraits<Eigen::bfloat16>
+{
+  enum {
+    IsSigned = true,
+    IsInteger = false,
+    IsComplex = false,
+    RequireInitialization = false
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 epsilon() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0x3c00);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 dummy_precision() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0x3D4D);  // bfloat16(5e-2f);
+
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 highest() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0x7F7F);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 lowest() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0xFF7F);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 infinity() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0x7f80);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::bfloat16 quiet_NaN() {
+    return bfloat16_impl::raw_uint16_to_bfloat16(0x7fc0);
+  }
+};
+
+} // namespace Eigen
+
+namespace Eigen {
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isnan)(const Eigen::bfloat16& h) {
+  return (bfloat16_impl::isnan)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isinf)(const Eigen::bfloat16& h) {
+  return (bfloat16_impl::isinf)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isfinite)(const Eigen::bfloat16& h) {
+  return (bfloat16_impl::isfinite)(h);
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::bfloat16 bit_cast<Eigen::bfloat16, uint16_t>(const uint16_t& src) {
+  return Eigen::bfloat16(Eigen::bfloat16_impl::raw_uint16_to_bfloat16(src));
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC uint16_t bit_cast<uint16_t, Eigen::bfloat16>(const Eigen::bfloat16& src) {
+  return Eigen::bfloat16_impl::raw_bfloat16_as_uint16(src);
+}
+
+}  // namespace numext
+}  // namespace Eigen
+
+#if EIGEN_HAS_STD_HASH
+namespace std {
+template <>
+struct hash<Eigen::bfloat16> {
+  EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::bfloat16& a) const {
+    return static_cast<std::size_t>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(a));
+  }
+};
+} // namespace std
+#endif
+
+
+#endif // EIGEN_BFLOAT16_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/ConjHelper.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/ConjHelper.h
index 4cfe34e052..53830b5a27 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/ConjHelper.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/ConjHelper.h
@@ -11,19 +11,107 @@
 #ifndef EIGEN_ARCH_CONJ_HELPER_H
 #define EIGEN_ARCH_CONJ_HELPER_H
 
-#define EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(PACKET_CPLX, PACKET_REAL)                                                          \
-  template<> struct conj_helper<PACKET_REAL, PACKET_CPLX, false,false> {                                          \
-    EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_REAL& x, const PACKET_CPLX& y, const PACKET_CPLX& c) const \
-    { return padd(c, pmul(x,y)); }                                                                                \
-    EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_REAL& x, const PACKET_CPLX& y) const                        \
-    { return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x, y.v)); }                                           \
-  };                                                                                                              \
-                                                                                                                  \
-  template<> struct conj_helper<PACKET_CPLX, PACKET_REAL, false,false> {                                          \
-    EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_CPLX& x, const PACKET_REAL& y, const PACKET_CPLX& c) const \
-    { return padd(c, pmul(x,y)); }                                                                                \
-    EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_CPLX& x, const PACKET_REAL& y) const                        \
-    { return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x.v, y)); }                                           \
+#define EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(PACKET_CPLX, PACKET_REAL)      \
+  template <>                                                           \
+  struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
+    EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_REAL& x,         \
+                                          const PACKET_CPLX& y,         \
+                                          const PACKET_CPLX& c) const { \
+      return padd(c, this->pmul(x, y));                                 \
+    }                                                                   \
+    EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_REAL& x,          \
+                                         const PACKET_CPLX& y) const {  \
+      return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x, y.v));   \
+    }                                                                   \
+  };                                                                    \
+                                                                        \
+  template <>                                                           \
+  struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
+    EIGEN_STRONG_INLINE PACKET_CPLX pmadd(const PACKET_CPLX& x,         \
+                                          const PACKET_REAL& y,         \
+                                          const PACKET_CPLX& c) const { \
+      return padd(c, this->pmul(x, y));                                 \
+    }                                                                   \
+    EIGEN_STRONG_INLINE PACKET_CPLX pmul(const PACKET_CPLX& x,          \
+                                         const PACKET_REAL& y) const {  \
+      return PACKET_CPLX(Eigen::internal::pmul<PACKET_REAL>(x.v, y));   \
+    }                                                                   \
   };
 
-#endif // EIGEN_ARCH_CONJ_HELPER_H
+namespace Eigen {
+namespace internal {
+
+template<bool Conjugate> struct conj_if;
+
+template<> struct conj_if<true> {
+  template<typename T>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator()(const T& x) const { return numext::conj(x); }
+  template<typename T>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T pconj(const T& x) const { return internal::pconj(x); }
+};
+
+template<> struct conj_if<false> {
+  template<typename T>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T& operator()(const T& x) const { return x; }
+  template<typename T>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const T& pconj(const T& x) const { return x; }
+};
+
+// Generic Implementation, assume scalars since the packet-version is
+// specialized below.
+template<typename LhsType, typename RhsType, bool ConjLhs, bool ConjRhs>
+struct conj_helper {
+  typedef typename ScalarBinaryOpTraits<LhsType, RhsType>::ReturnType ResultType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType
+  pmadd(const LhsType& x, const RhsType& y, const ResultType& c) const
+  { return this->pmul(x, y) + c; }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType
+  pmul(const LhsType& x, const RhsType& y) const
+  { return conj_if<ConjLhs>()(x) * conj_if<ConjRhs>()(y); }
+};
+
+template<typename LhsScalar, typename RhsScalar>
+struct conj_helper<LhsScalar, RhsScalar, true, true> {
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType ResultType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType
+  pmadd(const LhsScalar& x, const RhsScalar& y, const ResultType& c) const
+  { return this->pmul(x, y) + c; }
+
+  // We save a conjuation by using the identity conj(a)*conj(b) = conj(a*b).
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType
+  pmul(const LhsScalar& x, const RhsScalar& y) const
+  { return numext::conj(x * y); }
+};
+
+// Implementation with equal type, use packet operations.
+template<typename Packet, bool ConjLhs, bool ConjRhs>
+struct conj_helper<Packet, Packet, ConjLhs, ConjRhs>
+{
+  typedef Packet ResultType;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet pmadd(const Packet& x, const Packet& y, const Packet& c) const
+  { return Eigen::internal::pmadd(conj_if<ConjLhs>().pconj(x), conj_if<ConjRhs>().pconj(y), c); }
+
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet pmul(const Packet& x, const Packet& y) const
+  { return Eigen::internal::pmul(conj_if<ConjLhs>().pconj(x), conj_if<ConjRhs>().pconj(y)); }
+};
+
+template<typename Packet>
+struct conj_helper<Packet, Packet, true, true>
+{
+  typedef Packet ResultType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet pmadd(const Packet& x, const Packet& y, const Packet& c) const
+  { return Eigen::internal::pmadd(pconj(x), pconj(y), c); }
+  // We save a conjuation by using the identity conj(a)*conj(b) = conj(a*b).
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet pmul(const Packet& x, const Packet& y) const
+  { return pconj(Eigen::internal::pmul(x, y)); }
+};
+
+}  // namespace internal
+}  // namespace Eigen
+
+#endif  // EIGEN_ARCH_CONJ_HELPER_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h
new file mode 100644
index 0000000000..c9fbaf68b4
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h
@@ -0,0 +1,1649 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+// Copyright (C) 2009-2019 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The exp and log functions of this file initially come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_H
+#define EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_H
+
+namespace Eigen {
+namespace internal {
+
+// Creates a Scalar integer type with same bit-width.
+template<typename T> struct make_integer;
+template<> struct make_integer<float>    { typedef numext::int32_t type; };
+template<> struct make_integer<double>   { typedef numext::int64_t type; };
+template<> struct make_integer<half>     { typedef numext::int16_t type; };
+template<> struct make_integer<bfloat16> { typedef numext::int16_t type; };
+
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC  
+Packet pfrexp_generic_get_biased_exponent(const Packet& a) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  typedef typename unpacket_traits<Packet>::integer_packet PacketI;
+  enum { mantissa_bits = numext::numeric_limits<Scalar>::digits - 1};
+  return pcast<PacketI, Packet>(plogical_shift_right<mantissa_bits>(preinterpret<PacketI>(pabs(a))));
+}
+
+// Safely applies frexp, correctly handles denormals.
+// Assumes IEEE floating point format.
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+Packet pfrexp_generic(const Packet& a, Packet& exponent) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  typedef typename make_unsigned<typename make_integer<Scalar>::type>::type ScalarUI;
+  enum {
+    TotalBits = sizeof(Scalar) * CHAR_BIT,
+    MantissaBits = numext::numeric_limits<Scalar>::digits - 1,
+    ExponentBits = int(TotalBits) - int(MantissaBits) - 1
+  };
+
+  EIGEN_CONSTEXPR ScalarUI scalar_sign_mantissa_mask = 
+      ~(((ScalarUI(1) << int(ExponentBits)) - ScalarUI(1)) << int(MantissaBits)); // ~0x7f800000
+  const Packet sign_mantissa_mask = pset1frombits<Packet>(static_cast<ScalarUI>(scalar_sign_mantissa_mask)); 
+  const Packet half = pset1<Packet>(Scalar(0.5));
+  const Packet zero = pzero(a);
+  const Packet normal_min = pset1<Packet>((numext::numeric_limits<Scalar>::min)()); // Minimum normal value, 2^-126
+  
+  // To handle denormals, normalize by multiplying by 2^(int(MantissaBits)+1).
+  const Packet is_denormal = pcmp_lt(pabs(a), normal_min);
+  EIGEN_CONSTEXPR ScalarUI scalar_normalization_offset = ScalarUI(int(MantissaBits) + 1); // 24
+  // The following cannot be constexpr because bfloat16(uint16_t) is not constexpr.
+  const Scalar scalar_normalization_factor = Scalar(ScalarUI(1) << int(scalar_normalization_offset)); // 2^24
+  const Packet normalization_factor = pset1<Packet>(scalar_normalization_factor);  
+  const Packet normalized_a = pselect(is_denormal, pmul(a, normalization_factor), a);
+  
+  // Determine exponent offset: -126 if normal, -126-24 if denormal
+  const Scalar scalar_exponent_offset = -Scalar((ScalarUI(1)<<(int(ExponentBits)-1)) - ScalarUI(2)); // -126
+  Packet exponent_offset = pset1<Packet>(scalar_exponent_offset);
+  const Packet normalization_offset = pset1<Packet>(-Scalar(scalar_normalization_offset)); // -24
+  exponent_offset = pselect(is_denormal, padd(exponent_offset, normalization_offset), exponent_offset);
+  
+  // Determine exponent and mantissa from normalized_a.
+  exponent = pfrexp_generic_get_biased_exponent(normalized_a);
+  // Zero, Inf and NaN return 'a' unmodified, exponent is zero
+  // (technically the exponent is unspecified for inf/NaN, but GCC/Clang set it to zero)
+  const Scalar scalar_non_finite_exponent = Scalar((ScalarUI(1) << int(ExponentBits)) - ScalarUI(1));  // 255
+  const Packet non_finite_exponent = pset1<Packet>(scalar_non_finite_exponent);
+  const Packet is_zero_or_not_finite = por(pcmp_eq(a, zero), pcmp_eq(exponent, non_finite_exponent));
+  const Packet m = pselect(is_zero_or_not_finite, a, por(pand(normalized_a, sign_mantissa_mask), half));
+  exponent = pselect(is_zero_or_not_finite, zero, padd(exponent, exponent_offset));  
+  return m;
+}
+
+// Safely applies ldexp, correctly handles overflows, underflows and denormals.
+// Assumes IEEE floating point format.
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+Packet pldexp_generic(const Packet& a, const Packet& exponent) {
+  // We want to return a * 2^exponent, allowing for all possible integer
+  // exponents without overflowing or underflowing in intermediate
+  // computations.
+  //
+  // Since 'a' and the output can be denormal, the maximum range of 'exponent'
+  // to consider for a float is:
+  //   -255-23 -> 255+23
+  // Below -278 any finite float 'a' will become zero, and above +278 any
+  // finite float will become inf, including when 'a' is the smallest possible 
+  // denormal.
+  //
+  // Unfortunately, 2^(278) cannot be represented using either one or two
+  // finite normal floats, so we must split the scale factor into at least
+  // three parts. It turns out to be faster to split 'exponent' into four
+  // factors, since [exponent>>2] is much faster to compute that [exponent/3].
+  //
+  // Set e = min(max(exponent, -278), 278);
+  //     b = floor(e/4);
+  //   out = ((((a * 2^(b)) * 2^(b)) * 2^(b)) * 2^(e-3*b))
+  //
+  // This will avoid any intermediate overflows and correctly handle 0, inf,
+  // NaN cases.
+  typedef typename unpacket_traits<Packet>::integer_packet PacketI;
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  typedef typename unpacket_traits<PacketI>::type ScalarI;
+  enum {
+    TotalBits = sizeof(Scalar) * CHAR_BIT,
+    MantissaBits = numext::numeric_limits<Scalar>::digits - 1,
+    ExponentBits = int(TotalBits) - int(MantissaBits) - 1
+  };
+
+  const Packet max_exponent = pset1<Packet>(Scalar((ScalarI(1)<<int(ExponentBits)) + ScalarI(int(MantissaBits) - 1)));  // 278
+  const PacketI bias = pset1<PacketI>((ScalarI(1)<<(int(ExponentBits)-1)) - ScalarI(1));  // 127
+  const PacketI e = pcast<Packet, PacketI>(pmin(pmax(exponent, pnegate(max_exponent)), max_exponent));
+  PacketI b = parithmetic_shift_right<2>(e); // floor(e/4);
+  Packet c = preinterpret<Packet>(plogical_shift_left<int(MantissaBits)>(padd(b, bias)));  // 2^b
+  Packet out = pmul(pmul(pmul(a, c), c), c);  // a * 2^(3b)
+  b = psub(psub(psub(e, b), b), b); // e - 3b
+  c = preinterpret<Packet>(plogical_shift_left<int(MantissaBits)>(padd(b, bias)));  // 2^(e-3*b)
+  out = pmul(out, c);
+  return out;
+}
+
+// Explicitly multiplies 
+//    a * (2^e)
+// clamping e to the range
+// [NumTraits<Scalar>::min_exponent()-2, NumTraits<Scalar>::max_exponent()]
+//
+// This is approx 7x faster than pldexp_impl, but will prematurely over/underflow
+// if 2^e doesn't fit into a normal floating-point Scalar.
+//
+// Assumes IEEE floating point format
+template<typename Packet>
+struct pldexp_fast_impl {
+  typedef typename unpacket_traits<Packet>::integer_packet PacketI;
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  typedef typename unpacket_traits<PacketI>::type ScalarI;
+  enum {
+    TotalBits = sizeof(Scalar) * CHAR_BIT,
+    MantissaBits = numext::numeric_limits<Scalar>::digits - 1,
+    ExponentBits = int(TotalBits) - int(MantissaBits) - 1
+  };
+  
+  static EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+  Packet run(const Packet& a, const Packet& exponent) {
+    const Packet bias = pset1<Packet>(Scalar((ScalarI(1)<<(int(ExponentBits)-1)) - ScalarI(1)));  // 127
+    const Packet limit = pset1<Packet>(Scalar((ScalarI(1)<<int(ExponentBits)) - ScalarI(1)));     // 255
+    // restrict biased exponent between 0 and 255 for float.
+    const PacketI e = pcast<Packet, PacketI>(pmin(pmax(padd(exponent, bias), pzero(limit)), limit)); // exponent + 127
+    // return a * (2^e)
+    return pmul(a, preinterpret<Packet>(plogical_shift_left<int(MantissaBits)>(e)));
+  }
+};
+
+// Natural or base 2 logarithm.
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+// TODO(gonnet): Further reduce the interval allowing for lower-degree
+//               polynomial interpolants -> ... -> profit!
+template <typename Packet, bool base2>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_impl_float(const Packet _x)
+{
+  Packet x = _x;
+
+  const Packet cst_1              = pset1<Packet>(1.0f);
+  const Packet cst_neg_half       = pset1<Packet>(-0.5f);
+  // The smallest non denormalized float number.
+  const Packet cst_min_norm_pos   = pset1frombits<Packet>( 0x00800000u);
+  const Packet cst_minus_inf      = pset1frombits<Packet>( 0xff800000u);
+  const Packet cst_pos_inf        = pset1frombits<Packet>( 0x7f800000u);
+
+  // Polynomial coefficients.
+  const Packet cst_cephes_SQRTHF = pset1<Packet>(0.707106781186547524f);
+  const Packet cst_cephes_log_p0 = pset1<Packet>(7.0376836292E-2f);
+  const Packet cst_cephes_log_p1 = pset1<Packet>(-1.1514610310E-1f);
+  const Packet cst_cephes_log_p2 = pset1<Packet>(1.1676998740E-1f);
+  const Packet cst_cephes_log_p3 = pset1<Packet>(-1.2420140846E-1f);
+  const Packet cst_cephes_log_p4 = pset1<Packet>(+1.4249322787E-1f);
+  const Packet cst_cephes_log_p5 = pset1<Packet>(-1.6668057665E-1f);
+  const Packet cst_cephes_log_p6 = pset1<Packet>(+2.0000714765E-1f);
+  const Packet cst_cephes_log_p7 = pset1<Packet>(-2.4999993993E-1f);
+  const Packet cst_cephes_log_p8 = pset1<Packet>(+3.3333331174E-1f);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, cst_min_norm_pos);
+
+  Packet e;
+  // extract significant in the range [0.5,1) and exponent
+  x = pfrexp(x,e);
+
+  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  Packet mask = pcmp_lt(x, cst_cephes_SQRTHF);
+  Packet tmp = pand(x, mask);
+  x = psub(x, cst_1);
+  e = psub(e, pand(cst_1, mask));
+  x = padd(x, tmp);
+
+  Packet x2 = pmul(x, x);
+  Packet x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant of degree 8 in three parts, probably
+  // to improve instruction-level parallelism.
+  Packet y, y1, y2;
+  y  = pmadd(cst_cephes_log_p0, x, cst_cephes_log_p1);
+  y1 = pmadd(cst_cephes_log_p3, x, cst_cephes_log_p4);
+  y2 = pmadd(cst_cephes_log_p6, x, cst_cephes_log_p7);
+  y  = pmadd(y, x, cst_cephes_log_p2);
+  y1 = pmadd(y1, x, cst_cephes_log_p5);
+  y2 = pmadd(y2, x, cst_cephes_log_p8);
+  y  = pmadd(y, x3, y1);
+  y  = pmadd(y, x3, y2);
+  y  = pmul(y, x3);
+
+  y = pmadd(cst_neg_half, x2, y);
+  x = padd(x, y);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  if (base2) {
+    const Packet cst_log2e = pset1<Packet>(static_cast<float>(EIGEN_LOG2E));
+    x = pmadd(x, cst_log2e, e);
+  } else {
+    const Packet cst_ln2 = pset1<Packet>(static_cast<float>(EIGEN_LN2));
+    x = pmadd(e, cst_ln2, x);
+  }
+
+  Packet invalid_mask = pcmp_lt_or_nan(_x, pzero(_x));
+  Packet iszero_mask  = pcmp_eq(_x,pzero(_x));
+  Packet pos_inf_mask = pcmp_eq(_x,cst_pos_inf);
+  // Filter out invalid inputs, i.e.:
+  //  - negative arg will be NAN
+  //  - 0 will be -INF
+  //  - +INF will be +INF
+  return pselect(iszero_mask, cst_minus_inf,
+                              por(pselect(pos_inf_mask,cst_pos_inf,x), invalid_mask));
+}
+
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_float(const Packet _x)
+{
+  return plog_impl_float<Packet, /* base2 */ false>(_x);
+}
+
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog2_float(const Packet _x)
+{
+  return plog_impl_float<Packet, /* base2 */ true>(_x);
+}
+
+/* Returns the base e (2.718...) or base 2 logarithm of x.
+ * The argument is separated into its exponent and fractional parts.
+ * The logarithm of the fraction in the interval [sqrt(1/2), sqrt(2)],
+ * is approximated by
+ *
+ *     log(1+x) = x - 0.5 x**2 + x**3 P(x)/Q(x).
+ *
+ * for more detail see: http://www.netlib.org/cephes/
+ */
+template <typename Packet, bool base2>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_impl_double(const Packet _x)
+{
+  Packet x = _x;
+
+  const Packet cst_1              = pset1<Packet>(1.0);
+  const Packet cst_neg_half       = pset1<Packet>(-0.5);
+  // The smallest non denormalized double.
+  const Packet cst_min_norm_pos   = pset1frombits<Packet>( static_cast<uint64_t>(0x0010000000000000ull));
+  const Packet cst_minus_inf      = pset1frombits<Packet>( static_cast<uint64_t>(0xfff0000000000000ull));
+  const Packet cst_pos_inf        = pset1frombits<Packet>( static_cast<uint64_t>(0x7ff0000000000000ull));
+
+
+ // Polynomial Coefficients for log(1+x) = x - x**2/2 + x**3 P(x)/Q(x)
+ //                             1/sqrt(2) <= x < sqrt(2)
+  const Packet cst_cephes_SQRTHF = pset1<Packet>(0.70710678118654752440E0);
+  const Packet cst_cephes_log_p0 = pset1<Packet>(1.01875663804580931796E-4);
+  const Packet cst_cephes_log_p1 = pset1<Packet>(4.97494994976747001425E-1);
+  const Packet cst_cephes_log_p2 = pset1<Packet>(4.70579119878881725854E0);
+  const Packet cst_cephes_log_p3 = pset1<Packet>(1.44989225341610930846E1);
+  const Packet cst_cephes_log_p4 = pset1<Packet>(1.79368678507819816313E1);
+  const Packet cst_cephes_log_p5 = pset1<Packet>(7.70838733755885391666E0);
+
+  const Packet cst_cephes_log_q0 = pset1<Packet>(1.0);
+  const Packet cst_cephes_log_q1 = pset1<Packet>(1.12873587189167450590E1);
+  const Packet cst_cephes_log_q2 = pset1<Packet>(4.52279145837532221105E1);
+  const Packet cst_cephes_log_q3 = pset1<Packet>(8.29875266912776603211E1);
+  const Packet cst_cephes_log_q4 = pset1<Packet>(7.11544750618563894466E1);
+  const Packet cst_cephes_log_q5 = pset1<Packet>(2.31251620126765340583E1);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, cst_min_norm_pos);
+
+  Packet e;
+  // extract significant in the range [0.5,1) and exponent
+  x = pfrexp(x,e);
+  
+  // Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  Packet mask = pcmp_lt(x, cst_cephes_SQRTHF);
+  Packet tmp = pand(x, mask);
+  x = psub(x, cst_1);
+  e = psub(e, pand(cst_1, mask));
+  x = padd(x, tmp);
+
+  Packet x2 = pmul(x, x);
+  Packet x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant , probably to improve instruction-level parallelism.
+  // y = x - 0.5*x^2 + x^3 * polevl( x, P, 5 ) / p1evl( x, Q, 5 ) );
+  Packet y, y1, y_;
+  y  = pmadd(cst_cephes_log_p0, x, cst_cephes_log_p1);
+  y1 = pmadd(cst_cephes_log_p3, x, cst_cephes_log_p4);
+  y  = pmadd(y, x, cst_cephes_log_p2);
+  y1 = pmadd(y1, x, cst_cephes_log_p5);
+  y_ = pmadd(y, x3, y1);
+
+  y  = pmadd(cst_cephes_log_q0, x, cst_cephes_log_q1);
+  y1 = pmadd(cst_cephes_log_q3, x, cst_cephes_log_q4);
+  y  = pmadd(y, x, cst_cephes_log_q2);
+  y1 = pmadd(y1, x, cst_cephes_log_q5);
+  y  = pmadd(y, x3, y1);
+
+  y_ = pmul(y_, x3);
+  y  = pdiv(y_, y);
+
+  y = pmadd(cst_neg_half, x2, y);
+  x = padd(x, y);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  if (base2) {
+    const Packet cst_log2e = pset1<Packet>(static_cast<double>(EIGEN_LOG2E));
+    x = pmadd(x, cst_log2e, e);
+  } else {
+    const Packet cst_ln2 = pset1<Packet>(static_cast<double>(EIGEN_LN2));
+    x = pmadd(e, cst_ln2, x);
+  }
+
+  Packet invalid_mask = pcmp_lt_or_nan(_x, pzero(_x));
+  Packet iszero_mask  = pcmp_eq(_x,pzero(_x));
+  Packet pos_inf_mask = pcmp_eq(_x,cst_pos_inf);
+  // Filter out invalid inputs, i.e.:
+  //  - negative arg will be NAN
+  //  - 0 will be -INF
+  //  - +INF will be +INF
+  return pselect(iszero_mask, cst_minus_inf,
+                              por(pselect(pos_inf_mask,cst_pos_inf,x), invalid_mask));
+}
+
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_double(const Packet _x)
+{
+  return plog_impl_double<Packet, /* base2 */ false>(_x);
+}
+
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog2_double(const Packet _x)
+{
+  return plog_impl_double<Packet, /* base2 */ true>(_x);
+}
+
+/** \internal \returns log(1 + x) computed using W. Kahan's formula.
+    See: http://www.plunk.org/~hatch/rightway.php
+ */
+template<typename Packet>
+Packet generic_plog1p(const Packet& x)
+{
+  typedef typename unpacket_traits<Packet>::type ScalarType;
+  const Packet one = pset1<Packet>(ScalarType(1));
+  Packet xp1 = padd(x, one);
+  Packet small_mask = pcmp_eq(xp1, one);
+  Packet log1 = plog(xp1);
+  Packet inf_mask = pcmp_eq(xp1, log1);
+  Packet log_large = pmul(x, pdiv(log1, psub(xp1, one)));
+  return pselect(por(small_mask, inf_mask), x, log_large);
+}
+
+/** \internal \returns exp(x)-1 computed using W. Kahan's formula.
+    See: http://www.plunk.org/~hatch/rightway.php
+ */
+template<typename Packet>
+Packet generic_expm1(const Packet& x)
+{
+  typedef typename unpacket_traits<Packet>::type ScalarType;
+  const Packet one = pset1<Packet>(ScalarType(1));
+  const Packet neg_one = pset1<Packet>(ScalarType(-1));
+  Packet u = pexp(x);
+  Packet one_mask = pcmp_eq(u, one);
+  Packet u_minus_one = psub(u, one);
+  Packet neg_one_mask = pcmp_eq(u_minus_one, neg_one);
+  Packet logu = plog(u);
+  // The following comparison is to catch the case where
+  // exp(x) = +inf. It is written in this way to avoid having
+  // to form the constant +inf, which depends on the packet
+  // type.
+  Packet pos_inf_mask = pcmp_eq(logu, u);
+  Packet expm1 = pmul(u_minus_one, pdiv(x, logu));
+  expm1 = pselect(pos_inf_mask, u, expm1);
+  return pselect(one_mask,
+                 x,
+                 pselect(neg_one_mask,
+                         neg_one,
+                         expm1));
+}
+
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pexp_float(const Packet _x)
+{
+  const Packet cst_1      = pset1<Packet>(1.0f);
+  const Packet cst_half   = pset1<Packet>(0.5f);
+  const Packet cst_exp_hi = pset1<Packet>( 88.723f);
+  const Packet cst_exp_lo = pset1<Packet>(-88.723f);
+
+  const Packet cst_cephes_LOG2EF = pset1<Packet>(1.44269504088896341f);
+  const Packet cst_cephes_exp_p0 = pset1<Packet>(1.9875691500E-4f);
+  const Packet cst_cephes_exp_p1 = pset1<Packet>(1.3981999507E-3f);
+  const Packet cst_cephes_exp_p2 = pset1<Packet>(8.3334519073E-3f);
+  const Packet cst_cephes_exp_p3 = pset1<Packet>(4.1665795894E-2f);
+  const Packet cst_cephes_exp_p4 = pset1<Packet>(1.6666665459E-1f);
+  const Packet cst_cephes_exp_p5 = pset1<Packet>(5.0000001201E-1f);
+
+  // Clamp x.
+  Packet x = pmax(pmin(_x, cst_exp_hi), cst_exp_lo);
+
+  // Express exp(x) as exp(m*ln(2) + r), start by extracting
+  // m = floor(x/ln(2) + 0.5).
+  Packet m = pfloor(pmadd(x, cst_cephes_LOG2EF, cst_half));
+
+  // Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
+  // subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
+  // truncation errors.
+  const Packet cst_cephes_exp_C1 = pset1<Packet>(-0.693359375f);
+  const Packet cst_cephes_exp_C2 = pset1<Packet>(2.12194440e-4f);
+  Packet r = pmadd(m, cst_cephes_exp_C1, x);
+  r = pmadd(m, cst_cephes_exp_C2, r);
+
+  Packet r2 = pmul(r, r);
+  Packet r3 = pmul(r2, r);
+
+  // Evaluate the polynomial approximant,improved by instruction-level parallelism.
+  Packet y, y1, y2;
+  y  = pmadd(cst_cephes_exp_p0, r, cst_cephes_exp_p1);
+  y1 = pmadd(cst_cephes_exp_p3, r, cst_cephes_exp_p4);
+  y2 = padd(r, cst_1);
+  y  = pmadd(y, r, cst_cephes_exp_p2);
+  y1 = pmadd(y1, r, cst_cephes_exp_p5);
+  y  = pmadd(y, r3, y1);
+  y  = pmadd(y, r2, y2);
+
+  // Return 2^m * exp(r).
+  // TODO: replace pldexp with faster implementation since y in [-1, 1).
+  return pmax(pldexp(y,m), _x);
+}
+
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pexp_double(const Packet _x)
+{
+  Packet x = _x;
+
+  const Packet cst_1 = pset1<Packet>(1.0);
+  const Packet cst_2 = pset1<Packet>(2.0);
+  const Packet cst_half = pset1<Packet>(0.5);
+
+  const Packet cst_exp_hi = pset1<Packet>(709.784);
+  const Packet cst_exp_lo = pset1<Packet>(-709.784);
+
+  const Packet cst_cephes_LOG2EF = pset1<Packet>(1.4426950408889634073599);
+  const Packet cst_cephes_exp_p0 = pset1<Packet>(1.26177193074810590878e-4);
+  const Packet cst_cephes_exp_p1 = pset1<Packet>(3.02994407707441961300e-2);
+  const Packet cst_cephes_exp_p2 = pset1<Packet>(9.99999999999999999910e-1);
+  const Packet cst_cephes_exp_q0 = pset1<Packet>(3.00198505138664455042e-6);
+  const Packet cst_cephes_exp_q1 = pset1<Packet>(2.52448340349684104192e-3);
+  const Packet cst_cephes_exp_q2 = pset1<Packet>(2.27265548208155028766e-1);
+  const Packet cst_cephes_exp_q3 = pset1<Packet>(2.00000000000000000009e0);
+  const Packet cst_cephes_exp_C1 = pset1<Packet>(0.693145751953125);
+  const Packet cst_cephes_exp_C2 = pset1<Packet>(1.42860682030941723212e-6);
+
+  Packet tmp, fx;
+
+  // clamp x
+  x = pmax(pmin(x, cst_exp_hi), cst_exp_lo);
+  // Express exp(x) as exp(g + n*log(2)).
+  fx = pmadd(cst_cephes_LOG2EF, x, cst_half);
+
+  // Get the integer modulus of log(2), i.e. the "n" described above.
+  fx = pfloor(fx);
+
+  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+  // digits right.
+  tmp = pmul(fx, cst_cephes_exp_C1);
+  Packet z = pmul(fx, cst_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial of the rational interpolant.
+  Packet px = cst_cephes_exp_p0;
+  px = pmadd(px, x2, cst_cephes_exp_p1);
+  px = pmadd(px, x2, cst_cephes_exp_p2);
+  px = pmul(px, x);
+
+  // Evaluate the denominator polynomial of the rational interpolant.
+  Packet qx = cst_cephes_exp_q0;
+  qx = pmadd(qx, x2, cst_cephes_exp_q1);
+  qx = pmadd(qx, x2, cst_cephes_exp_q2);
+  qx = pmadd(qx, x2, cst_cephes_exp_q3);
+
+  // I don't really get this bit, copied from the SSE2 routines, so...
+  // TODO(gonnet): Figure out what is going on here, perhaps find a better
+  // rational interpolant?
+  x = pdiv(px, psub(qx, px));
+  x = pmadd(cst_2, x, cst_1);
+
+  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+  // non-finite values in the input.
+  // TODO: replace pldexp with faster implementation since x in [-1, 1).
+  return pmax(pldexp(x,fx), _x);
+}
+
+// The following code is inspired by the following stack-overflow answer:
+//   https://stackoverflow.com/questions/30463616/payne-hanek-algorithm-implementation-in-c/30465751#30465751
+// It has been largely optimized:
+//  - By-pass calls to frexp.
+//  - Aligned loads of required 96 bits of 2/pi. This is accomplished by
+//    (1) balancing the mantissa and exponent to the required bits of 2/pi are
+//    aligned on 8-bits, and (2) replicating the storage of the bits of 2/pi.
+//  - Avoid a branch in rounding and extraction of the remaining fractional part.
+// Overall, I measured a speed up higher than x2 on x86-64.
+inline float trig_reduce_huge (float xf, int *quadrant)
+{
+  using Eigen::numext::int32_t;
+  using Eigen::numext::uint32_t;
+  using Eigen::numext::int64_t;
+  using Eigen::numext::uint64_t;
+
+  const double pio2_62 = 3.4061215800865545e-19;    // pi/2 * 2^-62
+  const uint64_t zero_dot_five = uint64_t(1) << 61; // 0.5 in 2.62-bit fixed-point foramt
+
+  // 192 bits of 2/pi for Payne-Hanek reduction
+  // Bits are introduced by packet of 8 to enable aligned reads.
+  static const uint32_t two_over_pi [] = 
+  {
+    0x00000028, 0x000028be, 0x0028be60, 0x28be60db,
+    0xbe60db93, 0x60db9391, 0xdb939105, 0x9391054a,
+    0x91054a7f, 0x054a7f09, 0x4a7f09d5, 0x7f09d5f4,
+    0x09d5f47d, 0xd5f47d4d, 0xf47d4d37, 0x7d4d3770,
+    0x4d377036, 0x377036d8, 0x7036d8a5, 0x36d8a566,
+    0xd8a5664f, 0xa5664f10, 0x664f10e4, 0x4f10e410,
+    0x10e41000, 0xe4100000
+  };
+  
+  uint32_t xi = numext::bit_cast<uint32_t>(xf);
+  // Below, -118 = -126 + 8.
+  //   -126 is to get the exponent,
+  //   +8 is to enable alignment of 2/pi's bits on 8 bits.
+  // This is possible because the fractional part of x as only 24 meaningful bits.
+  uint32_t e = (xi >> 23) - 118;
+  // Extract the mantissa and shift it to align it wrt the exponent
+  xi = ((xi & 0x007fffffu)| 0x00800000u) << (e & 0x7);
+
+  uint32_t i = e >> 3;
+  uint32_t twoopi_1  = two_over_pi[i-1];
+  uint32_t twoopi_2  = two_over_pi[i+3];
+  uint32_t twoopi_3  = two_over_pi[i+7];
+
+  // Compute x * 2/pi in 2.62-bit fixed-point format.
+  uint64_t p;
+  p = uint64_t(xi) * twoopi_3;
+  p = uint64_t(xi) * twoopi_2 + (p >> 32);
+  p = (uint64_t(xi * twoopi_1) << 32) + p;
+
+  // Round to nearest: add 0.5 and extract integral part.
+  uint64_t q = (p + zero_dot_five) >> 62;
+  *quadrant = int(q);
+  // Now it remains to compute "r = x - q*pi/2" with high accuracy,
+  // since we have p=x/(pi/2) with high accuracy, we can more efficiently compute r as:
+  //   r = (p-q)*pi/2,
+  // where the product can be be carried out with sufficient accuracy using double precision.
+  p -= q<<62;
+  return float(double(int64_t(p)) * pio2_62);
+}
+
+template<bool ComputeSine,typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+#if EIGEN_GNUC_AT_LEAST(4,4) && EIGEN_COMP_GNUC_STRICT
+__attribute__((optimize("-fno-unsafe-math-optimizations")))
+#endif
+Packet psincos_float(const Packet& _x)
+{
+  typedef typename unpacket_traits<Packet>::integer_packet PacketI;
+
+  const Packet  cst_2oPI            = pset1<Packet>(0.636619746685028076171875f); // 2/PI
+  const Packet  cst_rounding_magic  = pset1<Packet>(12582912); // 2^23 for rounding
+  const PacketI csti_1              = pset1<PacketI>(1);
+  const Packet  cst_sign_mask       = pset1frombits<Packet>(0x80000000u);
+
+  Packet x = pabs(_x);
+
+  // Scale x by 2/Pi to find x's octant.
+  Packet y = pmul(x, cst_2oPI);
+
+  // Rounding trick:
+  Packet y_round = padd(y, cst_rounding_magic);
+  EIGEN_OPTIMIZATION_BARRIER(y_round)
+  PacketI y_int = preinterpret<PacketI>(y_round); // last 23 digits represent integer (if abs(x)<2^24)
+  y = psub(y_round, cst_rounding_magic); // nearest integer to x*4/pi
+
+  // Reduce x by y octants to get: -Pi/4 <= x <= +Pi/4
+  // using "Extended precision modular arithmetic"
+  #if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD)
+  // This version requires true FMA for high accuracy
+  // It provides a max error of 1ULP up to (with absolute_error < 5.9605e-08):
+  const float huge_th = ComputeSine ? 117435.992f : 71476.0625f;
+  x = pmadd(y, pset1<Packet>(-1.57079601287841796875f), x);
+  x = pmadd(y, pset1<Packet>(-3.1391647326017846353352069854736328125e-07f), x);
+  x = pmadd(y, pset1<Packet>(-5.390302529957764765544681040410068817436695098876953125e-15f), x);
+  #else
+  // Without true FMA, the previous set of coefficients maintain 1ULP accuracy
+  // up to x<15.7 (for sin), but accuracy is immediately lost for x>15.7.
+  // We thus use one more iteration to maintain 2ULPs up to reasonably large inputs.
+
+  // The following set of coefficients maintain 1ULP up to 9.43 and 14.16 for sin and cos respectively.
+  // and 2 ULP up to:
+  const float huge_th = ComputeSine ? 25966.f : 18838.f;
+  x = pmadd(y, pset1<Packet>(-1.5703125), x); // = 0xbfc90000
+  EIGEN_OPTIMIZATION_BARRIER(x)
+  x = pmadd(y, pset1<Packet>(-0.000483989715576171875), x); // = 0xb9fdc000
+  EIGEN_OPTIMIZATION_BARRIER(x)
+  x = pmadd(y, pset1<Packet>(1.62865035235881805419921875e-07), x); // = 0x342ee000
+  x = pmadd(y, pset1<Packet>(5.5644315544167710640977020375430583953857421875e-11), x); // = 0x2e74b9ee
+
+  // For the record, the following set of coefficients maintain 2ULP up
+  // to a slightly larger range:
+  // const float huge_th = ComputeSine ? 51981.f : 39086.125f;
+  // but it slightly fails to maintain 1ULP for two values of sin below pi.
+  // x = pmadd(y, pset1<Packet>(-3.140625/2.), x);
+  // x = pmadd(y, pset1<Packet>(-0.00048351287841796875), x);
+  // x = pmadd(y, pset1<Packet>(-3.13855707645416259765625e-07), x);
+  // x = pmadd(y, pset1<Packet>(-6.0771006282767103812147979624569416046142578125e-11), x);
+
+  // For the record, with only 3 iterations it is possible to maintain
+  // 1 ULP up to 3PI (maybe more) and 2ULP up to 255.
+  // The coefficients are: 0xbfc90f80, 0xb7354480, 0x2e74b9ee
+  #endif
+
+  if(predux_any(pcmp_le(pset1<Packet>(huge_th),pabs(_x))))
+  {
+    const int PacketSize = unpacket_traits<Packet>::size;
+    EIGEN_ALIGN_TO_BOUNDARY(sizeof(Packet)) float vals[PacketSize];
+    EIGEN_ALIGN_TO_BOUNDARY(sizeof(Packet)) float x_cpy[PacketSize];
+    EIGEN_ALIGN_TO_BOUNDARY(sizeof(Packet)) int y_int2[PacketSize];
+    pstoreu(vals, pabs(_x));
+    pstoreu(x_cpy, x);
+    pstoreu(y_int2, y_int);
+    for(int k=0; k<PacketSize;++k)
+    {
+      float val = vals[k];
+      if(val>=huge_th && (numext::isfinite)(val))
+        x_cpy[k] = trig_reduce_huge(val,&y_int2[k]);
+    }
+    x = ploadu<Packet>(x_cpy);
+    y_int = ploadu<PacketI>(y_int2);
+  }
+
+  // Compute the sign to apply to the polynomial.
+  // sin: sign = second_bit(y_int) xor signbit(_x)
+  // cos: sign = second_bit(y_int+1)
+  Packet sign_bit = ComputeSine ? pxor(_x, preinterpret<Packet>(plogical_shift_left<30>(y_int)))
+                                : preinterpret<Packet>(plogical_shift_left<30>(padd(y_int,csti_1)));
+  sign_bit = pand(sign_bit, cst_sign_mask); // clear all but left most bit
+
+  // Get the polynomial selection mask from the second bit of y_int
+  // We'll calculate both (sin and cos) polynomials and then select from the two.
+  Packet poly_mask = preinterpret<Packet>(pcmp_eq(pand(y_int, csti_1), pzero(y_int)));
+
+  Packet x2 = pmul(x,x);
+
+  // Evaluate the cos(x) polynomial. (-Pi/4 <= x <= Pi/4)
+  Packet y1 =        pset1<Packet>(2.4372266125283204019069671630859375e-05f);
+  y1 = pmadd(y1, x2, pset1<Packet>(-0.00138865201734006404876708984375f     ));
+  y1 = pmadd(y1, x2, pset1<Packet>(0.041666619479656219482421875f           ));
+  y1 = pmadd(y1, x2, pset1<Packet>(-0.5f));
+  y1 = pmadd(y1, x2, pset1<Packet>(1.f));
+
+  // Evaluate the sin(x) polynomial. (Pi/4 <= x <= Pi/4)
+  // octave/matlab code to compute those coefficients:
+  //    x = (0:0.0001:pi/4)';
+  //    A = [x.^3 x.^5 x.^7];
+  //    w = ((1.-(x/(pi/4)).^2).^5)*2000+1;         # weights trading relative accuracy
+  //    c = (A'*diag(w)*A)\(A'*diag(w)*(sin(x)-x)); # weighted LS, linear coeff forced to 1
+  //    printf('%.64f\n %.64f\n%.64f\n', c(3), c(2), c(1))
+  //
+  Packet y2 =        pset1<Packet>(-0.0001959234114083702898469196984621021329076029360294342041015625f);
+  y2 = pmadd(y2, x2, pset1<Packet>( 0.0083326873655616851693794799871284340042620897293090820312500000f));
+  y2 = pmadd(y2, x2, pset1<Packet>(-0.1666666203982298255503735617821803316473960876464843750000000000f));
+  y2 = pmul(y2, x2);
+  y2 = pmadd(y2, x, x);
+
+  // Select the correct result from the two polynomials.
+  y = ComputeSine ? pselect(poly_mask,y2,y1)
+                  : pselect(poly_mask,y1,y2);
+
+  // Update the sign and filter huge inputs
+  return pxor(y, sign_bit);
+}
+
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet psin_float(const Packet& x)
+{
+  return psincos_float<true>(x);
+}
+
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pcos_float(const Packet& x)
+{
+  return psincos_float<false>(x);
+}
+
+
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet psqrt_complex(const Packet& a) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  typedef typename Scalar::value_type RealScalar;
+  typedef typename unpacket_traits<Packet>::as_real RealPacket;
+
+  // Computes the principal sqrt of the complex numbers in the input.
+  //
+  // For example, for packets containing 2 complex numbers stored in interleaved format
+  //    a = [a0, a1] = [x0, y0, x1, y1],
+  // where x0 = real(a0), y0 = imag(a0) etc., this function returns
+  //    b = [b0, b1] = [u0, v0, u1, v1],
+  // such that b0^2 = a0, b1^2 = a1.
+  //
+  // To derive the formula for the complex square roots, let's consider the equation for
+  // a single complex square root of the number x + i*y. We want to find real numbers
+  // u and v such that
+  //    (u + i*v)^2 = x + i*y  <=>
+  //    u^2 - v^2 + i*2*u*v = x + i*v.
+  // By equating the real and imaginary parts we get:
+  //    u^2 - v^2 = x
+  //    2*u*v = y.
+  //
+  // For x >= 0, this has the numerically stable solution
+  //    u = sqrt(0.5 * (x + sqrt(x^2 + y^2)))
+  //    v = 0.5 * (y / u)
+  // and for x < 0,
+  //    v = sign(y) * sqrt(0.5 * (-x + sqrt(x^2 + y^2)))
+  //    u = 0.5 * (y / v)
+  //
+  //  To avoid unnecessary over- and underflow, we compute sqrt(x^2 + y^2) as
+  //     l = max(|x|, |y|) * sqrt(1 + (min(|x|, |y|) / max(|x|, |y|))^2) ,
+
+  // In the following, without lack of generality, we have annotated the code, assuming
+  // that the input is a packet of 2 complex numbers.
+  //
+  // Step 1. Compute l = [l0, l0, l1, l1], where
+  //    l0 = sqrt(x0^2 + y0^2),  l1 = sqrt(x1^2 + y1^2)
+  // To avoid over- and underflow, we use the stable formula for each hypotenuse
+  //    l0 = (min0 == 0 ? max0 : max0 * sqrt(1 + (min0/max0)**2)),
+  // where max0 = max(|x0|, |y0|), min0 = min(|x0|, |y0|), and similarly for l1.
+
+  RealPacket a_abs = pabs(a.v);           // [|x0|, |y0|, |x1|, |y1|]
+  RealPacket a_abs_flip = pcplxflip(Packet(a_abs)).v; // [|y0|, |x0|, |y1|, |x1|]
+  RealPacket a_max = pmax(a_abs, a_abs_flip);
+  RealPacket a_min = pmin(a_abs, a_abs_flip);
+  RealPacket a_min_zero_mask = pcmp_eq(a_min, pzero(a_min));
+  RealPacket a_max_zero_mask = pcmp_eq(a_max, pzero(a_max));
+  RealPacket r = pdiv(a_min, a_max);
+  const RealPacket cst_one  = pset1<RealPacket>(RealScalar(1));
+  RealPacket l = pmul(a_max, psqrt(padd(cst_one, pmul(r, r))));  // [l0, l0, l1, l1]
+  // Set l to a_max if a_min is zero.
+  l = pselect(a_min_zero_mask, a_max, l);
+
+  // Step 2. Compute [rho0, *, rho1, *], where
+  // rho0 = sqrt(0.5 * (l0 + |x0|)), rho1 =  sqrt(0.5 * (l1 + |x1|))
+  // We don't care about the imaginary parts computed here. They will be overwritten later.
+  const RealPacket cst_half = pset1<RealPacket>(RealScalar(0.5));
+  Packet rho;
+  rho.v = psqrt(pmul(cst_half, padd(a_abs, l)));
+
+  // Step 3. Compute [rho0, eta0, rho1, eta1], where
+  // eta0 = (y0 / l0) / 2, and eta1 = (y1 / l1) / 2.
+  // set eta = 0 of input is 0 + i0.
+  RealPacket eta = pandnot(pmul(cst_half, pdiv(a.v, pcplxflip(rho).v)), a_max_zero_mask);
+  RealPacket real_mask = peven_mask(a.v);
+  Packet positive_real_result;
+  // Compute result for inputs with positive real part.
+  positive_real_result.v = pselect(real_mask, rho.v, eta);
+
+  // Step 4. Compute solution for inputs with negative real part:
+  //         [|eta0|, sign(y0)*rho0, |eta1|, sign(y1)*rho1]
+  const RealScalar neg_zero = RealScalar(numext::bit_cast<float>(0x80000000u));
+  const RealPacket cst_imag_sign_mask = pset1<Packet>(Scalar(RealScalar(0.0), neg_zero)).v;
+  RealPacket imag_signs = pand(a.v, cst_imag_sign_mask);
+  Packet negative_real_result;
+  // Notice that rho is positive, so taking it's absolute value is a noop.
+  negative_real_result.v = por(pabs(pcplxflip(positive_real_result).v), imag_signs);
+
+  // Step 5. Select solution branch based on the sign of the real parts.
+  Packet negative_real_mask;
+  negative_real_mask.v = pcmp_lt(pand(real_mask, a.v), pzero(a.v));
+  negative_real_mask.v = por(negative_real_mask.v, pcplxflip(negative_real_mask).v);
+  Packet result = pselect(negative_real_mask, negative_real_result, positive_real_result);
+
+  // Step 6. Handle special cases for infinities:
+  // * If z is (x,+∞), the result is (+∞,+∞) even if x is NaN
+  // * If z is (x,-∞), the result is (+∞,-∞) even if x is NaN
+  // * If z is (-∞,y), the result is (0*|y|,+∞) for finite or NaN y
+  // * If z is (+∞,y), the result is (+∞,0*|y|) for finite or NaN y
+  const RealPacket cst_pos_inf = pset1<RealPacket>(NumTraits<RealScalar>::infinity());
+  Packet is_inf;
+  is_inf.v = pcmp_eq(a_abs, cst_pos_inf);
+  Packet is_real_inf;
+  is_real_inf.v = pand(is_inf.v, real_mask);
+  is_real_inf = por(is_real_inf, pcplxflip(is_real_inf));
+  // prepare packet of (+∞,0*|y|) or (0*|y|,+∞), depending on the sign of the infinite real part.
+  Packet real_inf_result;
+  real_inf_result.v = pmul(a_abs, pset1<Packet>(Scalar(RealScalar(1.0), RealScalar(0.0))).v);
+  real_inf_result.v = pselect(negative_real_mask.v, pcplxflip(real_inf_result).v, real_inf_result.v);
+  // prepare packet of (+∞,+∞) or (+∞,-∞), depending on the sign of the infinite imaginary part.
+  Packet is_imag_inf;
+  is_imag_inf.v = pandnot(is_inf.v, real_mask);
+  is_imag_inf = por(is_imag_inf, pcplxflip(is_imag_inf));
+  Packet imag_inf_result;
+  imag_inf_result.v = por(pand(cst_pos_inf, real_mask), pandnot(a.v, real_mask));
+
+  return  pselect(is_imag_inf, imag_inf_result,
+                  pselect(is_real_inf, real_inf_result,result));
+}
+
+// TODO(rmlarsen): The following set of utilities for double word arithmetic
+// should perhaps be refactored as a separate file, since it would be generally
+// useful for special function implementation etc. Writing the algorithms in
+// terms if a double word type would also make the code more readable.
+
+// This function splits x into the nearest integer n and fractional part r,
+// such that x = n + r holds exactly.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void absolute_split(const Packet& x, Packet& n, Packet& r) {
+  n = pround(x);
+  r = psub(x, n);
+}
+
+// This function computes the sum {s, r}, such that x + y = s_hi + s_lo
+// holds exactly, and s_hi = fl(x+y), if |x| >= |y|.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void fast_twosum(const Packet& x, const Packet& y, Packet& s_hi, Packet& s_lo) {
+  s_hi = padd(x, y);
+  const Packet t = psub(s_hi, x);
+  s_lo = psub(y, t);
+}
+
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+// This function implements the extended precision product of
+// a pair of floating point numbers. Given {x, y}, it computes the pair
+// {p_hi, p_lo} such that x * y = p_hi + p_lo holds exactly and
+// p_hi = fl(x * y).
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void twoprod(const Packet& x, const Packet& y,
+             Packet& p_hi, Packet& p_lo) {
+  p_hi = pmul(x, y);
+  p_lo = pmadd(x, y, pnegate(p_hi));
+}
+
+#else
+
+// This function implements the Veltkamp splitting. Given a floating point
+// number x it returns the pair {x_hi, x_lo} such that x_hi + x_lo = x holds
+// exactly and that half of the significant of x fits in x_hi.
+// This is Algorithm 3 from Jean-Michel Muller, "Elementary Functions",
+// 3rd edition, Birkh\"auser, 2016.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void veltkamp_splitting(const Packet& x, Packet& x_hi, Packet& x_lo) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  EIGEN_CONSTEXPR int shift = (NumTraits<Scalar>::digits() + 1) / 2;
+  const Scalar shift_scale = Scalar(uint64_t(1) << shift);  // Scalar constructor not necessarily constexpr.
+  const Packet gamma = pmul(pset1<Packet>(shift_scale + Scalar(1)), x);
+  Packet rho = psub(x, gamma);
+  x_hi = padd(rho, gamma);
+  x_lo = psub(x, x_hi);
+}
+
+// This function implements Dekker's algorithm for products x * y.
+// Given floating point numbers {x, y} computes the pair
+// {p_hi, p_lo} such that x * y = p_hi + p_lo holds exactly and
+// p_hi = fl(x * y).
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void twoprod(const Packet& x, const Packet& y,
+             Packet& p_hi, Packet& p_lo) {
+  Packet x_hi, x_lo, y_hi, y_lo;
+  veltkamp_splitting(x, x_hi, x_lo);
+  veltkamp_splitting(y, y_hi, y_lo);
+
+  p_hi = pmul(x, y);
+  p_lo = pmadd(x_hi, y_hi, pnegate(p_hi));
+  p_lo = pmadd(x_hi, y_lo, p_lo);
+  p_lo = pmadd(x_lo, y_hi, p_lo);
+  p_lo = pmadd(x_lo, y_lo, p_lo);
+}
+
+#endif  // EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+
+
+// This function implements Dekker's algorithm for the addition
+// of two double word numbers represented by {x_hi, x_lo} and {y_hi, y_lo}.
+// It returns the result as a pair {s_hi, s_lo} such that
+// x_hi + x_lo + y_hi + y_lo = s_hi + s_lo holds exactly.
+// This is Algorithm 5 from Jean-Michel Muller, "Elementary Functions",
+// 3rd edition, Birkh\"auser, 2016.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+  void twosum(const Packet& x_hi, const Packet& x_lo,
+              const Packet& y_hi, const Packet& y_lo,
+              Packet& s_hi, Packet& s_lo) {
+  const Packet x_greater_mask = pcmp_lt(pabs(y_hi), pabs(x_hi));
+  Packet r_hi_1, r_lo_1;
+  fast_twosum(x_hi, y_hi,r_hi_1, r_lo_1);
+  Packet r_hi_2, r_lo_2;
+  fast_twosum(y_hi, x_hi,r_hi_2, r_lo_2);
+  const Packet r_hi = pselect(x_greater_mask, r_hi_1, r_hi_2);
+
+  const Packet s1 = padd(padd(y_lo, r_lo_1), x_lo);
+  const Packet s2 = padd(padd(x_lo, r_lo_2), y_lo);
+  const Packet s = pselect(x_greater_mask, s1, s2);
+
+  fast_twosum(r_hi, s, s_hi, s_lo);
+}
+
+// This is a version of twosum for double word numbers,
+// which assumes that |x_hi| >= |y_hi|.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+  void fast_twosum(const Packet& x_hi, const Packet& x_lo,
+              const Packet& y_hi, const Packet& y_lo,
+              Packet& s_hi, Packet& s_lo) {
+  Packet r_hi, r_lo;
+  fast_twosum(x_hi, y_hi, r_hi, r_lo);
+  const Packet s = padd(padd(y_lo, r_lo), x_lo);
+  fast_twosum(r_hi, s, s_hi, s_lo);
+}
+
+// This is a version of twosum for adding a floating point number x to
+// double word number {y_hi, y_lo} number, with the assumption
+// that |x| >= |y_hi|.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void fast_twosum(const Packet& x,
+                 const Packet& y_hi, const Packet& y_lo,
+                 Packet& s_hi, Packet& s_lo) {
+  Packet r_hi, r_lo;
+  fast_twosum(x, y_hi, r_hi, r_lo);
+  const Packet s = padd(y_lo, r_lo);
+  fast_twosum(r_hi, s, s_hi, s_lo);
+}
+
+// This function implements the multiplication of a double word
+// number represented by {x_hi, x_lo} by a floating point number y.
+// It returns the result as a pair {p_hi, p_lo} such that
+// (x_hi + x_lo) * y = p_hi + p_lo hold with a relative error
+// of less than 2*2^{-2p}, where p is the number of significand bit
+// in the floating point type.
+// This is Algorithm 7 from Jean-Michel Muller, "Elementary Functions",
+// 3rd edition, Birkh\"auser, 2016.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void twoprod(const Packet& x_hi, const Packet& x_lo, const Packet& y,
+             Packet& p_hi, Packet& p_lo) {
+  Packet c_hi, c_lo1;
+  twoprod(x_hi, y, c_hi, c_lo1);
+  const Packet c_lo2 = pmul(x_lo, y);
+  Packet t_hi, t_lo1;
+  fast_twosum(c_hi, c_lo2, t_hi, t_lo1);
+  const Packet t_lo2 = padd(t_lo1, c_lo1);
+  fast_twosum(t_hi, t_lo2, p_hi, p_lo);
+}
+
+// This function implements the multiplication of two double word
+// numbers represented by {x_hi, x_lo} and {y_hi, y_lo}.
+// It returns the result as a pair {p_hi, p_lo} such that
+// (x_hi + x_lo) * (y_hi + y_lo) = p_hi + p_lo holds with a relative error
+// of less than 2*2^{-2p}, where p is the number of significand bit
+// in the floating point type.
+template<typename Packet>
+EIGEN_STRONG_INLINE
+void twoprod(const Packet& x_hi, const Packet& x_lo,
+             const Packet& y_hi, const Packet& y_lo,
+             Packet& p_hi, Packet& p_lo) {
+  Packet p_hi_hi, p_hi_lo;
+  twoprod(x_hi, x_lo, y_hi, p_hi_hi, p_hi_lo);
+  Packet p_lo_hi, p_lo_lo;
+  twoprod(x_hi, x_lo, y_lo, p_lo_hi, p_lo_lo);
+  fast_twosum(p_hi_hi, p_hi_lo, p_lo_hi, p_lo_lo, p_hi, p_lo);
+}
+
+// This function computes the reciprocal of a floating point number
+// with extra precision and returns the result as a double word.
+template <typename Packet>
+void doubleword_reciprocal(const Packet& x, Packet& recip_hi, Packet& recip_lo) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  // 1. Approximate the reciprocal as the reciprocal of the high order element.
+  Packet approx_recip = prsqrt(x);
+  approx_recip = pmul(approx_recip, approx_recip);
+
+  // 2. Run one step of Newton-Raphson iteration in double word arithmetic
+  // to get the bottom half. The NR iteration for reciprocal of 'a' is
+  //    x_{i+1} = x_i * (2 - a * x_i)
+
+  // -a*x_i
+  Packet t1_hi, t1_lo;
+  twoprod(pnegate(x), approx_recip, t1_hi, t1_lo);
+  // 2 - a*x_i
+  Packet t2_hi, t2_lo;
+  fast_twosum(pset1<Packet>(Scalar(2)), t1_hi, t2_hi, t2_lo);
+  Packet t3_hi, t3_lo;
+  fast_twosum(t2_hi, padd(t2_lo, t1_lo), t3_hi, t3_lo);
+  // x_i * (2 - a * x_i)
+  twoprod(t3_hi, t3_lo, approx_recip, recip_hi, recip_lo);
+}
+
+
+// This function computes log2(x) and returns the result as a double word.
+template <typename Scalar>
+struct accurate_log2 {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  void operator()(const Packet& x, Packet& log2_x_hi, Packet& log2_x_lo) {
+    log2_x_hi = plog2(x);
+    log2_x_lo = pzero(x);
+  }
+};
+
+// This specialization uses a more accurate algorithm to compute log2(x) for
+// floats in [1/sqrt(2);sqrt(2)] with a relative accuracy of ~6.42e-10.
+// This additional accuracy is needed to counter the error-magnification
+// inherent in multiplying by a potentially large exponent in pow(x,y).
+// The minimax polynomial used was calculated using the Sollya tool.
+// See sollya.org.
+template <>
+struct accurate_log2<float> {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  void operator()(const Packet& z, Packet& log2_x_hi, Packet& log2_x_lo) {
+    // The function log(1+x)/x is approximated in the interval
+    // [1/sqrt(2)-1;sqrt(2)-1] by a degree 10 polynomial of the form
+    //  Q(x) = (C0 + x * (C1 + x * (C2 + x * (C3 + x * P(x))))),
+    // where the degree 6 polynomial P(x) is evaluated in single precision,
+    // while the remaining 4 terms of Q(x), as well as the final multiplication by x
+    // to reconstruct log(1+x) are evaluated in extra precision using
+    // double word arithmetic. C0 through C3 are extra precise constants
+    // stored as double words.
+    //
+    // The polynomial coefficients were calculated using Sollya commands:
+    // > n = 10;
+    // > f = log2(1+x)/x;
+    // > interval = [sqrt(0.5)-1;sqrt(2)-1];
+    // > p = fpminimax(f,n,[|double,double,double,double,single...|],interval,relative,floating);
+    
+    const Packet p6 = pset1<Packet>( 9.703654795885e-2f);
+    const Packet p5 = pset1<Packet>(-0.1690667718648f);
+    const Packet p4 = pset1<Packet>( 0.1720575392246f);
+    const Packet p3 = pset1<Packet>(-0.1789081543684f);
+    const Packet p2 = pset1<Packet>( 0.2050433009862f);
+    const Packet p1 = pset1<Packet>(-0.2404672354459f);
+    const Packet p0 = pset1<Packet>( 0.2885761857032f);
+
+    const Packet C3_hi = pset1<Packet>(-0.360674142838f);
+    const Packet C3_lo = pset1<Packet>(-6.13283912543e-09f);
+    const Packet C2_hi = pset1<Packet>(0.480897903442f);
+    const Packet C2_lo = pset1<Packet>(-1.44861207474e-08f);
+    const Packet C1_hi = pset1<Packet>(-0.721347510815f);
+    const Packet C1_lo = pset1<Packet>(-4.84483164698e-09f);
+    const Packet C0_hi = pset1<Packet>(1.44269502163f);
+    const Packet C0_lo = pset1<Packet>(2.01711713999e-08f);
+    const Packet one = pset1<Packet>(1.0f);
+
+    const Packet x = psub(z, one);
+    // Evaluate P(x) in working precision.
+    // We evaluate it in multiple parts to improve instruction level
+    // parallelism.
+    Packet x2 = pmul(x,x);
+    Packet p_even = pmadd(p6, x2, p4);
+    p_even = pmadd(p_even, x2, p2);
+    p_even = pmadd(p_even, x2, p0);
+    Packet p_odd = pmadd(p5, x2, p3);
+    p_odd = pmadd(p_odd, x2, p1);
+    Packet p = pmadd(p_odd, x, p_even);
+
+    // Now evaluate the low-order tems of Q(x) in double word precision.
+    // In the following, due to the alternating signs and the fact that
+    // |x| < sqrt(2)-1, we can assume that |C*_hi| >= q_i, and use
+    // fast_twosum instead of the slower twosum.
+    Packet q_hi, q_lo;
+    Packet t_hi, t_lo;
+    // C3 + x * p(x)
+    twoprod(p, x, t_hi, t_lo);
+    fast_twosum(C3_hi, C3_lo, t_hi, t_lo, q_hi, q_lo);
+    // C2 + x * p(x)
+    twoprod(q_hi, q_lo, x, t_hi, t_lo);
+    fast_twosum(C2_hi, C2_lo, t_hi, t_lo, q_hi, q_lo);
+    // C1 + x * p(x)
+    twoprod(q_hi, q_lo, x, t_hi, t_lo);
+    fast_twosum(C1_hi, C1_lo, t_hi, t_lo, q_hi, q_lo);
+    // C0 + x * p(x)
+    twoprod(q_hi, q_lo, x, t_hi, t_lo);
+    fast_twosum(C0_hi, C0_lo, t_hi, t_lo, q_hi, q_lo);
+
+    // log(z) ~= x * Q(x)
+    twoprod(q_hi, q_lo, x, log2_x_hi, log2_x_lo);
+  }
+};
+
+// This specialization uses a more accurate algorithm to compute log2(x) for
+// floats in [1/sqrt(2);sqrt(2)] with a relative accuracy of ~1.27e-18.
+// This additional accuracy is needed to counter the error-magnification
+// inherent in multiplying by a potentially large exponent in pow(x,y).
+// The minimax polynomial used was calculated using the Sollya tool.
+// See sollya.org.
+
+template <>
+struct accurate_log2<double> {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  void operator()(const Packet& x, Packet& log2_x_hi, Packet& log2_x_lo) {
+    // We use a transformation of variables:
+    //    r = c * (x-1) / (x+1),
+    // such that
+    //    log2(x) = log2((1 + r/c) / (1 - r/c)) = f(r).
+    // The function f(r) can be approximated well using an odd polynomial
+    // of the form
+    //   P(r) = ((Q(r^2) * r^2 + C) * r^2 + 1) * r,
+    // For the implementation of log2<double> here, Q is of degree 6 with
+    // coefficient represented in working precision (double), while C is a
+    // constant represented in extra precision as a double word to achieve
+    // full accuracy.
+    //
+    // The polynomial coefficients were computed by the Sollya script:
+    //
+    // c = 2 / log(2);
+    // trans = c * (x-1)/(x+1);
+    // itrans = (1+x/c)/(1-x/c);
+    // interval=[trans(sqrt(0.5)); trans(sqrt(2))];
+    // print(interval);
+    // f = log2(itrans(x));
+    // p=fpminimax(f,[|1,3,5,7,9,11,13,15,17|],[|1,DD,double...|],interval,relative,floating);
+    const Packet q12 = pset1<Packet>(2.87074255468000586e-9);
+    const Packet q10 = pset1<Packet>(2.38957980901884082e-8);
+    const Packet q8 = pset1<Packet>(2.31032094540014656e-7);
+    const Packet q6 = pset1<Packet>(2.27279857398537278e-6);
+    const Packet q4 = pset1<Packet>(2.31271023278625638e-5);
+    const Packet q2 = pset1<Packet>(2.47556738444535513e-4);
+    const Packet q0 = pset1<Packet>(2.88543873228900172e-3);
+    const Packet C_hi = pset1<Packet>(0.0400377511598501157);
+    const Packet C_lo = pset1<Packet>(-4.77726582251425391e-19);
+    const Packet one = pset1<Packet>(1.0);
+
+    const Packet cst_2_log2e_hi = pset1<Packet>(2.88539008177792677);
+    const Packet cst_2_log2e_lo = pset1<Packet>(4.07660016854549667e-17);
+    // c * (x - 1)
+    Packet num_hi, num_lo;
+    twoprod(cst_2_log2e_hi, cst_2_log2e_lo, psub(x, one), num_hi, num_lo);
+    // TODO(rmlarsen): Investigate if using the division algorithm by
+    // Muller et al. is faster/more accurate.
+    // 1 / (x + 1)
+    Packet denom_hi, denom_lo;
+    doubleword_reciprocal(padd(x, one), denom_hi, denom_lo);
+    // r =  c * (x-1) / (x+1),
+    Packet r_hi, r_lo;
+    twoprod(num_hi, num_lo, denom_hi, denom_lo, r_hi, r_lo);
+    // r2 = r * r
+    Packet r2_hi, r2_lo;
+    twoprod(r_hi, r_lo, r_hi, r_lo, r2_hi, r2_lo);
+    // r4 = r2 * r2
+    Packet r4_hi, r4_lo;
+    twoprod(r2_hi, r2_lo, r2_hi, r2_lo, r4_hi, r4_lo);
+
+    // Evaluate Q(r^2) in working precision. We evaluate it in two parts
+    // (even and odd in r^2) to improve instruction level parallelism.
+    Packet q_even = pmadd(q12, r4_hi, q8);
+    Packet q_odd = pmadd(q10, r4_hi, q6);
+    q_even = pmadd(q_even, r4_hi, q4);
+    q_odd = pmadd(q_odd, r4_hi, q2);
+    q_even = pmadd(q_even, r4_hi, q0);
+    Packet q = pmadd(q_odd, r2_hi, q_even);
+
+    // Now evaluate the low order terms of P(x) in double word precision.
+    // In the following, due to the increasing magnitude of the coefficients
+    // and r being constrained to [-0.5, 0.5] we can use fast_twosum instead
+    // of the slower twosum.
+    // Q(r^2) * r^2
+    Packet p_hi, p_lo;
+    twoprod(r2_hi, r2_lo, q, p_hi, p_lo);
+    // Q(r^2) * r^2 + C
+    Packet p1_hi, p1_lo;
+    fast_twosum(C_hi, C_lo, p_hi, p_lo, p1_hi, p1_lo);
+    // (Q(r^2) * r^2 + C) * r^2
+    Packet p2_hi, p2_lo;
+    twoprod(r2_hi, r2_lo, p1_hi, p1_lo, p2_hi, p2_lo);
+    // ((Q(r^2) * r^2 + C) * r^2 + 1)
+    Packet p3_hi, p3_lo;
+    fast_twosum(one, p2_hi, p2_lo, p3_hi, p3_lo);
+
+    // log(z) ~= ((Q(r^2) * r^2 + C) * r^2 + 1) * r
+    twoprod(p3_hi, p3_lo, r_hi, r_lo, log2_x_hi, log2_x_lo);
+  }
+};
+
+// This function computes exp2(x) (i.e. 2**x).
+template <typename Scalar>
+struct fast_accurate_exp2 {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  Packet operator()(const Packet& x) {
+    // TODO(rmlarsen): Add a pexp2 packetop.
+    return pexp(pmul(pset1<Packet>(Scalar(EIGEN_LN2)), x));
+  }
+};
+
+// This specialization uses a faster algorithm to compute exp2(x) for floats
+// in [-0.5;0.5] with a relative accuracy of 1 ulp.
+// The minimax polynomial used was calculated using the Sollya tool.
+// See sollya.org.
+template <>
+struct fast_accurate_exp2<float> {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  Packet operator()(const Packet& x) {
+    // This function approximates exp2(x) by a degree 6 polynomial of the form
+    // Q(x) = 1 + x * (C + x * P(x)), where the degree 4 polynomial P(x) is evaluated in
+    // single precision, and the remaining steps are evaluated with extra precision using
+    // double word arithmetic. C is an extra precise constant stored as a double word.
+    //
+    // The polynomial coefficients were calculated using Sollya commands:
+    // > n = 6;
+    // > f = 2^x;
+    // > interval = [-0.5;0.5];
+    // > p = fpminimax(f,n,[|1,double,single...|],interval,relative,floating);
+
+    const Packet p4 = pset1<Packet>(1.539513905e-4f);
+    const Packet p3 = pset1<Packet>(1.340007293e-3f);
+    const Packet p2 = pset1<Packet>(9.618283249e-3f);
+    const Packet p1 = pset1<Packet>(5.550328270e-2f);
+    const Packet p0 = pset1<Packet>(0.2402264923f);
+
+    const Packet C_hi = pset1<Packet>(0.6931471825f);
+    const Packet C_lo = pset1<Packet>(2.36836577e-08f);
+    const Packet one = pset1<Packet>(1.0f);
+
+    // Evaluate P(x) in working precision.
+    // We evaluate even and odd parts of the polynomial separately
+    // to gain some instruction level parallelism.
+    Packet x2 = pmul(x,x);
+    Packet p_even = pmadd(p4, x2, p2);
+    Packet p_odd = pmadd(p3, x2, p1);
+    p_even = pmadd(p_even, x2, p0);
+    Packet p = pmadd(p_odd, x, p_even);
+
+    // Evaluate the remaining terms of Q(x) with extra precision using
+    // double word arithmetic.
+    Packet p_hi, p_lo;
+    // x * p(x)
+    twoprod(p, x, p_hi, p_lo);
+    // C + x * p(x)
+    Packet q1_hi, q1_lo;
+    twosum(p_hi, p_lo, C_hi, C_lo, q1_hi, q1_lo);
+    // x * (C + x * p(x))
+    Packet q2_hi, q2_lo;
+    twoprod(q1_hi, q1_lo, x, q2_hi, q2_lo);
+    // 1 + x * (C + x * p(x))
+    Packet q3_hi, q3_lo;
+    // Since |q2_hi| <= sqrt(2)-1 < 1, we can use fast_twosum
+    // for adding it to unity here.
+    fast_twosum(one, q2_hi, q3_hi, q3_lo);
+    return padd(q3_hi, padd(q2_lo, q3_lo));
+  }
+};
+
+// in [-0.5;0.5] with a relative accuracy of 1 ulp.
+// The minimax polynomial used was calculated using the Sollya tool.
+// See sollya.org.
+template <>
+struct fast_accurate_exp2<double> {
+  template <typename Packet>
+  EIGEN_STRONG_INLINE
+  Packet operator()(const Packet& x) {
+    // This function approximates exp2(x) by a degree 10 polynomial of the form
+    // Q(x) = 1 + x * (C + x * P(x)), where the degree 8 polynomial P(x) is evaluated in
+    // single precision, and the remaining steps are evaluated with extra precision using
+    // double word arithmetic. C is an extra precise constant stored as a double word.
+    //
+    // The polynomial coefficients were calculated using Sollya commands:
+    // > n = 11;
+    // > f = 2^x;
+    // > interval = [-0.5;0.5];
+    // > p = fpminimax(f,n,[|1,DD,double...|],interval,relative,floating);
+
+    const Packet p9 = pset1<Packet>(4.431642109085495276e-10);
+    const Packet p8 = pset1<Packet>(7.073829923303358410e-9);
+    const Packet p7 = pset1<Packet>(1.017822306737031311e-7);
+    const Packet p6 = pset1<Packet>(1.321543498017646657e-6);
+    const Packet p5 = pset1<Packet>(1.525273342728892877e-5);
+    const Packet p4 = pset1<Packet>(1.540353045780084423e-4);
+    const Packet p3 = pset1<Packet>(1.333355814685869807e-3);
+    const Packet p2 = pset1<Packet>(9.618129107593478832e-3);
+    const Packet p1 = pset1<Packet>(5.550410866481961247e-2);
+    const Packet p0 = pset1<Packet>(0.240226506959101332);
+    const Packet C_hi = pset1<Packet>(0.693147180559945286); 
+    const Packet C_lo = pset1<Packet>(4.81927865669806721e-17);
+    const Packet one = pset1<Packet>(1.0);
+
+    // Evaluate P(x) in working precision.
+    // We evaluate even and odd parts of the polynomial separately
+    // to gain some instruction level parallelism.
+    Packet x2 = pmul(x,x);
+    Packet p_even = pmadd(p8, x2, p6);
+    Packet p_odd = pmadd(p9, x2, p7);
+    p_even = pmadd(p_even, x2, p4);
+    p_odd = pmadd(p_odd, x2, p5);
+    p_even = pmadd(p_even, x2, p2);
+    p_odd = pmadd(p_odd, x2, p3);
+    p_even = pmadd(p_even, x2, p0);
+    p_odd = pmadd(p_odd, x2, p1);
+    Packet p = pmadd(p_odd, x, p_even);
+
+    // Evaluate the remaining terms of Q(x) with extra precision using
+    // double word arithmetic.
+    Packet p_hi, p_lo;
+    // x * p(x)
+    twoprod(p, x, p_hi, p_lo);
+    // C + x * p(x)
+    Packet q1_hi, q1_lo;
+    twosum(p_hi, p_lo, C_hi, C_lo, q1_hi, q1_lo);
+    // x * (C + x * p(x))
+    Packet q2_hi, q2_lo;
+    twoprod(q1_hi, q1_lo, x, q2_hi, q2_lo);
+    // 1 + x * (C + x * p(x))
+    Packet q3_hi, q3_lo;
+    // Since |q2_hi| <= sqrt(2)-1 < 1, we can use fast_twosum
+    // for adding it to unity here.
+    fast_twosum(one, q2_hi, q3_hi, q3_lo);
+    return padd(q3_hi, padd(q2_lo, q3_lo));
+  }
+};
+
+// This function implements the non-trivial case of pow(x,y) where x is
+// positive and y is (possibly) non-integer.
+// Formally, pow(x,y) = exp2(y * log2(x)), where exp2(x) is shorthand for 2^x.
+// TODO(rmlarsen): We should probably add this as a packet up 'ppow', to make it
+// easier to specialize or turn off for specific types and/or backends.x
+template <typename Packet>
+EIGEN_STRONG_INLINE Packet generic_pow_impl(const Packet& x, const Packet& y) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+  // Split x into exponent e_x and mantissa m_x.
+  Packet e_x;
+  Packet m_x = pfrexp(x, e_x);
+
+  // Adjust m_x to lie in [1/sqrt(2):sqrt(2)] to minimize absolute error in log2(m_x).
+  EIGEN_CONSTEXPR Scalar sqrt_half = Scalar(0.70710678118654752440);
+  const Packet m_x_scale_mask = pcmp_lt(m_x, pset1<Packet>(sqrt_half));
+  m_x = pselect(m_x_scale_mask, pmul(pset1<Packet>(Scalar(2)), m_x), m_x);
+  e_x = pselect(m_x_scale_mask, psub(e_x, pset1<Packet>(Scalar(1))), e_x);
+
+  // Compute log2(m_x) with 6 extra bits of accuracy.
+  Packet rx_hi, rx_lo;
+  accurate_log2<Scalar>()(m_x, rx_hi, rx_lo);
+
+  // Compute the two terms {y * e_x, y * r_x} in f = y * log2(x) with doubled
+  // precision using double word arithmetic.
+  Packet f1_hi, f1_lo, f2_hi, f2_lo;
+  twoprod(e_x, y, f1_hi, f1_lo);
+  twoprod(rx_hi, rx_lo, y, f2_hi, f2_lo);
+  // Sum the two terms in f using double word arithmetic. We know
+  // that |e_x| > |log2(m_x)|, except for the case where e_x==0.
+  // This means that we can use fast_twosum(f1,f2).
+  // In the case e_x == 0, e_x * y = f1 = 0, so we don't lose any
+  // accuracy by violating the assumption of fast_twosum, because
+  // it's a no-op.
+  Packet f_hi, f_lo;
+  fast_twosum(f1_hi, f1_lo, f2_hi, f2_lo, f_hi, f_lo);
+
+  // Split f into integer and fractional parts.
+  Packet n_z, r_z;
+  absolute_split(f_hi, n_z, r_z);
+  r_z = padd(r_z, f_lo);
+  Packet n_r;
+  absolute_split(r_z, n_r, r_z);
+  n_z = padd(n_z, n_r);
+
+  // We now have an accurate split of f = n_z + r_z and can compute
+  //   x^y = 2**{n_z + r_z) = exp2(r_z) * 2**{n_z}.
+  // Since r_z is in [-0.5;0.5], we compute the first factor to high accuracy
+  // using a specialized algorithm. Multiplication by the second factor can
+  // be done exactly using pldexp(), since it is an integer power of 2.
+  const Packet e_r = fast_accurate_exp2<Scalar>()(r_z);
+  return pldexp(e_r, n_z);
+}
+
+// Generic implementation of pow(x,y).
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet generic_pow(const Packet& x, const Packet& y) {
+  typedef typename unpacket_traits<Packet>::type Scalar;
+
+  const Packet cst_pos_inf = pset1<Packet>(NumTraits<Scalar>::infinity());
+  const Packet cst_zero = pset1<Packet>(Scalar(0));
+  const Packet cst_one = pset1<Packet>(Scalar(1));
+  const Packet cst_nan = pset1<Packet>(NumTraits<Scalar>::quiet_NaN());
+
+  const Packet abs_x = pabs(x);
+  // Predicates for sign and magnitude of x.
+  const Packet x_is_zero = pcmp_eq(x, cst_zero);
+  const Packet x_is_neg = pcmp_lt(x, cst_zero);
+  const Packet abs_x_is_inf = pcmp_eq(abs_x, cst_pos_inf);
+  const Packet abs_x_is_one =  pcmp_eq(abs_x, cst_one);
+  const Packet abs_x_is_gt_one = pcmp_lt(cst_one, abs_x);
+  const Packet abs_x_is_lt_one = pcmp_lt(abs_x, cst_one);
+  const Packet x_is_one =  pandnot(abs_x_is_one, x_is_neg);
+  const Packet x_is_neg_one =  pand(abs_x_is_one, x_is_neg);
+  const Packet x_is_nan = pandnot(ptrue(x), pcmp_eq(x, x));
+
+  // Predicates for sign and magnitude of y.
+  const Packet y_is_one = pcmp_eq(y, cst_one);
+  const Packet y_is_zero = pcmp_eq(y, cst_zero);
+  const Packet y_is_neg = pcmp_lt(y, cst_zero);
+  const Packet y_is_pos = pandnot(ptrue(y), por(y_is_zero, y_is_neg));
+  const Packet y_is_nan = pandnot(ptrue(y), pcmp_eq(y, y));
+  const Packet abs_y_is_inf = pcmp_eq(pabs(y), cst_pos_inf);
+  EIGEN_CONSTEXPR Scalar huge_exponent =
+      (NumTraits<Scalar>::max_exponent() * Scalar(EIGEN_LN2)) /
+       NumTraits<Scalar>::epsilon();
+  const Packet abs_y_is_huge = pcmp_le(pset1<Packet>(huge_exponent), pabs(y));
+
+  // Predicates for whether y is integer and/or even.
+  const Packet y_is_int = pcmp_eq(pfloor(y), y);
+  const Packet y_div_2 = pmul(y, pset1<Packet>(Scalar(0.5)));
+  const Packet y_is_even = pcmp_eq(pround(y_div_2), y_div_2);
+
+  // Predicates encoding special cases for the value of pow(x,y)
+  const Packet invalid_negative_x = pandnot(pandnot(pandnot(x_is_neg, abs_x_is_inf),
+                                                    y_is_int),
+                                            abs_y_is_inf);
+  const Packet pow_is_one = por(por(x_is_one, y_is_zero),
+                                pand(x_is_neg_one,
+                                     por(abs_y_is_inf, pandnot(y_is_even, invalid_negative_x))));
+  const Packet pow_is_nan = por(invalid_negative_x, por(x_is_nan, y_is_nan));
+  const Packet pow_is_zero = por(por(por(pand(x_is_zero, y_is_pos),
+                                         pand(abs_x_is_inf, y_is_neg)),
+                                     pand(pand(abs_x_is_lt_one, abs_y_is_huge),
+                                          y_is_pos)),
+                                 pand(pand(abs_x_is_gt_one, abs_y_is_huge),
+                                      y_is_neg));
+  const Packet pow_is_inf = por(por(por(pand(x_is_zero, y_is_neg),
+                                        pand(abs_x_is_inf, y_is_pos)),
+                                    pand(pand(abs_x_is_lt_one, abs_y_is_huge),
+                                         y_is_neg)),
+                                pand(pand(abs_x_is_gt_one, abs_y_is_huge),
+                                     y_is_pos));
+
+  // General computation of pow(x,y) for positive x or negative x and integer y.
+  const Packet negate_pow_abs = pandnot(x_is_neg, y_is_even);
+  const Packet pow_abs = generic_pow_impl(abs_x, y);
+  return pselect(y_is_one, x,
+                 pselect(pow_is_one, cst_one,
+                         pselect(pow_is_nan, cst_nan,
+                                 pselect(pow_is_inf, cst_pos_inf,
+                                         pselect(pow_is_zero, cst_zero,
+                                                 pselect(negate_pow_abs, pnegate(pow_abs), pow_abs))))));
+}
+
+
+
+/* polevl (modified for Eigen)
+ *
+ *      Evaluate polynomial
+ *
+ *
+ *
+ * SYNOPSIS:
+ *
+ * int N;
+ * Scalar x, y, coef[N+1];
+ *
+ * y = polevl<decltype(x), N>( x, coef);
+ *
+ *
+ *
+ * DESCRIPTION:
+ *
+ * Evaluates polynomial of degree N:
+ *
+ *                     2          N
+ * y  =  C  + C x + C x  +...+ C x
+ *        0    1     2          N
+ *
+ * Coefficients are stored in reverse order:
+ *
+ * coef[0] = C  , ..., coef[N] = C  .
+ *            N                   0
+ *
+ *  The function p1evl() assumes that coef[N] = 1.0 and is
+ * omitted from the array.  Its calling arguments are
+ * otherwise the same as polevl().
+ *
+ *
+ * The Eigen implementation is templatized.  For best speed, store
+ * coef as a const array (constexpr), e.g.
+ *
+ * const double coef[] = {1.0, 2.0, 3.0, ...};
+ *
+ */
+template <typename Packet, int N>
+struct ppolevl {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet run(const Packet& x, const typename unpacket_traits<Packet>::type coeff[]) {
+    EIGEN_STATIC_ASSERT((N > 0), YOU_MADE_A_PROGRAMMING_MISTAKE);
+    return pmadd(ppolevl<Packet, N-1>::run(x, coeff), x, pset1<Packet>(coeff[N]));
+  }
+};
+
+template <typename Packet>
+struct ppolevl<Packet, 0> {
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet run(const Packet& x, const typename unpacket_traits<Packet>::type coeff[]) {
+    EIGEN_UNUSED_VARIABLE(x);
+    return pset1<Packet>(coeff[0]);
+  }
+};
+
+/* chbevl (modified for Eigen)
+ *
+ *     Evaluate Chebyshev series
+ *
+ *
+ *
+ * SYNOPSIS:
+ *
+ * int N;
+ * Scalar x, y, coef[N], chebevl();
+ *
+ * y = chbevl( x, coef, N );
+ *
+ *
+ *
+ * DESCRIPTION:
+ *
+ * Evaluates the series
+ *
+ *        N-1
+ *         - '
+ *  y  =   >   coef[i] T (x/2)
+ *         -            i
+ *        i=0
+ *
+ * of Chebyshev polynomials Ti at argument x/2.
+ *
+ * Coefficients are stored in reverse order, i.e. the zero
+ * order term is last in the array.  Note N is the number of
+ * coefficients, not the order.
+ *
+ * If coefficients are for the interval a to b, x must
+ * have been transformed to x -> 2(2x - b - a)/(b-a) before
+ * entering the routine.  This maps x from (a, b) to (-1, 1),
+ * over which the Chebyshev polynomials are defined.
+ *
+ * If the coefficients are for the inverted interval, in
+ * which (a, b) is mapped to (1/b, 1/a), the transformation
+ * required is x -> 2(2ab/x - b - a)/(b-a).  If b is infinity,
+ * this becomes x -> 4a/x - 1.
+ *
+ *
+ *
+ * SPEED:
+ *
+ * Taking advantage of the recurrence properties of the
+ * Chebyshev polynomials, the routine requires one more
+ * addition per loop than evaluating a nested polynomial of
+ * the same degree.
+ *
+ */
+
+template <typename Packet, int N>
+struct pchebevl {
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE Packet run(Packet x, const typename unpacket_traits<Packet>::type coef[]) {
+    typedef typename unpacket_traits<Packet>::type Scalar;
+    Packet b0 = pset1<Packet>(coef[0]);
+    Packet b1 = pset1<Packet>(static_cast<Scalar>(0.f));
+    Packet b2;
+
+    for (int i = 1; i < N; i++) {
+      b2 = b1;
+      b1 = b0;
+      b0 = psub(pmadd(x, b1, pset1<Packet>(coef[i])), b2);
+    }
+
+    return pmul(pset1<Packet>(static_cast<Scalar>(0.5f)), psub(b0, b2));
+  }
+};
+
+} // end namespace internal
+} // end namespace Eigen
+
+#endif // EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h
new file mode 100644
index 0000000000..177a04e93e
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h
@@ -0,0 +1,110 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2019 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_FWD_H
+#define EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_FWD_H
+
+namespace Eigen {
+namespace internal {
+
+// Forward declarations of the generic math functions
+// implemented in GenericPacketMathFunctions.h
+// This is needed to workaround a circular dependency.
+
+/***************************************************************************
+ * Some generic implementations to be used by implementors
+***************************************************************************/
+
+/** Default implementation of pfrexp.
+  * It is expected to be called by implementers of template<> pfrexp.
+  */
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+Packet pfrexp_generic(const Packet& a, Packet& exponent);
+
+// Extracts the biased exponent value from Packet p, and casts the results to
+// a floating-point Packet type. Used by pfrexp_generic. Override this if
+// there is no unpacket_traits<Packet>::integer_packet.
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+Packet pfrexp_generic_get_biased_exponent(const Packet& p);
+
+/** Default implementation of pldexp.
+  * It is expected to be called by implementers of template<> pldexp.
+  */
+template<typename Packet> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+Packet pldexp_generic(const Packet& a, const Packet& exponent);
+
+/** \internal \returns log(x) for single precision float */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_float(const Packet _x);
+
+/** \internal \returns log2(x) for single precision float */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog2_float(const Packet _x);
+
+/** \internal \returns log(x) for single precision float */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog_double(const Packet _x);
+
+/** \internal \returns log2(x) for single precision float */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet plog2_double(const Packet _x);
+
+/** \internal \returns log(1 + x) */
+template<typename Packet>
+Packet generic_plog1p(const Packet& x);
+
+/** \internal \returns exp(x)-1 */
+template<typename Packet>
+Packet generic_expm1(const Packet& x);
+
+/** \internal \returns exp(x) for single precision float */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pexp_float(const Packet _x);
+
+/** \internal \returns exp(x) for double precision real numbers */
+template <typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pexp_double(const Packet _x);
+
+/** \internal \returns sin(x) for single precision float */
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet psin_float(const Packet& x);
+
+/** \internal \returns cos(x) for single precision float */
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet pcos_float(const Packet& x);
+
+/** \internal \returns sqrt(x) for complex types */
+template<typename Packet>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+EIGEN_UNUSED
+Packet psqrt_complex(const Packet& a);
+
+template <typename Packet, int N> struct ppolevl;
+
+
+} // end namespace internal
+} // end namespace Eigen
+
+#endif // EIGEN_ARCH_GENERIC_PACKET_MATH_FUNCTIONS_FWD_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Half.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Half.h
new file mode 100644
index 0000000000..9f8e8cc1e7
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Half.h
@@ -0,0 +1,942 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+//
+// The conversion routines are Copyright (c) Fabian Giesen, 2016.
+// The original license follows:
+//
+// Copyright (c) Fabian Giesen, 2016
+// All rights reserved.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted.
+// 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
+// HOLDER 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.
+
+
+// Standard 16-bit float type, mostly useful for GPUs. Defines a new
+// type Eigen::half (inheriting either from CUDA's or HIP's __half struct) with
+// operator overloads such that it behaves basically as an arithmetic
+// type. It will be quite slow on CPUs (so it is recommended to stay
+// in fp32 for CPUs, except for simple parameter conversions, I/O
+// to disk and the likes), but fast on GPUs.
+
+
+#ifndef EIGEN_HALF_H
+#define EIGEN_HALF_H
+
+#include <sstream>
+
+#if defined(EIGEN_HAS_GPU_FP16) || defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+// When compiling with GPU support, the "__half_raw" base class as well as
+// some other routines are defined in the GPU compiler header files
+// (cuda_fp16.h, hip_fp16.h), and they are not tagged constexpr
+// As a consequence, we get compile failures when compiling Eigen with
+// GPU support. Hence the need to disable EIGEN_CONSTEXPR when building
+// Eigen with GPU support
+  #pragma push_macro("EIGEN_CONSTEXPR")
+  #undef EIGEN_CONSTEXPR
+  #define EIGEN_CONSTEXPR
+#endif
+
+#define F16_PACKET_FUNCTION(PACKET_F, PACKET_F16, METHOD)           \
+  template <>                                                       \
+  EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_UNUSED                \
+  PACKET_F16 METHOD<PACKET_F16>(const PACKET_F16& _x) {             \
+    return float2half(METHOD<PACKET_F>(half2float(_x)));            \
+  }
+
+namespace Eigen {
+
+struct half;
+
+namespace half_impl {
+
+// We want to use the __half_raw struct from the HIP header file only during the device compile phase.
+// This is required because of a quirk in the way TensorFlow GPU builds are done.
+// When compiling TensorFlow source code with GPU support, files that
+//  * contain GPU kernels (i.e. *.cu.cc files) are compiled via hipcc
+//  * do not contain GPU kernels ( i.e. *.cc files) are compiled via gcc (typically)
+//
+// Tensorflow uses the Eigen::half type as its FP16 type, and there are functions that
+//  * are defined in a file that gets compiled via hipcc AND
+//  * have Eigen::half as a pass-by-value argument AND
+//  * are called in a file that gets compiled via gcc
+//
+// In the scenario described above the caller and callee will see different versions
+// of the Eigen::half base class __half_raw, and they will be compiled by different compilers
+//
+// There appears to be an ABI mismatch between gcc and clang (which is called by hipcc) that results in
+// the callee getting corrupted values for the Eigen::half argument.
+//
+// Making the host side compile phase of hipcc use the same Eigen::half impl, as the gcc compile, resolves
+// this error, and hence the following convoluted #if condition
+#if !defined(EIGEN_HAS_GPU_FP16) || !defined(EIGEN_GPU_COMPILE_PHASE)
+// Make our own __half_raw definition that is similar to CUDA's.
+struct __half_raw {
+#if (defined(EIGEN_HAS_GPU_FP16) && !defined(EIGEN_GPU_COMPILE_PHASE))
+  // Eigen::half can be used as the datatype for shared memory declarations (in Eigen and TF)
+  // The element type for shared memory cannot have non-trivial constructors
+  // and hence the following special casing (which skips the zero-initilization).
+  // Note that this check gets done even in the host compilation phase, and
+  // hence the need for this
+  EIGEN_DEVICE_FUNC __half_raw() {}
+#else
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __half_raw() : x(0) {}
+#endif
+#if defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __half_raw(numext::uint16_t raw) : x(numext::bit_cast<__fp16>(raw)) {
+  }
+  __fp16 x;
+#else
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __half_raw(numext::uint16_t raw) : x(raw) {}
+  numext::uint16_t x;
+#endif
+};
+
+#elif defined(EIGEN_HAS_HIP_FP16)
+  // Nothing to do here
+  // HIP fp16 header file has a definition for __half_raw
+#elif defined(EIGEN_HAS_CUDA_FP16)
+  #if EIGEN_CUDA_SDK_VER < 90000
+    // In CUDA < 9.0, __half is the equivalent of CUDA 9's __half_raw
+    typedef __half __half_raw;
+  #endif // defined(EIGEN_HAS_CUDA_FP16)
+#elif defined(SYCL_DEVICE_ONLY)
+  typedef cl::sycl::half __half_raw;
+#endif
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __half_raw raw_uint16_to_half(numext::uint16_t x);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw float_to_half_rtne(float ff);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half_raw h);
+
+struct half_base : public __half_raw {
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half_base() {}
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half_base(const __half_raw& h) : __half_raw(h) {}
+
+#if defined(EIGEN_HAS_GPU_FP16)
+ #if defined(EIGEN_HAS_HIP_FP16)
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half_base(const __half& h) { x = __half_as_ushort(h); }
+ #elif defined(EIGEN_HAS_CUDA_FP16)
+  #if EIGEN_CUDA_SDK_VER >= 90000
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half_base(const __half& h) : __half_raw(*(__half_raw*)&h) {}
+  #endif
+ #endif
+#endif
+};
+
+} // namespace half_impl
+
+// Class definition.
+struct half : public half_impl::half_base {
+
+  // Writing this out as separate #if-else blocks to make the code easier to follow
+  // The same applies to most #if-else blocks in this file
+#if !defined(EIGEN_HAS_GPU_FP16) || !defined(EIGEN_GPU_COMPILE_PHASE)
+  // Use the same base class for the following two scenarios
+  // * when compiling without GPU support enabled
+  // * during host compile phase when compiling with GPU support enabled
+  typedef half_impl::__half_raw __half_raw;
+#elif defined(EIGEN_HAS_HIP_FP16)
+  // Nothing to do here
+  // HIP fp16 header file has a definition for __half_raw
+#elif defined(EIGEN_HAS_CUDA_FP16)
+  // Note that EIGEN_CUDA_SDK_VER is set to 0 even when compiling with HIP, so
+  // (EIGEN_CUDA_SDK_VER < 90000) is true even for HIP!  So keeping this within
+  // #if defined(EIGEN_HAS_CUDA_FP16) is needed
+  #if defined(EIGEN_CUDA_SDK_VER) && EIGEN_CUDA_SDK_VER < 90000
+    typedef half_impl::__half_raw __half_raw;
+  #endif
+#endif
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half() {}
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half(const __half_raw& h) : half_impl::half_base(h) {}
+
+#if defined(EIGEN_HAS_GPU_FP16)
+ #if defined(EIGEN_HAS_HIP_FP16)
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half(const __half& h) : half_impl::half_base(h) {}
+ #elif defined(EIGEN_HAS_CUDA_FP16)
+  #if defined(EIGEN_CUDA_SDK_VER) && EIGEN_CUDA_SDK_VER >= 90000
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half(const __half& h) : half_impl::half_base(h) {}
+  #endif
+ #endif
+#endif
+
+
+  explicit EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR half(bool b)
+      : half_impl::half_base(half_impl::raw_uint16_to_half(b ? 0x3c00 : 0)) {}
+  template<class T>
+  explicit EIGEN_DEVICE_FUNC half(T val)
+      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(val))) {}
+  explicit EIGEN_DEVICE_FUNC half(float f)
+      : half_impl::half_base(half_impl::float_to_half_rtne(f)) {}
+
+  // Following the convention of numpy, converting between complex and
+  // float will lead to loss of imag value.
+  template<typename RealScalar>
+  explicit EIGEN_DEVICE_FUNC half(std::complex<RealScalar> c)
+      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(c.real()))) {}
+
+   EIGEN_DEVICE_FUNC operator float() const {  // NOLINT: Allow implicit conversion to float, because it is lossless.
+    return half_impl::half_to_float(*this);
+  }
+
+#if defined(EIGEN_HAS_GPU_FP16) && !defined(EIGEN_GPU_COMPILE_PHASE)
+  EIGEN_DEVICE_FUNC operator __half() const {
+    ::__half_raw hr;
+    hr.x = x;
+    return __half(hr);
+  }
+#endif
+};
+
+} // end namespace Eigen
+
+namespace std {
+template<>
+struct numeric_limits<Eigen::half> {
+  static const bool is_specialized = true;
+  static const bool is_signed = true;
+  static const bool is_integer = false;
+  static const bool is_exact = false;
+  static const bool has_infinity = true;
+  static const bool has_quiet_NaN = true;
+  static const bool has_signaling_NaN = true;
+  static const float_denorm_style has_denorm = denorm_present;
+  static const bool has_denorm_loss = false;
+  static const std::float_round_style round_style = std::round_to_nearest;
+  static const bool is_iec559 = false;
+  static const bool is_bounded = false;
+  static const bool is_modulo = false;
+  static const int digits = 11;
+  static const int digits10 = 3;      // according to http://half.sourceforge.net/structstd_1_1numeric__limits_3_01half__float_1_1half_01_4.html
+  static const int max_digits10 = 5;  // according to http://half.sourceforge.net/structstd_1_1numeric__limits_3_01half__float_1_1half_01_4.html
+  static const int radix = 2;
+  static const int min_exponent = -13;
+  static const int min_exponent10 = -4;
+  static const int max_exponent = 16;
+  static const int max_exponent10 = 4;
+  static const bool traps = true;
+  static const bool tinyness_before = false;
+
+  static Eigen::half (min)() { return Eigen::half_impl::raw_uint16_to_half(0x400); }
+  static Eigen::half lowest() { return Eigen::half_impl::raw_uint16_to_half(0xfbff); }
+  static Eigen::half (max)() { return Eigen::half_impl::raw_uint16_to_half(0x7bff); }
+  static Eigen::half epsilon() { return Eigen::half_impl::raw_uint16_to_half(0x0800); }
+  static Eigen::half round_error() { return Eigen::half(0.5); }
+  static Eigen::half infinity() { return Eigen::half_impl::raw_uint16_to_half(0x7c00); }
+  static Eigen::half quiet_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7e00); }
+  static Eigen::half signaling_NaN() { return Eigen::half_impl::raw_uint16_to_half(0x7d00); }
+  static Eigen::half denorm_min() { return Eigen::half_impl::raw_uint16_to_half(0x1); }
+};
+
+// If std::numeric_limits<T> is specialized, should also specialize
+// std::numeric_limits<const T>, std::numeric_limits<volatile T>, and
+// std::numeric_limits<const volatile T>
+// https://stackoverflow.com/a/16519653/
+template<>
+struct numeric_limits<const Eigen::half> : numeric_limits<Eigen::half> {};
+template<>
+struct numeric_limits<volatile Eigen::half> : numeric_limits<Eigen::half> {};
+template<>
+struct numeric_limits<const volatile Eigen::half> : numeric_limits<Eigen::half> {};
+} // end namespace std
+
+namespace Eigen {
+
+namespace half_impl {
+
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && \
+     EIGEN_CUDA_ARCH >= 530) ||                                  \
+    (defined(EIGEN_HAS_HIP_FP16) && defined(HIP_DEVICE_COMPILE))
+// Note: We deliberatly do *not* define this to 1 even if we have Arm's native
+// fp16 type since GPU halfs are rather different from native CPU halfs.
+// TODO: Rename to something like EIGEN_HAS_NATIVE_GPU_FP16
+#define EIGEN_HAS_NATIVE_FP16
+#endif
+
+// Intrinsics for native fp16 support. Note that on current hardware,
+// these are no faster than fp32 arithmetic (you need to use the half2
+// versions to get the ALU speed increased), but you do save the
+// conversion steps back and forth.
+
+#if defined(EIGEN_HAS_NATIVE_FP16)
+EIGEN_STRONG_INLINE __device__ half operator + (const half& a, const half& b) {
+#if defined(EIGEN_CUDA_SDK_VER) && EIGEN_CUDA_SDK_VER >= 90000
+  return __hadd(::__half(a), ::__half(b));
+#else
+  return __hadd(a, b);
+#endif
+}
+EIGEN_STRONG_INLINE __device__ half operator * (const half& a, const half& b) {
+  return __hmul(a, b);
+}
+EIGEN_STRONG_INLINE __device__ half operator - (const half& a, const half& b) {
+  return __hsub(a, b);
+}
+EIGEN_STRONG_INLINE __device__ half operator / (const half& a, const half& b) {
+#if defined(EIGEN_CUDA_SDK_VER) && EIGEN_CUDA_SDK_VER >= 90000
+  return __hdiv(a, b);
+#else
+  float num = __half2float(a);
+  float denom = __half2float(b);
+  return __float2half(num / denom);
+#endif
+}
+EIGEN_STRONG_INLINE __device__ half operator - (const half& a) {
+  return __hneg(a);
+}
+EIGEN_STRONG_INLINE __device__ half& operator += (half& a, const half& b) {
+  a = a + b;
+  return a;
+}
+EIGEN_STRONG_INLINE __device__ half& operator *= (half& a, const half& b) {
+  a = a * b;
+  return a;
+}
+EIGEN_STRONG_INLINE __device__ half& operator -= (half& a, const half& b) {
+  a = a - b;
+  return a;
+}
+EIGEN_STRONG_INLINE __device__ half& operator /= (half& a, const half& b) {
+  a = a / b;
+  return a;
+}
+EIGEN_STRONG_INLINE __device__ bool operator == (const half& a, const half& b) {
+  return __heq(a, b);
+}
+EIGEN_STRONG_INLINE __device__ bool operator != (const half& a, const half& b) {
+  return __hne(a, b);
+}
+EIGEN_STRONG_INLINE __device__ bool operator < (const half& a, const half& b) {
+  return __hlt(a, b);
+}
+EIGEN_STRONG_INLINE __device__ bool operator <= (const half& a, const half& b) {
+  return __hle(a, b);
+}
+EIGEN_STRONG_INLINE __device__ bool operator > (const half& a, const half& b) {
+  return __hgt(a, b);
+}
+EIGEN_STRONG_INLINE __device__ bool operator >= (const half& a, const half& b) {
+  return __hge(a, b);
+}
+#endif
+
+#if defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
+  return half(vaddh_f16(a.x, b.x));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
+  return half(vmulh_f16(a.x, b.x));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
+  return half(vsubh_f16(a.x, b.x));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
+  return half(vdivh_f16(a.x, b.x));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
+  return half(vnegh_f16(a.x));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
+  a = half(vaddh_f16(a.x, b.x));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
+  a = half(vmulh_f16(a.x, b.x));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
+  a = half(vsubh_f16(a.x, b.x));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
+  a = half(vdivh_f16(a.x, b.x));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
+  return vceqh_f16(a.x, b.x);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
+  return !vceqh_f16(a.x, b.x);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
+  return vclth_f16(a.x, b.x);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
+  return vcleh_f16(a.x, b.x);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
+  return vcgth_f16(a.x, b.x);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
+  return vcgeh_f16(a.x, b.x);
+}
+// We need to distinguish ‘clang as the CUDA compiler’ from ‘clang as the host compiler,
+// invoked by NVCC’ (e.g. on MacOS). The former needs to see both host and device implementation
+// of the functions, while the latter can only deal with one of them.
+#elif !defined(EIGEN_HAS_NATIVE_FP16) || (EIGEN_COMP_CLANG && !EIGEN_COMP_NVCC) // Emulate support for half floats
+
+#if EIGEN_COMP_CLANG && defined(EIGEN_CUDACC)
+// We need to provide emulated *host-side* FP16 operators for clang.
+#pragma push_macro("EIGEN_DEVICE_FUNC")
+#undef EIGEN_DEVICE_FUNC
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_HAS_NATIVE_FP16)
+#define EIGEN_DEVICE_FUNC __host__
+#else // both host and device need emulated ops.
+#define EIGEN_DEVICE_FUNC __host__ __device__
+#endif
+#endif
+
+// Definitions for CPUs and older HIP+CUDA, mostly working through conversion
+// to/from fp32.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
+  return half(float(a) + float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
+  return half(float(a) * float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
+  return half(float(a) - float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
+  return half(float(a) / float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
+  half result;
+  result.x = a.x ^ 0x8000;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
+  a = half(float(a) + float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
+  a = half(float(a) * float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
+  a = half(float(a) - float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
+  a = half(float(a) / float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
+  return numext::equal_strict(float(a),float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
+  return numext::not_equal_strict(float(a), float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
+  return float(a) < float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
+  return float(a) <= float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
+  return float(a) > float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
+  return float(a) >= float(b);
+}
+
+#if defined(__clang__) && defined(__CUDA__)
+#pragma pop_macro("EIGEN_DEVICE_FUNC")
+#endif
+#endif  // Emulate support for half floats
+
+// Division by an index. Do it in full float precision to avoid accuracy
+// issues in converting the denominator to half.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, Index b) {
+  return half(static_cast<float>(a) / static_cast<float>(b));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator++(half& a) {
+  a += half(1);
+  return a;
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator--(half& a) {
+  a -= half(1);
+  return a;
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator++(half& a, int) {
+  half original_value = a;
+  ++a;
+  return original_value;
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator--(half& a, int) {
+  half original_value = a;
+  --a;
+  return original_value;
+}
+
+// Conversion routines, including fallbacks for the host or older CUDA.
+// Note that newer Intel CPUs (Haswell or newer) have vectorized versions of
+// these in hardware. If we need more performance on older/other CPUs, they are
+// also possible to vectorize directly.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR __half_raw raw_uint16_to_half(numext::uint16_t x) {
+  // We cannot simply do a "return __half_raw(x)" here, because __half_raw is union type
+  // in the hip_fp16 header file, and that will trigger a compile error
+  // On the other hand, having anything but a return statement also triggers a compile error
+  // because this is constexpr function.
+  // Fortunately, since we need to disable EIGEN_CONSTEXPR for GPU anyway, we can get out
+  // of this catch22 by having separate bodies for GPU / non GPU
+#if defined(EIGEN_HAS_GPU_FP16)
+   __half_raw h;
+   h.x = x;
+  return h;
+#else
+  return __half_raw(x);
+#endif
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC numext::uint16_t raw_half_as_uint16(const __half_raw& h) {
+  // HIP/CUDA/Default have a member 'x' of type uint16_t.
+  // For ARM64 native half, the member 'x' is of type __fp16, so we need to bit-cast.
+  // For SYCL, cl::sycl::half is _Float16, so cast directly.
+#if defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  return numext::bit_cast<numext::uint16_t>(h.x);
+#elif defined(SYCL_DEVICE_ONLY)
+  return numext::bit_cast<numext::uint16_t>(h);
+#else
+  return h.x;
+#endif
+}
+
+union float32_bits {
+  unsigned int u;
+  float f;
+};
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half_raw float_to_half_rtne(float ff) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  __half tmp_ff = __float2half(ff);
+  return *(__half_raw*)&tmp_ff;
+
+#elif defined(EIGEN_HAS_FP16_C)
+  __half_raw h;
+  h.x = _cvtss_sh(ff, 0);
+  return h;
+
+#elif defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  __half_raw h;
+  h.x = static_cast<__fp16>(ff);
+  return h;
+
+#else
+  float32_bits f; f.f = ff;
+
+  const float32_bits f32infty = { 255 << 23 };
+  const float32_bits f16max = { (127 + 16) << 23 };
+  const float32_bits denorm_magic = { ((127 - 15) + (23 - 10) + 1) << 23 };
+  unsigned int sign_mask = 0x80000000u;
+  __half_raw o;
+  o.x = static_cast<numext::uint16_t>(0x0u);
+
+  unsigned int sign = f.u & sign_mask;
+  f.u ^= sign;
+
+  // NOTE all the integer compares in this function can be safely
+  // compiled into signed compares since all operands are below
+  // 0x80000000. Important if you want fast straight SSE2 code
+  // (since there's no unsigned PCMPGTD).
+
+  if (f.u >= f16max.u) {  // result is Inf or NaN (all exponent bits set)
+    o.x = (f.u > f32infty.u) ? 0x7e00 : 0x7c00; // NaN->qNaN and Inf->Inf
+  } else {  // (De)normalized number or zero
+    if (f.u < (113 << 23)) {  // resulting FP16 is subnormal or zero
+      // use a magic value to align our 10 mantissa bits at the bottom of
+      // the float. as long as FP addition is round-to-nearest-even this
+      // just works.
+      f.f += denorm_magic.f;
+
+      // and one integer subtract of the bias later, we have our final float!
+      o.x = static_cast<numext::uint16_t>(f.u - denorm_magic.u);
+    } else {
+      unsigned int mant_odd = (f.u >> 13) & 1; // resulting mantissa is odd
+
+      // update exponent, rounding bias part 1
+      // Equivalent to `f.u += ((unsigned int)(15 - 127) << 23) + 0xfff`, but
+      // without arithmetic overflow.
+      f.u += 0xc8000fffU;
+      // rounding bias part 2
+      f.u += mant_odd;
+      // take the bits!
+      o.x = static_cast<numext::uint16_t>(f.u >> 13);
+    }
+  }
+
+  o.x |= static_cast<numext::uint16_t>(sign >> 16);
+  return o;
+#endif
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half_raw h) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  return __half2float(h);
+#elif defined(EIGEN_HAS_FP16_C)
+  return _cvtsh_ss(h.x);
+#elif defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  return static_cast<float>(h.x);
+#else
+  const float32_bits magic = { 113 << 23 };
+  const unsigned int shifted_exp = 0x7c00 << 13; // exponent mask after shift
+  float32_bits o;
+
+  o.u = (h.x & 0x7fff) << 13;             // exponent/mantissa bits
+  unsigned int exp = shifted_exp & o.u;   // just the exponent
+  o.u += (127 - 15) << 23;                // exponent adjust
+
+  // handle exponent special cases
+  if (exp == shifted_exp) {     // Inf/NaN?
+    o.u += (128 - 16) << 23;    // extra exp adjust
+  } else if (exp == 0) {        // Zero/Denormal?
+    o.u += 1 << 23;             // extra exp adjust
+    o.f -= magic.f;             // renormalize
+  }
+
+  o.u |= (h.x & 0x8000) << 16;    // sign bit
+  return o.f;
+#endif
+}
+
+// --- standard functions ---
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const half& a) {
+#ifdef EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC
+  return (numext::bit_cast<numext::uint16_t>(a.x) & 0x7fff) == 0x7c00;
+#else
+  return (a.x & 0x7fff) == 0x7c00;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const half& a) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  return __hisnan(a);
+#elif defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  return (numext::bit_cast<numext::uint16_t>(a.x) & 0x7fff) > 0x7c00;
+#else
+  return (a.x & 0x7fff) > 0x7c00;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const half& a) {
+  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half abs(const half& a) {
+#if defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  return half(vabsh_f16(a.x));
+#else
+  half result;
+  result.x = a.x & 0x7FFF;
+  return result;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half exp(const half& a) {
+#if (EIGEN_CUDA_SDK_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 530) || \
+  defined(EIGEN_HIP_DEVICE_COMPILE)
+  return half(hexp(a));
+#else
+   return half(::expf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half expm1(const half& a) {
+  return half(numext::expm1(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log(const half& a) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && EIGEN_CUDA_SDK_VER >= 80000 && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  return half(::hlog(a));
+#else
+  return half(::logf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log1p(const half& a) {
+  return half(numext::log1p(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log10(const half& a) {
+  return half(::log10f(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log2(const half& a) {
+  return half(static_cast<float>(EIGEN_LOG2E) * ::logf(float(a)));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sqrt(const half& a) {
+#if (EIGEN_CUDA_SDK_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 530) || \
+  defined(EIGEN_HIP_DEVICE_COMPILE)
+  return half(hsqrt(a));
+#else
+    return half(::sqrtf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half pow(const half& a, const half& b) {
+  return half(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sin(const half& a) {
+  return half(::sinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half cos(const half& a) {
+  return half(::cosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tan(const half& a) {
+  return half(::tanf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tanh(const half& a) {
+  return half(::tanhf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half asin(const half& a) {
+  return half(::asinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half acos(const half& a) {
+  return half(::acosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half floor(const half& a) {
+#if (EIGEN_CUDA_SDK_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 300) || \
+  defined(EIGEN_HIP_DEVICE_COMPILE)
+  return half(hfloor(a));
+#else
+  return half(::floorf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half ceil(const half& a) {
+#if (EIGEN_CUDA_SDK_VER >= 80000 && defined EIGEN_CUDA_ARCH && EIGEN_CUDA_ARCH >= 300) || \
+  defined(EIGEN_HIP_DEVICE_COMPILE)
+  return half(hceil(a));
+#else
+  return half(::ceilf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half rint(const half& a) {
+  return half(::rintf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half round(const half& a) {
+  return half(::roundf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half fmod(const half& a, const half& b) {
+  return half(::fmodf(float(a), float(b)));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (min)(const half& a, const half& b) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  return __hlt(b, a) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f2 < f1 ? b : a;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (max)(const half& a, const half& b) {
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530) || \
+  (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+  return __hlt(a, b) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f1 < f2 ? b : a;
+#endif
+}
+
+#ifndef EIGEN_NO_IO
+EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const half& v) {
+  os << static_cast<float>(v);
+  return os;
+}
+#endif
+
+} // end namespace half_impl
+
+// import Eigen::half_impl::half into Eigen namespace
+// using half_impl::half;
+
+namespace internal {
+
+template<>
+struct random_default_impl<half, false, false>
+{
+  static inline half run(const half& x, const half& y)
+  {
+    return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));
+  }
+  static inline half run()
+  {
+    return run(half(-1.f), half(1.f));
+  }
+};
+
+template<> struct is_arithmetic<half> { enum { value = true }; };
+
+} // end namespace internal
+
+template<> struct NumTraits<Eigen::half>
+    : GenericNumTraits<Eigen::half>
+{
+  enum {
+    IsSigned = true,
+    IsInteger = false,
+    IsComplex = false,
+    RequireInitialization = false
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half epsilon() {
+    return half_impl::raw_uint16_to_half(0x0800);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half dummy_precision() {
+    return half_impl::raw_uint16_to_half(0x211f); //  Eigen::half(1e-2f);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half highest() {
+    return half_impl::raw_uint16_to_half(0x7bff);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half lowest() {
+    return half_impl::raw_uint16_to_half(0xfbff);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half infinity() {
+    return half_impl::raw_uint16_to_half(0x7c00);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR static EIGEN_STRONG_INLINE Eigen::half quiet_NaN() {
+    return half_impl::raw_uint16_to_half(0x7e00);
+  }
+};
+
+} // end namespace Eigen
+
+#if defined(EIGEN_HAS_GPU_FP16) || defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  #pragma pop_macro("EIGEN_CONSTEXPR")
+#endif
+
+namespace Eigen {
+namespace numext {
+
+#if defined(EIGEN_GPU_COMPILE_PHASE)
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool(isnan)(const Eigen::half& h) {
+  return (half_impl::isnan)(h);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool(isinf)(const Eigen::half& h) {
+  return (half_impl::isinf)(h);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE bool(isfinite)(const Eigen::half& h) {
+  return (half_impl::isfinite)(h);
+}
+
+#endif
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half bit_cast<Eigen::half, uint16_t>(const uint16_t& src) {
+  return Eigen::half(Eigen::half_impl::raw_uint16_to_half(src));
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC uint16_t bit_cast<uint16_t, Eigen::half>(const Eigen::half& src) {
+  return Eigen::half_impl::raw_half_as_uint16(src);
+}
+
+}  // namespace numext
+}  // namespace Eigen
+
+// Add the missing shfl* intrinsics.
+// The __shfl* functions are only valid on HIP or _CUDA_ARCH_ >= 300.
+//   CUDA defines them for (__CUDA_ARCH__ >= 300 || !defined(__CUDA_ARCH__))
+//
+// HIP and CUDA prior to SDK 9.0 define
+//    __shfl, __shfl_up, __shfl_down, __shfl_xor for int and float
+// CUDA since 9.0 deprecates those and instead defines
+//    __shfl_sync, __shfl_up_sync, __shfl_down_sync, __shfl_xor_sync,
+//    with native support for __half and __nv_bfloat16
+//
+// Note that the following are __device__ - only functions.
+#if (defined(EIGEN_CUDACC) && (!defined(EIGEN_CUDA_ARCH) || EIGEN_CUDA_ARCH >= 300)) \
+    || defined(EIGEN_HIPCC)
+
+#if defined(EIGEN_HAS_CUDA_FP16) && EIGEN_CUDA_SDK_VER >= 90000
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_sync(unsigned mask, Eigen::half var, int srcLane, int width=warpSize) {
+  const __half h = var;
+  return static_cast<Eigen::half>(__shfl_sync(mask, h, srcLane, width));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_up_sync(unsigned mask, Eigen::half var, unsigned int delta, int width=warpSize) {
+  const __half h = var;
+  return static_cast<Eigen::half>(__shfl_up_sync(mask, h, delta, width));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_down_sync(unsigned mask, Eigen::half var, unsigned int delta, int width=warpSize) {
+  const __half h = var;
+  return static_cast<Eigen::half>(__shfl_down_sync(mask, h, delta, width));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor_sync(unsigned mask, Eigen::half var, int laneMask, int width=warpSize) {
+  const __half h = var;
+  return static_cast<Eigen::half>(__shfl_xor_sync(mask, h, laneMask, width));
+}
+
+#else // HIP or CUDA SDK < 9.0
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl(Eigen::half var, int srcLane, int width=warpSize) {
+  const int ivar = static_cast<int>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(var));
+  return Eigen::numext::bit_cast<Eigen::half>(static_cast<Eigen::numext::uint16_t>(__shfl(ivar, srcLane, width)));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_up(Eigen::half var, unsigned int delta, int width=warpSize) {
+  const int ivar = static_cast<int>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(var));
+  return Eigen::numext::bit_cast<Eigen::half>(static_cast<Eigen::numext::uint16_t>(__shfl_up(ivar, delta, width)));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_down(Eigen::half var, unsigned int delta, int width=warpSize) {
+  const int ivar = static_cast<int>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(var));
+  return Eigen::numext::bit_cast<Eigen::half>(static_cast<Eigen::numext::uint16_t>(__shfl_down(ivar, delta, width)));
+}
+
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor(Eigen::half var, int laneMask, int width=warpSize) {
+  const int ivar = static_cast<int>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(var));
+  return Eigen::numext::bit_cast<Eigen::half>(static_cast<Eigen::numext::uint16_t>(__shfl_xor(ivar, laneMask, width)));
+}
+
+#endif // HIP vs CUDA
+#endif // __shfl*
+
+// ldg() has an overload for __half_raw, but we also need one for Eigen::half.
+#if (defined(EIGEN_CUDACC) && (!defined(EIGEN_CUDA_ARCH) || EIGEN_CUDA_ARCH >= 350)) \
+    || defined(EIGEN_HIPCC)
+EIGEN_STRONG_INLINE __device__ Eigen::half __ldg(const Eigen::half* ptr) {
+  return Eigen::half_impl::raw_uint16_to_half(__ldg(reinterpret_cast<const Eigen::numext::uint16_t*>(ptr)));
+}
+#endif // __ldg
+
+#if EIGEN_HAS_STD_HASH
+namespace std {
+template <>
+struct hash<Eigen::half> {
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::half& a) const {
+    return static_cast<std::size_t>(Eigen::numext::bit_cast<Eigen::numext::uint16_t>(a));
+  }
+};
+} // end namespace std
+#endif
+
+#endif // EIGEN_HALF_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Settings.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Settings.h
index 097373c84d..a5c3ada4c7 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Settings.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/Settings.h
@@ -21,7 +21,7 @@
   * it does not correspond to the number of iterations or the number of instructions
   */
 #ifndef EIGEN_UNROLLING_LIMIT
-#define EIGEN_UNROLLING_LIMIT 100
+#define EIGEN_UNROLLING_LIMIT 110
 #endif
 
 /** Defines the threshold between a "small" and a "large" matrix.
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/TypeCasting.h
new file mode 100644
index 0000000000..fb8183b78e
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/Default/TypeCasting.h
@@ -0,0 +1,120 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
+// Copyright (C) 2019 Rasmus Munk Larsen <rmlarsen@google.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GENERIC_TYPE_CASTING_H
+#define EIGEN_GENERIC_TYPE_CASTING_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<>
+struct scalar_cast_op<float, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const float& a) const {
+    #if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+      (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+      return __float2half(a);
+    #else
+      return Eigen::half(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<float, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<int, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const int& a) const {
+    #if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+      (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+      return __float2half(static_cast<float>(a));
+    #else
+      return Eigen::half(static_cast<float>(a));
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<int, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<Eigen::half, float> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef float result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::half& a) const {
+    #if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+      (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+      return __half2float(a);
+    #else
+      return static_cast<float>(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<Eigen::half, float> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<float, Eigen::bfloat16> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::bfloat16 result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::bfloat16 operator() (const float& a) const {
+    return Eigen::bfloat16(a);
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<float, Eigen::bfloat16> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<int, Eigen::bfloat16> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::bfloat16 result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::bfloat16 operator() (const int& a) const {
+    return Eigen::bfloat16(static_cast<float>(a));
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<int, Eigen::bfloat16> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<Eigen::bfloat16, float> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef float result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::bfloat16& a) const {
+    return static_cast<float>(a);
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<Eigen::bfloat16, float> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+}
+}
+
+#endif  // EIGEN_GENERIC_TYPE_CASTING_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/MathFunctions.h
similarity index 93%
rename from examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/MathFunctions.h
rename to examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/MathFunctions.h
index ff6256ce0e..d2b3a25684 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/CUDA/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/MathFunctions.h
@@ -7,8 +7,8 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#ifndef EIGEN_MATH_FUNCTIONS_CUDA_H
-#define EIGEN_MATH_FUNCTIONS_CUDA_H
+#ifndef EIGEN_MATH_FUNCTIONS_GPU_H
+#define EIGEN_MATH_FUNCTIONS_GPU_H
 
 namespace Eigen {
 
@@ -17,7 +17,7 @@ namespace internal {
 // Make sure this is only available when targeting a GPU: we don't want to
 // introduce conflicts between these packet_traits definitions and the ones
 // we'll use on the host side (SSE, AVX, ...)
-#if defined(EIGEN_CUDACC) && defined(EIGEN_USE_GPU)
+#if defined(EIGEN_GPUCC) && defined(EIGEN_USE_GPU)
 template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 float4 plog<float4>(const float4& a)
 {
@@ -100,4 +100,4 @@ double2 prsqrt<double2>(const double2& a)
 
 } // end namespace Eigen
 
-#endif // EIGEN_MATH_FUNCTIONS_CUDA_H
+#endif // EIGEN_MATH_FUNCTIONS_GPU_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/PacketMath.h
new file mode 100644
index 0000000000..25c45fd355
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/PacketMath.h
@@ -0,0 +1,1649 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_GPU_H
+#define EIGEN_PACKET_MATH_GPU_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Read-only data cached load available.
+#if defined(EIGEN_HIP_DEVICE_COMPILE) || (defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 350)
+#define EIGEN_GPU_HAS_LDG 1
+#endif
+
+// FP16 math available.
+#if (defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 530)
+#define EIGEN_CUDA_HAS_FP16_ARITHMETIC 1
+#endif
+
+#if defined(EIGEN_HIP_DEVICE_COMPILE) || defined(EIGEN_CUDA_HAS_FP16_ARITHMETIC)
+#define EIGEN_GPU_HAS_FP16_ARITHMETIC 1
+#endif
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(EIGEN_GPUCC) && defined(EIGEN_USE_GPU)
+
+template<> struct is_arithmetic<float4>  { enum { value = true }; };
+template<> struct is_arithmetic<double2> { enum { value = true }; };
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+  typedef float4 type;
+  typedef float4 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasNdtri = 1,
+    HasBessel = 1,
+    HasIGamma = 1,
+    HasIGammaDerA = 1,
+    HasGammaSampleDerAlpha = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+    HasFloor = 1,
+  };
+};
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef double2 type;
+  typedef double2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasNdtri = 1,
+    HasBessel = 1,
+    HasIGamma = 1,
+    HasIGammaDerA = 1,
+    HasGammaSampleDerAlpha = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+    HasFloor = 1,
+  };
+};
+
+
+template<> struct unpacket_traits<float4>  { typedef float  type; enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef float4 half; };
+template<> struct unpacket_traits<double2> { typedef double type; enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef double2 half; };
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pset1<float4>(const float&  from) {
+  return make_float4(from, from, from, from);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pset1<double2>(const double& from) {
+  return make_double2(from, from);
+}
+
+// We need to distinguish ‘clang as the CUDA compiler’ from ‘clang as the host compiler,
+// invoked by NVCC’ (e.g. on MacOS). The former needs to see both host and device implementation
+// of the functions, while the latter can only deal with one of them.
+#if defined(EIGEN_CUDA_ARCH) || defined(EIGEN_HIPCC) || (defined(EIGEN_CUDACC) && EIGEN_COMP_CLANG && !EIGEN_COMP_NVCC)
+namespace {
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float bitwise_and(const float& a,
+                                                        const float& b) {
+  return __int_as_float(__float_as_int(a) & __float_as_int(b));
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bitwise_and(const double& a,
+                                                         const double& b) {
+  return __longlong_as_double(__double_as_longlong(a) &
+                              __double_as_longlong(b));
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float bitwise_or(const float& a,
+                                                       const float& b) {
+  return __int_as_float(__float_as_int(a) | __float_as_int(b));
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bitwise_or(const double& a,
+                                                        const double& b) {
+  return __longlong_as_double(__double_as_longlong(a) |
+                              __double_as_longlong(b));
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float bitwise_xor(const float& a,
+                                                        const float& b) {
+  return __int_as_float(__float_as_int(a) ^ __float_as_int(b));
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bitwise_xor(const double& a,
+                                                         const double& b) {
+  return __longlong_as_double(__double_as_longlong(a) ^
+                              __double_as_longlong(b));
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float bitwise_andnot(const float& a,
+                                                           const float& b) {
+  return __int_as_float(__float_as_int(a) & ~__float_as_int(b));
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double bitwise_andnot(const double& a,
+                                                            const double& b) {
+  return __longlong_as_double(__double_as_longlong(a) &
+                              ~__double_as_longlong(b));
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float eq_mask(const float& a,
+                                                    const float& b) {
+  return __int_as_float(a == b ? 0xffffffffu : 0u);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double eq_mask(const double& a,
+                                                     const double& b) {
+  return __longlong_as_double(a == b ? 0xffffffffffffffffull : 0ull);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float lt_mask(const float& a,
+                                                    const float& b) {
+  return __int_as_float(a < b ? 0xffffffffu : 0u);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double lt_mask(const double& a,
+                                                     const double& b) {
+  return __longlong_as_double(a < b ? 0xffffffffffffffffull : 0ull);
+}
+
+}  // namespace
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pand<float4>(const float4& a,
+                                                          const float4& b) {
+  return make_float4(bitwise_and(a.x, b.x), bitwise_and(a.y, b.y),
+                     bitwise_and(a.z, b.z), bitwise_and(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pand<double2>(const double2& a,
+                                                            const double2& b) {
+  return make_double2(bitwise_and(a.x, b.x), bitwise_and(a.y, b.y));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 por<float4>(const float4& a,
+                                                         const float4& b) {
+  return make_float4(bitwise_or(a.x, b.x), bitwise_or(a.y, b.y),
+                     bitwise_or(a.z, b.z), bitwise_or(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 por<double2>(const double2& a,
+                                                           const double2& b) {
+  return make_double2(bitwise_or(a.x, b.x), bitwise_or(a.y, b.y));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pxor<float4>(const float4& a,
+                                                          const float4& b) {
+  return make_float4(bitwise_xor(a.x, b.x), bitwise_xor(a.y, b.y),
+                     bitwise_xor(a.z, b.z), bitwise_xor(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pxor<double2>(const double2& a,
+                                                            const double2& b) {
+  return make_double2(bitwise_xor(a.x, b.x), bitwise_xor(a.y, b.y));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pandnot<float4>(const float4& a,
+                                                             const float4& b) {
+  return make_float4(bitwise_andnot(a.x, b.x), bitwise_andnot(a.y, b.y),
+                     bitwise_andnot(a.z, b.z), bitwise_andnot(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2
+pandnot<double2>(const double2& a, const double2& b) {
+  return make_double2(bitwise_andnot(a.x, b.x), bitwise_andnot(a.y, b.y));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcmp_eq<float4>(const float4& a,
+                                                             const float4& b) {
+  return make_float4(eq_mask(a.x, b.x), eq_mask(a.y, b.y), eq_mask(a.z, b.z),
+                     eq_mask(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcmp_lt<float4>(const float4& a,
+                                                             const float4& b) {
+  return make_float4(lt_mask(a.x, b.x), lt_mask(a.y, b.y), lt_mask(a.z, b.z),
+                     lt_mask(a.w, b.w));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2
+pcmp_eq<double2>(const double2& a, const double2& b) {
+  return make_double2(eq_mask(a.x, b.x), eq_mask(a.y, b.y));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2
+pcmp_lt<double2>(const double2& a, const double2& b) {
+  return make_double2(lt_mask(a.x, b.x), lt_mask(a.y, b.y));
+}
+#endif // defined(EIGEN_CUDA_ARCH) || defined(EIGEN_HIPCC) || (defined(EIGEN_CUDACC) && EIGEN_COMP_CLANG && !EIGEN_COMP_NVCC)
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 plset<float4>(const float& a) {
+  return make_float4(a, a+1, a+2, a+3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 plset<double2>(const double& a) {
+  return make_double2(a, a+1);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 padd<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 padd<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x+b.x, a.y+b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 psub<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 psub<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x-b.x, a.y-b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pnegate(const float4& a) {
+  return make_float4(-a.x, -a.y, -a.z, -a.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pnegate(const double2& a) {
+  return make_double2(-a.x, -a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pconj(const float4& a) { return a; }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pconj(const double2& a) { return a; }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmul<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x*b.x, a.y*b.y, a.z*b.z, a.w*b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmul<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x*b.x, a.y*b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pdiv<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x/b.x, a.y/b.y, a.z/b.z, a.w/b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pdiv<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x/b.x, a.y/b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmin<float4>(const float4& a, const float4& b) {
+  return make_float4(fminf(a.x, b.x), fminf(a.y, b.y), fminf(a.z, b.z), fminf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmin<double2>(const double2& a, const double2& b) {
+  return make_double2(fmin(a.x, b.x), fmin(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmax<float4>(const float4& a, const float4& b) {
+  return make_float4(fmaxf(a.x, b.x), fmaxf(a.y, b.y), fmaxf(a.z, b.z), fmaxf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmax<double2>(const double2& a, const double2& b) {
+  return make_double2(fmax(a.x, b.x), fmax(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pload<float4>(const float* from) {
+  return *reinterpret_cast<const float4*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pload<double2>(const double* from) {
+  return *reinterpret_cast<const double2*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploadu<float4>(const float* from) {
+  return make_float4(from[0], from[1], from[2], from[3]);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploadu<double2>(const double* from) {
+  return make_double2(from[0], from[1]);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploaddup<float4>(const float*   from) {
+  return make_float4(from[0], from[0], from[1], from[1]);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploaddup<double2>(const double*  from) {
+  return make_double2(from[0], from[0]);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<float>(float*   to, const float4& from) {
+  *reinterpret_cast<float4*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<double>(double* to, const double2& from) {
+  *reinterpret_cast<double2*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const float4& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+  to[2] = from.z;
+  to[3] = from.w;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const double2& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Aligned>(const float* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  return __ldg((const float4*)from);
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Aligned>(const double* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  return __ldg((const double2*)from);
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Unaligned>(const float* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  return make_float4(__ldg(from+0), __ldg(from+1), __ldg(from+2), __ldg(from+3));
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Unaligned>(const double* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  return make_double2(__ldg(from+0), __ldg(from+1));
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4 pgather<float, float4>(const float* from, Index stride) {
+  return make_float4(from[0*stride], from[1*stride], from[2*stride], from[3*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline double2 pgather<double, double2>(const double* from, Index stride) {
+  return make_double2(from[0*stride], from[1*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, float4>(float* to, const float4& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+  to[stride*2] = from.z;
+  to[stride*3] = from.w;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, double2>(double* to, const double2& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  pfirst<float4>(const float4& a) {
+  return a.x;
+}
+template<> EIGEN_DEVICE_FUNC inline double pfirst<double2>(const double2& a) {
+  return a.x;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux<float4>(const float4& a) {
+  return a.x + a.y + a.z + a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux<double2>(const double2& a) {
+  return a.x + a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_max<float4>(const float4& a) {
+  return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_max<double2>(const double2& a) {
+  return fmax(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_min<float4>(const float4& a) {
+  return fminf(fminf(a.x, a.y), fminf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_min<double2>(const double2& a) {
+  return fmin(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_mul<float4>(const float4& a) {
+  return a.x * a.y * a.z * a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_mul<double2>(const double2& a) {
+  return a.x * a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4  pabs<float4>(const float4& a) {
+  return make_float4(fabsf(a.x), fabsf(a.y), fabsf(a.z), fabsf(a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double2 pabs<double2>(const double2& a) {
+  return make_double2(fabs(a.x), fabs(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4  pfloor<float4>(const float4& a) {
+  return make_float4(floorf(a.x), floorf(a.y), floorf(a.z), floorf(a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double2 pfloor<double2>(const double2& a) {
+  return make_double2(floor(a.x), floor(a.y));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<float4,4>& kernel) {
+  float tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+
+  tmp = kernel.packet[0].z;
+  kernel.packet[0].z = kernel.packet[2].x;
+  kernel.packet[2].x = tmp;
+
+  tmp = kernel.packet[0].w;
+  kernel.packet[0].w = kernel.packet[3].x;
+  kernel.packet[3].x = tmp;
+
+  tmp = kernel.packet[1].z;
+  kernel.packet[1].z = kernel.packet[2].y;
+  kernel.packet[2].y = tmp;
+
+  tmp = kernel.packet[1].w;
+  kernel.packet[1].w = kernel.packet[3].y;
+  kernel.packet[3].y = tmp;
+
+  tmp = kernel.packet[2].w;
+  kernel.packet[2].w = kernel.packet[3].z;
+  kernel.packet[3].z = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<double2,2>& kernel) {
+  double tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+}
+
+#endif // defined(EIGEN_GPUCC) && defined(EIGEN_USE_GPU)
+
+// Half-packet functions are not available on the host for CUDA 9.0-9.2, only
+// on device. There is no benefit to using them on the host anyways, since they are
+// emulated.
+#if (defined(EIGEN_HAS_CUDA_FP16) || defined(EIGEN_HAS_HIP_FP16)) && defined(EIGEN_GPU_COMPILE_PHASE)
+
+typedef ulonglong2 Packet4h2;
+template<> struct unpacket_traits<Packet4h2> { typedef Eigen::half type; enum {size=8, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet4h2 half; };
+template<> struct is_arithmetic<Packet4h2> { enum { value = true }; };
+
+template<> struct unpacket_traits<half2> { typedef Eigen::half type; enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef half2 half; };
+template<> struct is_arithmetic<half2> { enum { value = true }; };
+
+template<> struct packet_traits<Eigen::half> : default_packet_traits
+{
+  typedef Packet4h2 type;
+  typedef Packet4h2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8,
+    HasHalfPacket = 0,
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasSqrt   = 1,
+    HasRsqrt  = 1,
+    HasExp    = 1,
+    HasExpm1  = 1,
+    HasLog    = 1,
+    HasLog1p  = 1
+  };
+};
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pset1<half2>(const Eigen::half& from) {
+  return __half2half2(from);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pset1<Packet4h2>(const Eigen::half& from) {
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = pset1<half2>(from);
+  p_alias[1] = pset1<half2>(from);
+  p_alias[2] = pset1<half2>(from);
+  p_alias[3] = pset1<half2>(from);
+  return r;
+}
+
+namespace {
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pload(const Eigen::half* from) {
+  return *reinterpret_cast<const half2*>(from);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 ploadu(const Eigen::half* from) {
+  return __halves2half2(from[0], from[1]);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 ploaddup(const Eigen::half*  from) {
+  return __halves2half2(from[0], from[0]);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore(Eigen::half* to,
+                                                  const half2& from) {
+  *reinterpret_cast<half2*>(to) = from;
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu(Eigen::half* to,
+                                                   const half2& from) {
+  to[0] = __low2half(from);
+  to[1] = __high2half(from);
+}
+
+
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE half2 ploadt_ro_aligned(
+    const Eigen::half* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  // Input is guaranteed to be properly aligned.
+  return __ldg(reinterpret_cast<const half2*>(from));
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE half2 ploadt_ro_unaligned(
+    const Eigen::half* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  return __halves2half2(__ldg(from+0), __ldg(from+1));
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pgather(const Eigen::half* from,
+                                                    Index stride) {
+  return __halves2half2(from[0*stride], from[1*stride]);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter(
+    Eigen::half* to, const half2& from, Index stride) {
+  to[stride*0] = __low2half(from);
+  to[stride*1] = __high2half(from);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half pfirst(const half2& a) {
+  return __low2half(a);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pabs(const half2& a) {
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half result1 = half_impl::raw_uint16_to_half(a1.x & 0x7FFF);
+  half result2 = half_impl::raw_uint16_to_half(a2.x & 0x7FFF);
+  return __halves2half2(result1, result2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 ptrue(const half2& /*a*/) {
+  half true_half = half_impl::raw_uint16_to_half(0xffffu);
+  return pset1<half2>(true_half);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pzero(const half2& /*a*/) {
+  half false_half = half_impl::raw_uint16_to_half(0x0000u);
+  return pset1<half2>(false_half);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<half2,2>& kernel) {
+  __half a1 = __low2half(kernel.packet[0]);
+  __half a2 = __high2half(kernel.packet[0]);
+  __half b1 = __low2half(kernel.packet[1]);
+  __half b2 = __high2half(kernel.packet[1]);
+  kernel.packet[0] = __halves2half2(a1, b1);
+  kernel.packet[1] = __halves2half2(a2, b2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 plset(const Eigen::half& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __halves2half2(a, __hadd(a, __float2half(1.0f)));
+#else
+  float f = __half2float(a) + 1.0f;
+  return __halves2half2(a, __float2half(f));
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pselect(const half2& mask,
+                                                    const half2& a,
+                                                    const half2& b) {
+  half mask_low = __low2half(mask);
+  half mask_high = __high2half(mask);
+  half result_low = mask_low == half(0) ? __low2half(b) : __low2half(a);
+  half result_high = mask_high == half(0) ? __high2half(b) : __high2half(a);
+  return __halves2half2(result_low, result_high);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcmp_eq(const half2& a,
+                                                    const half2& b) {
+  half true_half = half_impl::raw_uint16_to_half(0xffffu);
+  half false_half = half_impl::raw_uint16_to_half(0x0000u);
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half eq1 = __half2float(a1) == __half2float(b1) ? true_half : false_half;
+  half eq2 = __half2float(a2) == __half2float(b2) ? true_half : false_half;
+  return __halves2half2(eq1, eq2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcmp_lt(const half2& a,
+                                                    const half2& b) {
+  half true_half = half_impl::raw_uint16_to_half(0xffffu);
+  half false_half = half_impl::raw_uint16_to_half(0x0000u);
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half eq1 = __half2float(a1) < __half2float(b1) ? true_half : false_half;
+  half eq2 = __half2float(a2) < __half2float(b2) ? true_half : false_half;
+  return __halves2half2(eq1, eq2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pand(const half2& a,
+                                                 const half2& b) {
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half result1 = half_impl::raw_uint16_to_half(a1.x & b1.x);
+  half result2 = half_impl::raw_uint16_to_half(a2.x & b2.x);
+  return __halves2half2(result1, result2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 por(const half2& a,
+                                                const half2& b) {
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half result1 = half_impl::raw_uint16_to_half(a1.x | b1.x);
+  half result2 = half_impl::raw_uint16_to_half(a2.x | b2.x);
+  return __halves2half2(result1, result2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pxor(const half2& a,
+                                                 const half2& b) {
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half result1 = half_impl::raw_uint16_to_half(a1.x ^ b1.x);
+  half result2 = half_impl::raw_uint16_to_half(a2.x ^ b2.x);
+  return __halves2half2(result1, result2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pandnot(const half2& a,
+                                                    const half2& b) {
+  half a1 = __low2half(a);
+  half a2 = __high2half(a);
+  half b1 = __low2half(b);
+  half b2 = __high2half(b);
+  half result1 = half_impl::raw_uint16_to_half(a1.x & ~b1.x);
+  half result2 = half_impl::raw_uint16_to_half(a2.x & ~b2.x);
+  return __halves2half2(result1, result2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 padd(const half2& a,
+                                                 const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hadd2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 + b1;
+  float r2 = a2 + b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 psub(const half2& a,
+                                                 const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hsub2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 - b1;
+  float r2 = a2 - b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pnegate(const half2& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hneg2(a);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return __floats2half2_rn(-a1, -a2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pconj(const half2& a) { return a; }
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmul(const half2& a,
+                                                 const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hmul2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 * b1;
+  float r2 = a2 * b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmadd(const half2& a,
+                                                  const half2& b,
+                                                  const half2& c) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+   return __hfma2(a, b, c);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float c1 = __low2float(c);
+  float c2 = __high2float(c);
+  float r1 = a1 * b1 + c1;
+  float r2 = a2 * b2 + c2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pdiv(const half2& a,
+                                                 const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __h2div(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 / b1;
+  float r2 = a2 / b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmin(const half2& a,
+                                                 const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmax(const half2& a,
+                                                 const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux(const half2& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hadd(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(__float2half(a1 + a2));
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_max(const half2& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hgt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 > a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_min(const half2& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hlt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 < a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_mul(const half2& a) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hmul(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(__float2half(a1 * a2));
+#endif
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 plog1p(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = log1pf(a1);
+  float r2 = log1pf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pexpm1(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = expm1f(a1);
+  float r2 = expm1f(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+#if (EIGEN_CUDA_SDK_VER >= 80000 && defined(EIGEN_CUDA_HAS_FP16_ARITHMETIC)) || \
+  defined(EIGEN_HIP_DEVICE_COMPILE)
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+half2 plog(const half2& a) {
+  return h2log(a);
+}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+half2 pexp(const half2& a) {
+  return h2exp(a);
+}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+half2 psqrt(const half2& a) {
+  return h2sqrt(a);
+}
+
+ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+half2 prsqrt(const half2& a) {
+  return h2rsqrt(a);
+}
+
+#else
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 plog(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = logf(a1);
+  float r2 = logf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pexp(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = expf(a1);
+  float r2 = expf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 psqrt(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = sqrtf(a1);
+  float r2 = sqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 prsqrt(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = rsqrtf(a1);
+  float r2 = rsqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+#endif
+} // namespace
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pload<Packet4h2>(const Eigen::half* from) {
+  return *reinterpret_cast<const Packet4h2*>(from);
+}
+
+// unaligned load;
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+ploadu<Packet4h2>(const Eigen::half* from) {
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = ploadu(from + 0);
+  p_alias[1] = ploadu(from + 2);
+  p_alias[2] = ploadu(from + 4);
+  p_alias[3] = ploadu(from + 6);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+ploaddup<Packet4h2>(const Eigen::half* from) {
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = ploaddup(from + 0);
+  p_alias[1] = ploaddup(from + 1);
+  p_alias[2] = ploaddup(from + 2);
+  p_alias[3] = ploaddup(from + 3);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<Eigen::half>(
+    Eigen::half* to, const Packet4h2& from) {
+  *reinterpret_cast<Packet4h2*>(to) = from;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(
+    Eigen::half* to, const Packet4h2& from) {
+  const half2* from_alias = reinterpret_cast<const half2*>(&from);
+  pstoreu(to + 0,from_alias[0]);
+  pstoreu(to + 2,from_alias[1]);
+  pstoreu(to + 4,from_alias[2]);
+  pstoreu(to + 6,from_alias[3]);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet4h2
+ploadt_ro<Packet4h2, Aligned>(const Eigen::half* from) {
+#if defined(EIGEN_GPU_HAS_LDG)
+  Packet4h2 r;
+  r = __ldg(reinterpret_cast<const Packet4h2*>(from));
+  return r;
+#else
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  r_alias[0] = ploadt_ro_aligned(from + 0);
+  r_alias[1] = ploadt_ro_aligned(from + 2);
+  r_alias[2] = ploadt_ro_aligned(from + 4);
+  r_alias[3] = ploadt_ro_aligned(from + 6);
+  return r;
+#endif
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet4h2
+ploadt_ro<Packet4h2, Unaligned>(const Eigen::half* from) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  r_alias[0] = ploadt_ro_unaligned(from + 0);
+  r_alias[1] = ploadt_ro_unaligned(from + 2);
+  r_alias[2] = ploadt_ro_unaligned(from + 4);
+  r_alias[3] = ploadt_ro_unaligned(from + 6);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pgather<Eigen::half, Packet4h2>(const Eigen::half* from, Index stride) {
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = __halves2half2(from[0 * stride], from[1 * stride]);
+  p_alias[1] = __halves2half2(from[2 * stride], from[3 * stride]);
+  p_alias[2] = __halves2half2(from[4 * stride], from[5 * stride]);
+  p_alias[3] = __halves2half2(from[6 * stride], from[7 * stride]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h2>(
+    Eigen::half* to, const Packet4h2& from, Index stride) {
+  const half2* from_alias = reinterpret_cast<const half2*>(&from);
+  pscatter(to + stride * 0, from_alias[0], stride);
+  pscatter(to + stride * 2, from_alias[1], stride);
+  pscatter(to + stride * 4, from_alias[2], stride);
+  pscatter(to + stride * 6, from_alias[3], stride);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h2>(
+    const Packet4h2& a) {
+  return pfirst(*(reinterpret_cast<const half2*>(&a)));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pabs<Packet4h2>(
+    const Packet4h2& a) {
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  p_alias[0] = pabs(a_alias[0]);
+  p_alias[1] = pabs(a_alias[1]);
+  p_alias[2] = pabs(a_alias[2]);
+  p_alias[3] = pabs(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 ptrue<Packet4h2>(
+    const Packet4h2& /*a*/) {
+  half true_half = half_impl::raw_uint16_to_half(0xffffu);
+  return pset1<Packet4h2>(true_half);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pzero<Packet4h2>(const Packet4h2& /*a*/) {
+  half false_half = half_impl::raw_uint16_to_half(0x0000u);
+  return pset1<Packet4h2>(false_half);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose_double(
+    double* d_row0, double* d_row1, double* d_row2, double* d_row3,
+    double* d_row4, double* d_row5, double* d_row6, double* d_row7) {
+  double d_tmp;
+  d_tmp = d_row0[1];
+  d_row0[1] = d_row4[0];
+  d_row4[0] = d_tmp;
+
+  d_tmp = d_row1[1];
+  d_row1[1] = d_row5[0];
+  d_row5[0] = d_tmp;
+
+  d_tmp = d_row2[1];
+  d_row2[1] = d_row6[0];
+  d_row6[0] = d_tmp;
+
+  d_tmp = d_row3[1];
+  d_row3[1] = d_row7[0];
+  d_row7[0] = d_tmp;
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose_half2(
+    half2* f_row0, half2* f_row1, half2* f_row2, half2* f_row3) {
+  half2 f_tmp;
+  f_tmp = f_row0[1];
+  f_row0[1] = f_row2[0];
+  f_row2[0] = f_tmp;
+
+  f_tmp = f_row1[1];
+  f_row1[1] = f_row3[0];
+  f_row3[0] = f_tmp;
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose_half(half2& f0, half2& f1) {
+  __half a1 = __low2half(f0);
+  __half a2 = __high2half(f0);
+  __half b1 = __low2half(f1);
+  __half b2 = __high2half(f1);
+  f0 = __halves2half2(a1, b1);
+  f1 = __halves2half2(a2, b2);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet4h2,8>& kernel) {
+  double* d_row0 = reinterpret_cast<double*>(&kernel.packet[0]);
+  double* d_row1 = reinterpret_cast<double*>(&kernel.packet[1]);
+  double* d_row2 = reinterpret_cast<double*>(&kernel.packet[2]);
+  double* d_row3 = reinterpret_cast<double*>(&kernel.packet[3]);
+  double* d_row4 = reinterpret_cast<double*>(&kernel.packet[4]);
+  double* d_row5 = reinterpret_cast<double*>(&kernel.packet[5]);
+  double* d_row6 = reinterpret_cast<double*>(&kernel.packet[6]);
+  double* d_row7 = reinterpret_cast<double*>(&kernel.packet[7]);
+  ptranspose_double(d_row0, d_row1, d_row2, d_row3,
+                    d_row4, d_row5, d_row6, d_row7);
+
+
+  half2* f_row0 = reinterpret_cast<half2*>(d_row0);
+  half2* f_row1 = reinterpret_cast<half2*>(d_row1);
+  half2* f_row2 = reinterpret_cast<half2*>(d_row2);
+  half2* f_row3 = reinterpret_cast<half2*>(d_row3);
+  ptranspose_half2(f_row0, f_row1, f_row2, f_row3);
+  ptranspose_half(f_row0[0], f_row1[0]);
+  ptranspose_half(f_row0[1], f_row1[1]);
+  ptranspose_half(f_row2[0], f_row3[0]);
+  ptranspose_half(f_row2[1], f_row3[1]);
+
+  f_row0 = reinterpret_cast<half2*>(d_row0 + 1);
+  f_row1 = reinterpret_cast<half2*>(d_row1 + 1);
+  f_row2 = reinterpret_cast<half2*>(d_row2 + 1);
+  f_row3 = reinterpret_cast<half2*>(d_row3 + 1);
+  ptranspose_half2(f_row0, f_row1, f_row2, f_row3);
+  ptranspose_half(f_row0[0], f_row1[0]);
+  ptranspose_half(f_row0[1], f_row1[1]);
+  ptranspose_half(f_row2[0], f_row3[0]);
+  ptranspose_half(f_row2[1], f_row3[1]);
+
+  f_row0 = reinterpret_cast<half2*>(d_row4);
+  f_row1 = reinterpret_cast<half2*>(d_row5);
+  f_row2 = reinterpret_cast<half2*>(d_row6);
+  f_row3 = reinterpret_cast<half2*>(d_row7);
+  ptranspose_half2(f_row0, f_row1, f_row2, f_row3);
+  ptranspose_half(f_row0[0], f_row1[0]);
+  ptranspose_half(f_row0[1], f_row1[1]);
+  ptranspose_half(f_row2[0], f_row3[0]);
+  ptranspose_half(f_row2[1], f_row3[1]);
+
+  f_row0 = reinterpret_cast<half2*>(d_row4 + 1);
+  f_row1 = reinterpret_cast<half2*>(d_row5 + 1);
+  f_row2 = reinterpret_cast<half2*>(d_row6 + 1);
+  f_row3 = reinterpret_cast<half2*>(d_row7 + 1);
+  ptranspose_half2(f_row0, f_row1, f_row2, f_row3);
+  ptranspose_half(f_row0[0], f_row1[0]);
+  ptranspose_half(f_row0[1], f_row1[1]);
+  ptranspose_half(f_row2[0], f_row3[0]);
+  ptranspose_half(f_row2[1], f_row3[1]);
+
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+plset<Packet4h2>(const Eigen::half& a) {
+#if defined(EIGEN_HIP_DEVICE_COMPILE)
+
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = __halves2half2(a, __hadd(a, __float2half(1.0f)));
+  p_alias[1] = __halves2half2(__hadd(a, __float2half(2.0f)),
+                              __hadd(a, __float2half(3.0f)));
+  p_alias[2] = __halves2half2(__hadd(a, __float2half(4.0f)),
+                              __hadd(a, __float2half(5.0f)));
+  p_alias[3] = __halves2half2(__hadd(a, __float2half(6.0f)),
+                              __hadd(a, __float2half(7.0f)));
+  return r;
+#elif defined(EIGEN_CUDA_HAS_FP16_ARITHMETIC)
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+
+  half2 b = pset1<half2>(a);
+  half2 c;
+  half2 half_offset0 = __halves2half2(__float2half(0.0f),__float2half(2.0f));
+  half2 half_offset1 = __halves2half2(__float2half(4.0f),__float2half(6.0f));
+
+  c = __hadd2(b, half_offset0);
+  r_alias[0] = plset(__low2half(c));
+  r_alias[1] = plset(__high2half(c));
+
+  c = __hadd2(b, half_offset1);
+  r_alias[2] = plset(__low2half(c));
+  r_alias[3] = plset(__high2half(c));
+
+  return r;
+
+#else
+  float f = __half2float(a);
+  Packet4h2 r;
+  half2* p_alias = reinterpret_cast<half2*>(&r);
+  p_alias[0] = __halves2half2(a, __float2half(f + 1.0f));
+  p_alias[1] = __halves2half2(__float2half(f + 2.0f), __float2half(f + 3.0f));
+  p_alias[2] = __halves2half2(__float2half(f + 4.0f), __float2half(f + 5.0f));
+  p_alias[3] = __halves2half2(__float2half(f + 6.0f), __float2half(f + 7.0f));
+  return r;
+#endif
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pselect<Packet4h2>(const Packet4h2& mask, const Packet4h2& a,
+                   const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* mask_alias = reinterpret_cast<const half2*>(&mask);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pselect(mask_alias[0], a_alias[0], b_alias[0]);
+  r_alias[1] = pselect(mask_alias[1], a_alias[1], b_alias[1]);
+  r_alias[2] = pselect(mask_alias[2], a_alias[2], b_alias[2]);
+  r_alias[3] = pselect(mask_alias[3], a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pcmp_eq<Packet4h2>(const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pcmp_eq(a_alias[0], b_alias[0]);
+  r_alias[1] = pcmp_eq(a_alias[1], b_alias[1]);
+  r_alias[2] = pcmp_eq(a_alias[2], b_alias[2]);
+  r_alias[3] = pcmp_eq(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pand<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pand(a_alias[0], b_alias[0]);
+  r_alias[1] = pand(a_alias[1], b_alias[1]);
+  r_alias[2] = pand(a_alias[2], b_alias[2]);
+  r_alias[3] = pand(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 por<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = por(a_alias[0], b_alias[0]);
+  r_alias[1] = por(a_alias[1], b_alias[1]);
+  r_alias[2] = por(a_alias[2], b_alias[2]);
+  r_alias[3] = por(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pxor<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pxor(a_alias[0], b_alias[0]);
+  r_alias[1] = pxor(a_alias[1], b_alias[1]);
+  r_alias[2] = pxor(a_alias[2], b_alias[2]);
+  r_alias[3] = pxor(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pandnot<Packet4h2>(const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pandnot(a_alias[0], b_alias[0]);
+  r_alias[1] = pandnot(a_alias[1], b_alias[1]);
+  r_alias[2] = pandnot(a_alias[2], b_alias[2]);
+  r_alias[3] = pandnot(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 padd<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = padd(a_alias[0], b_alias[0]);
+  r_alias[1] = padd(a_alias[1], b_alias[1]);
+  r_alias[2] = padd(a_alias[2], b_alias[2]);
+  r_alias[3] = padd(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 psub<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = psub(a_alias[0], b_alias[0]);
+  r_alias[1] = psub(a_alias[1], b_alias[1]);
+  r_alias[2] = psub(a_alias[2], b_alias[2]);
+  r_alias[3] = psub(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pnegate(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = pnegate(a_alias[0]);
+  r_alias[1] = pnegate(a_alias[1]);
+  r_alias[2] = pnegate(a_alias[2]);
+  r_alias[3] = pnegate(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pconj(const Packet4h2& a) {
+  return a;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pmul<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pmul(a_alias[0], b_alias[0]);
+  r_alias[1] = pmul(a_alias[1], b_alias[1]);
+  r_alias[2] = pmul(a_alias[2], b_alias[2]);
+  r_alias[3] = pmul(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pmadd<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b, const Packet4h2& c) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  const half2* c_alias = reinterpret_cast<const half2*>(&c);
+  r_alias[0] = pmadd(a_alias[0], b_alias[0], c_alias[0]);
+  r_alias[1] = pmadd(a_alias[1], b_alias[1], c_alias[1]);
+  r_alias[2] = pmadd(a_alias[2], b_alias[2], c_alias[2]);
+  r_alias[3] = pmadd(a_alias[3], b_alias[3], c_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pdiv<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pdiv(a_alias[0], b_alias[0]);
+  r_alias[1] = pdiv(a_alias[1], b_alias[1]);
+  r_alias[2] = pdiv(a_alias[2], b_alias[2]);
+  r_alias[3] = pdiv(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pmin<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pmin(a_alias[0], b_alias[0]);
+  r_alias[1] = pmin(a_alias[1], b_alias[1]);
+  r_alias[2] = pmin(a_alias[2], b_alias[2]);
+  r_alias[3] = pmin(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pmax<Packet4h2>(
+    const Packet4h2& a, const Packet4h2& b) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  const half2* b_alias = reinterpret_cast<const half2*>(&b);
+  r_alias[0] = pmax(a_alias[0], b_alias[0]);
+  r_alias[1] = pmax(a_alias[1], b_alias[1]);
+  r_alias[2] = pmax(a_alias[2], b_alias[2]);
+  r_alias[3] = pmax(a_alias[3], b_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux<Packet4h2>(
+    const Packet4h2& a) {
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+
+  return predux(a_alias[0]) + predux(a_alias[1]) +
+         predux(a_alias[2]) + predux(a_alias[3]);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_max<Packet4h2>(
+    const Packet4h2& a) {
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  half2 m0 = __halves2half2(predux_max(a_alias[0]),
+                            predux_max(a_alias[1]));
+  half2 m1 = __halves2half2(predux_max(a_alias[2]),
+                            predux_max(a_alias[3]));
+  __half first  = predux_max(m0);
+  __half second = predux_max(m1);
+#if defined(EIGEN_CUDA_HAS_FP16_ARITHMETIC)
+  return (__hgt(first, second) ? first : second);
+#else
+  float ffirst  = __half2float(first);
+  float fsecond = __half2float(second);
+  return (ffirst > fsecond)? first: second;
+#endif
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_min<Packet4h2>(
+    const Packet4h2& a) {
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  half2 m0 = __halves2half2(predux_min(a_alias[0]),
+                            predux_min(a_alias[1]));
+  half2 m1 = __halves2half2(predux_min(a_alias[2]),
+                            predux_min(a_alias[3]));
+  __half first  = predux_min(m0);
+  __half second = predux_min(m1);
+#if defined(EIGEN_CUDA_HAS_FP16_ARITHMETIC)
+  return (__hlt(first, second) ? first : second);
+#else
+  float ffirst  = __half2float(first);
+  float fsecond = __half2float(second);
+  return (ffirst < fsecond)? first: second;
+#endif
+}
+
+// likely overflow/underflow
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet4h2>(
+    const Packet4h2& a) {
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  return predux_mul(pmul(pmul(a_alias[0], a_alias[1]),
+                                       pmul(a_alias[2], a_alias[3])));
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+plog1p<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = plog1p(a_alias[0]);
+  r_alias[1] = plog1p(a_alias[1]);
+  r_alias[2] = plog1p(a_alias[2]);
+  r_alias[3] = plog1p(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+pexpm1<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = pexpm1(a_alias[0]);
+  r_alias[1] = pexpm1(a_alias[1]);
+  r_alias[2] = pexpm1(a_alias[2]);
+  r_alias[3] = pexpm1(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 plog<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = plog(a_alias[0]);
+  r_alias[1] = plog(a_alias[1]);
+  r_alias[2] = plog(a_alias[2]);
+  r_alias[3] = plog(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pexp<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = pexp(a_alias[0]);
+  r_alias[1] = pexp(a_alias[1]);
+  r_alias[2] = pexp(a_alias[2]);
+  r_alias[3] = pexp(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 psqrt<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = psqrt(a_alias[0]);
+  r_alias[1] = psqrt(a_alias[1]);
+  r_alias[2] = psqrt(a_alias[2]);
+  r_alias[3] = psqrt(a_alias[3]);
+  return r;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2
+prsqrt<Packet4h2>(const Packet4h2& a) {
+  Packet4h2 r;
+  half2* r_alias = reinterpret_cast<half2*>(&r);
+  const half2* a_alias = reinterpret_cast<const half2*>(&a);
+  r_alias[0] = prsqrt(a_alias[0]);
+  r_alias[1] = prsqrt(a_alias[1]);
+  r_alias[2] = prsqrt(a_alias[2]);
+  r_alias[3] = prsqrt(a_alias[3]);
+  return r;
+}
+
+// The following specialized padd, pmul, pdiv, pmin, pmax, pset1 are needed for
+// the implementation of GPU half reduction.
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 padd<half2>(const half2& a,
+                                                        const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hadd2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 + b1;
+  float r2 = a2 + b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmul<half2>(const half2& a,
+                                                        const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __hmul2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 * b1;
+  float r2 = a2 * b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pdiv<half2>(const half2& a,
+                                                        const half2& b) {
+#if defined(EIGEN_GPU_HAS_FP16_ARITHMETIC)
+  return __h2div(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 / b1;
+  float r2 = a2 / b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmin<half2>(const half2& a,
+                                                        const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pmax<half2>(const half2& a,
+                                                        const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+#endif // (defined(EIGEN_HAS_CUDA_FP16) || defined(EIGEN_HAS_HIP_FP16)) && defined(EIGEN_GPU_COMPILE_PHASE)
+
+#undef EIGEN_GPU_HAS_LDG
+#undef EIGEN_CUDA_HAS_FP16_ARITHMETIC
+#undef EIGEN_GPU_HAS_FP16_ARITHMETIC
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+
+#endif // EIGEN_PACKET_MATH_GPU_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/TypeCasting.h
new file mode 100644
index 0000000000..c8195bb2b0
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/GPU/TypeCasting.h
@@ -0,0 +1,79 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_GPU_H
+#define EIGEN_TYPE_CASTING_GPU_H
+
+namespace Eigen {
+
+namespace internal {
+
+#if (defined(EIGEN_HAS_CUDA_FP16) && defined(EIGEN_CUDA_ARCH) && EIGEN_CUDA_ARCH >= 300) || \
+    (defined(EIGEN_HAS_HIP_FP16) && defined(EIGEN_HIP_DEVICE_COMPILE))
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 2
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<half2, float4>(const half2& a, const half2& b) {
+  float2 r1 = __half22float2(a);
+  float2 r2 = __half22float2(b);
+  return make_float4(r1.x, r1.y, r2.x, r2.y);
+}
+
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4h2 pcast<float4, Packet4h2>(const float4& a, const float4& b) {
+  Packet4h2 r;
+  half2* r_alias=reinterpret_cast<half2*>(&r);
+  r_alias[0]=__floats2half2_rn(a.x,a.y);
+  r_alias[1]=__floats2half2_rn(a.z,a.w);
+  r_alias[2]=__floats2half2_rn(b.x,b.y);
+  r_alias[3]=__floats2half2_rn(b.z,b.w);
+  return r;
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 2,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<Packet4h2, float4>(const Packet4h2& a) {
+  // Simply discard the second half of the input
+  float4 r;
+  const half2* a_alias=reinterpret_cast<const half2*>(&a);
+  float2 r1 = __half22float2(a_alias[0]);
+  float2 r2 = __half22float2(a_alias[1]);
+  r.x=static_cast<float>(r1.x);
+  r.y=static_cast<float>(r1.y);
+  r.z=static_cast<float>(r2.x);
+  r.w=static_cast<float>(r2.y);
+  return r;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcast<float4, half2>(const float4& a) {
+  // Simply discard the second half of the input
+  return __floats2half2_rn(a.x, a.y);
+}
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_GPU_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/HIP/hcc/math_constants.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/HIP/hcc/math_constants.h
new file mode 100644
index 0000000000..25375a0a42
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/HIP/hcc/math_constants.h
@@ -0,0 +1,23 @@
+/*
+ * math_constants.h - 
+ *  HIP equivalent of the CUDA header of the same name
+ */
+
+#ifndef __MATH_CONSTANTS_H__
+#define __MATH_CONSTANTS_H__
+
+/* single precision constants */
+
+#define HIPRT_INF_F        __int_as_float(0x7f800000)
+#define HIPRT_NAN_F        __int_as_float(0x7fffffff)
+#define HIPRT_MIN_DENORM_F __int_as_float(0x00000001)
+#define HIPRT_MAX_NORMAL_F __int_as_float(0x7f7fffff)
+#define HIPRT_NEG_ZERO_F   __int_as_float(0x80000000)
+#define HIPRT_ZERO_F       0.0f
+#define HIPRT_ONE_F        1.0f
+
+/* double precision constants */
+#define HIPRT_INF          __hiloint2double(0x7ff00000, 0x00000000)
+#define HIPRT_NAN          __hiloint2double(0xfff80000, 0x00000000)
+
+#endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/Complex.h
new file mode 100644
index 0000000000..53dacfa43d
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/Complex.h
@@ -0,0 +1,648 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2018 Wave Computing, Inc.
+// Written by:
+//   Chris Larsen
+//   Alexey Frunze (afrunze@wavecomp.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_MSA_H
+#define EIGEN_COMPLEX_MSA_H
+
+#include <iostream>
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet2cf {
+  EIGEN_STRONG_INLINE Packet2cf() {
+  }
+  EIGEN_STRONG_INLINE explicit Packet2cf(const std::complex<float>& a,
+                                         const std::complex<float>& b) {
+    Packet4f t = { std::real(a), std::imag(a), std::real(b), std::imag(b) };
+    v = t;
+  }
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {
+  }
+  EIGEN_STRONG_INLINE Packet2cf(const Packet2cf& a) : v(a.v) {
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator=(const Packet2cf& b) {
+    v = b.v;
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf conjugate(void) const {
+    return Packet2cf((Packet4f)__builtin_msa_bnegi_d((v2u64)v, 63));
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator*=(const Packet2cf& b) {
+    Packet4f v1, v2;
+
+    // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
+    v1 = (Packet4f)__builtin_msa_ilvev_w((v4i32)v, (v4i32)v);
+    // Get the imag values of a | a1_im | a1_im | a2_im | a2_im |
+    v2 = (Packet4f)__builtin_msa_ilvod_w((v4i32)v, (v4i32)v);
+    // Multiply the real a with b
+    v1 = pmul(v1, b.v);
+    // Multiply the imag a with b
+    v2 = pmul(v2, b.v);
+    // Conjugate v2
+    v2 = Packet2cf(v2).conjugate().v;
+    // Swap real/imag elements in v2.
+    v2 = (Packet4f)__builtin_msa_shf_w((v4i32)v2, EIGEN_MSA_SHF_I8(1, 0, 3, 2));
+    // Add and return the result
+    v = padd(v1, v2);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator*(const Packet2cf& b) const {
+    return Packet2cf(*this) *= b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator+=(const Packet2cf& b) {
+    v = padd(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator+(const Packet2cf& b) const {
+    return Packet2cf(*this) += b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator-=(const Packet2cf& b) {
+    v = psub(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator-(const Packet2cf& b) const {
+    return Packet2cf(*this) -= b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf& operator/=(const Packet2cf& b) {
+    *this *= b.conjugate();
+    Packet4f s = pmul<Packet4f>(b.v, b.v);
+    s = padd(s, (Packet4f)__builtin_msa_shf_w((v4i32)s, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+    v = pdiv(v, s);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator/(const Packet2cf& b) const {
+    return Packet2cf(*this) /= b;
+  }
+  EIGEN_STRONG_INLINE Packet2cf operator-(void) const {
+    return Packet2cf(pnegate(v));
+  }
+
+  Packet4f v;
+};
+
+inline std::ostream& operator<<(std::ostream& os, const Packet2cf& value) {
+  os << "[ (" << value.v[0] << ", " << value.v[1]
+     << "i),"
+        "  ("
+     << value.v[2] << ", " << value.v[3] << "i) ]";
+  return os;
+}
+
+template <>
+struct packet_traits<std::complex<float> > : default_packet_traits {
+  typedef Packet2cf type;
+  typedef Packet2cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasAdd = 1,
+    HasSub = 1,
+    HasMul = 1,
+    HasDiv = 1,
+    HasNegate = 1,
+    HasAbs = 0,
+    HasAbs2 = 0,
+    HasMin = 0,
+    HasMax = 0,
+    HasSetLinear = 0,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct unpacket_traits<Packet2cf> {
+  typedef std::complex<float> type;
+  enum { size = 2, alignment = Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false };
+  typedef Packet2cf half;
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>& from) {
+  EIGEN_MSA_DEBUG;
+
+  float f0 = from.real(), f1 = from.imag();
+  Packet4f v0 = { f0, f0, f0, f0 };
+  Packet4f v1 = { f1, f1, f1, f1 };
+  return Packet2cf((Packet4f)__builtin_msa_ilvr_w((Packet4i)v1, (Packet4i)v0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a + b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a - b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return -a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a.conjugate();
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a * b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pand<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf(pand(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf por<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf(por(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pxor<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf(pxor(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf(pandnot(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) {
+  EIGEN_MSA_DEBUG;
+
+  return pset1<Packet2cf>(*from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<std::complex<float> >(std::complex<float>* to,
+                                                      const Packet2cf& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_STORE pstore<float>((float*)to, from.v);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to,
+                                                       const Packet2cf& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_STORE pstoreu<float>((float*)to, from.v);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(
+    const std::complex<float>* from, Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf(from[0 * stride], from[1 * stride]);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to,
+                                                                       const Packet2cf& from,
+                                                                       Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  *to = std::complex<float>(from.v[0], from.v[1]);
+  to += stride;
+  *to = std::complex<float>(from.v[2], from.v[3]);
+}
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float>* addr) {
+  EIGEN_MSA_DEBUG;
+
+  prefetch(reinterpret_cast<const float*>(addr));
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet2cf>(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return std::complex<float>(a.v[0], a.v[1]);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf((Packet4f)__builtin_msa_shf_w((v4i32)a.v, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet2cf((Packet4f)__builtin_msa_shf_w((v4i32)a.v, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4f value = (Packet4f)preverse((Packet2d)a.v);
+  value += a.v;
+  return std::complex<float>(value[0], value[1]);
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a) {
+  EIGEN_MSA_DEBUG;
+
+  return std::complex<float>((a.v[0] * a.v[2]) - (a.v[1] * a.v[3]),
+                             (a.v[0] * a.v[3]) + (a.v[1] * a.v[2]));
+}
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf, Packet4f)
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a / b;
+}
+
+inline std::ostream& operator<<(std::ostream& os, const PacketBlock<Packet2cf, 2>& value) {
+  os << "[ " << value.packet[0] << ", " << std::endl << "  " << value.packet[1] << " ]";
+  return os;
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet2cf, 2>& kernel) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4f tmp =
+      (Packet4f)__builtin_msa_ilvl_d((v2i64)kernel.packet[1].v, (v2i64)kernel.packet[0].v);
+  kernel.packet[0].v =
+      (Packet4f)__builtin_msa_ilvr_d((v2i64)kernel.packet[1].v, (v2i64)kernel.packet[0].v);
+  kernel.packet[1].v = tmp;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket,
+                                     const Packet2cf& elsePacket) {
+  return (Packet2cf)(Packet4f)pblend<Packet2d>(ifPacket, (Packet2d)thenPacket.v,
+                                               (Packet2d)elsePacket.v);
+}
+
+//---------- double ----------
+
+struct Packet1cd {
+  EIGEN_STRONG_INLINE Packet1cd() {
+  }
+  EIGEN_STRONG_INLINE explicit Packet1cd(const std::complex<double>& a) {
+    v[0] = std::real(a);
+    v[1] = std::imag(a);
+  }
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {
+  }
+  EIGEN_STRONG_INLINE Packet1cd(const Packet1cd& a) : v(a.v) {
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator=(const Packet1cd& b) {
+    v = b.v;
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd conjugate(void) const {
+    static const v2u64 p2ul_CONJ_XOR = { 0x0, 0x8000000000000000 };
+    return (Packet1cd)pxor(v, (Packet2d)p2ul_CONJ_XOR);
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator*=(const Packet1cd& b) {
+    Packet2d v1, v2;
+
+    // Get the real values of a | a1_re | a1_re
+    v1 = (Packet2d)__builtin_msa_ilvev_d((v2i64)v, (v2i64)v);
+    // Get the imag values of a | a1_im | a1_im
+    v2 = (Packet2d)__builtin_msa_ilvod_d((v2i64)v, (v2i64)v);
+    // Multiply the real a with b
+    v1 = pmul(v1, b.v);
+    // Multiply the imag a with b
+    v2 = pmul(v2, b.v);
+    // Conjugate v2
+    v2 = Packet1cd(v2).conjugate().v;
+    // Swap real/imag elements in v2.
+    v2 = (Packet2d)__builtin_msa_shf_w((v4i32)v2, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+    // Add and return the result
+    v = padd(v1, v2);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator*(const Packet1cd& b) const {
+    return Packet1cd(*this) *= b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator+=(const Packet1cd& b) {
+    v = padd(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator+(const Packet1cd& b) const {
+    return Packet1cd(*this) += b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator-=(const Packet1cd& b) {
+    v = psub(v, b.v);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator-(const Packet1cd& b) const {
+    return Packet1cd(*this) -= b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd& operator/=(const Packet1cd& b) {
+    *this *= b.conjugate();
+    Packet2d s = pmul<Packet2d>(b.v, b.v);
+    s = padd(s, preverse<Packet2d>(s));
+    v = pdiv(v, s);
+    return *this;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator/(const Packet1cd& b) const {
+    return Packet1cd(*this) /= b;
+  }
+  EIGEN_STRONG_INLINE Packet1cd operator-(void) const {
+    return Packet1cd(pnegate(v));
+  }
+
+  Packet2d v;
+};
+
+inline std::ostream& operator<<(std::ostream& os, const Packet1cd& value) {
+  os << "[ (" << value.v[0] << ", " << value.v[1] << "i) ]";
+  return os;
+}
+
+template <>
+struct packet_traits<std::complex<double> > : default_packet_traits {
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+    HasHalfPacket = 0,
+
+    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, alignment = Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false };
+  typedef Packet1cd half;
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>& from) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a + b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a - b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return -a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a.conjugate();
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a * b;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pand<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(pand(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd por<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(por(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pxor<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(pxor(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(pandnot(a.v, b.v));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) {
+  EIGEN_MSA_DEBUG;
+
+  return pset1<Packet1cd>(*from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<std::complex<double> >(std::complex<double>* to,
+                                                       const Packet1cd& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_STORE pstore<double>((double*)to, from.v);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double>* to,
+                                                        const Packet1cd& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_STORE pstoreu<double>((double*)to, from.v);
+}
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double>* addr) {
+  EIGEN_MSA_DEBUG;
+
+  prefetch(reinterpret_cast<const double*>(addr));
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(
+    const std::complex<double>* from, Index stride __attribute__((unused))) {
+  EIGEN_MSA_DEBUG;
+
+  Packet1cd res;
+  res.v[0] = std::real(from[0]);
+  res.v[1] = std::imag(from[0]);
+  return res;
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to,
+                                                                        const Packet1cd& from,
+                                                                        Index stride
+                                                                        __attribute__((unused))) {
+  EIGEN_MSA_DEBUG;
+
+  pstore(to, from);
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet1cd>(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return std::complex<double>(a.v[0], a.v[1]);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return pfirst(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) {
+  EIGEN_MSA_DEBUG;
+
+  return pfirst(a);
+}
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd, Packet2d)
+
+template <>
+EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b) {
+  EIGEN_MSA_DEBUG;
+
+  return a / b;
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip /*<Packet1cd>*/ (const Packet1cd& x) {
+  EIGEN_MSA_DEBUG;
+
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+inline std::ostream& operator<<(std::ostream& os, const PacketBlock<Packet1cd, 2>& value) {
+  os << "[ " << value.packet[0] << ", " << std::endl << "  " << value.packet[1] << " ]";
+  return os;
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd, 2>& kernel) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d v1, v2;
+
+  v1 = (Packet2d)__builtin_msa_ilvev_d((v2i64)kernel.packet[0].v, (v2i64)kernel.packet[1].v);
+  // Get the imag values of a
+  v2 = (Packet2d)__builtin_msa_ilvod_d((v2i64)kernel.packet[0].v, (v2i64)kernel.packet[1].v);
+
+  kernel.packet[0].v = v1;
+  kernel.packet[1].v = v2;
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_COMPLEX_MSA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/MathFunctions.h
new file mode 100644
index 0000000000..f5181b90ec
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/MathFunctions.h
@@ -0,0 +1,387 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Copyright (C) 2018 Wave Computing, Inc.
+// Written by:
+//   Chris Larsen
+//   Alexey Frunze (afrunze@wavecomp.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+/* The tanh function of this file is an adaptation of
+ * template<typename T> T generic_fast_tanh_float(const T&)
+ * from MathFunctionsImpl.h.
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_MSA_H
+#define EIGEN_MATH_FUNCTIONS_MSA_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+plog<Packet4f>(const Packet4f& _x) {
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292e-2f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, -1.1514610310e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, -1.2420140846e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, +1.4249322787e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, -1.6668057665e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, +2.0000714765e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, -2.4999993993e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, +3.3333331174e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+  static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  static _EIGEN_DECLARE_CONST_Packet4f(1, 1.0f);
+
+  // Convert negative argument into NAN (quiet negative, to be specific).
+  Packet4f zero = (Packet4f)__builtin_msa_ldi_w(0);
+  Packet4i neg_mask = __builtin_msa_fclt_w(_x, zero);
+  Packet4i zero_mask = __builtin_msa_fceq_w(_x, zero);
+  Packet4f non_neg_x_or_nan = padd(_x, (Packet4f)neg_mask);  // Add 0.0 or NAN.
+  Packet4f x = non_neg_x_or_nan;
+
+  // Extract exponent from x = mantissa * 2**exponent, where 1.0 <= mantissa < 2.0.
+  // N.B. the exponent is one less of what frexpf() would return.
+  Packet4i e_int = __builtin_msa_ftint_s_w(__builtin_msa_flog2_w(x));
+  // Multiply x by 2**(-exponent-1) to get 0.5 <= x < 1.0 as from frexpf().
+  x = __builtin_msa_fexp2_w(x, (Packet4i)__builtin_msa_nori_b((v16u8)e_int, 0));
+
+  /*
+     if (x < SQRTHF) {
+       x = x + x - 1.0;
+     } else {
+       e += 1;
+       x = x - 1.0;
+     }
+  */
+  Packet4f xx = padd(x, x);
+  Packet4i ge_mask = __builtin_msa_fcle_w(p4f_cephes_SQRTHF, x);
+  e_int = psub(e_int, ge_mask);
+  x = (Packet4f)__builtin_msa_bsel_v((v16u8)ge_mask, (v16u8)xx, (v16u8)x);
+  x = psub(x, p4f_1);
+  Packet4f e = __builtin_msa_ffint_s_w(e_int);
+
+  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);
+
+  y = pmadd(e, p4f_cephes_log_q1, y);
+  x = __builtin_msa_fmsub_w(x, x2, p4f_half);
+  x = padd(x, y);
+  x = pmadd(e, p4f_cephes_log_q2, x);
+
+  // x is now the logarithm result candidate. We still need to handle the
+  // extreme arguments of zero and positive infinity, though.
+  // N.B. if the argument is +INFINITY, x is NAN because the polynomial terms
+  // contain infinities of both signs (see the coefficients and code above).
+  // INFINITY - INFINITY is NAN.
+
+  // If the argument is +INFINITY, make it the new result candidate.
+  // To achieve that we choose the smaller of the result candidate and the
+  // argument.
+  // This is correct for all finite pairs of values (the logarithm is smaller
+  // than the argument).
+  // This is also correct in the special case when the argument is +INFINITY
+  // and the result candidate is NAN. This is because the fmin.df instruction
+  // prefers non-NANs to NANs.
+  x = __builtin_msa_fmin_w(x, non_neg_x_or_nan);
+
+  // If the argument is zero (including -0.0), the result becomes -INFINITY.
+  Packet4i neg_infs = __builtin_msa_slli_w(zero_mask, 23);
+  x = (Packet4f)__builtin_msa_bsel_v((v16u8)zero_mask, (v16u8)x, (v16u8)neg_infs);
+
+  return x;
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+pexp<Packet4f>(const Packet4f& _x) {
+  // Limiting single-precision pexp's argument to [-128, +128] lets pexp
+  // reach 0 and INFINITY naturally.
+  static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -128.0f);
+  static _EIGEN_DECLARE_CONST_Packet4f(exp_hi, +128.0f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894e-2f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  static _EIGEN_DECLARE_CONST_Packet4f(1, 1.0f);
+
+  Packet4f x = _x;
+
+  // Clamp x.
+  x = (Packet4f)__builtin_msa_bsel_v((v16u8)__builtin_msa_fclt_w(x, p4f_exp_lo), (v16u8)x,
+                                     (v16u8)p4f_exp_lo);
+  x = (Packet4f)__builtin_msa_bsel_v((v16u8)__builtin_msa_fclt_w(p4f_exp_hi, x), (v16u8)x,
+                                     (v16u8)p4f_exp_hi);
+
+  // Round to nearest integer by adding 0.5 (with x's sign) and truncating.
+  Packet4f x2_add = (Packet4f)__builtin_msa_binsli_w((v4u32)p4f_half, (v4u32)x, 0);
+  Packet4f x2 = pmadd(x, p4f_cephes_LOG2EF, x2_add);
+  Packet4i x2_int = __builtin_msa_ftrunc_s_w(x2);
+  Packet4f x2_int_f = __builtin_msa_ffint_s_w(x2_int);
+
+  x = __builtin_msa_fmsub_w(x, x2_int_f, p4f_cephes_exp_C1);
+  x = __builtin_msa_fmsub_w(x, x2_int_f, p4f_cephes_exp_C2);
+
+  Packet4f 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);
+
+  // y *= 2**exponent.
+  y = __builtin_msa_fexp2_w(y, x2_int);
+
+  return y;
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& _x) {
+  static _EIGEN_DECLARE_CONST_Packet4f(tanh_tiny, 1e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(tanh_hi, 9.0f);
+  // The monomial coefficients of the numerator polynomial (odd).
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_1, 4.89352455891786e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_3, 6.37261928875436e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_5, 1.48572235717979e-5f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_7, 5.12229709037114e-8f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_9, -8.60467152213735e-11f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_11, 2.00018790482477e-13f);
+  static _EIGEN_DECLARE_CONST_Packet4f(alpha_13, -2.76076847742355e-16f);
+  // The monomial coefficients of the denominator polynomial (even).
+  static _EIGEN_DECLARE_CONST_Packet4f(beta_0, 4.89352518554385e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(beta_2, 2.26843463243900e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(beta_4, 1.18534705686654e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(beta_6, 1.19825839466702e-6f);
+
+  Packet4f x = pabs(_x);
+  Packet4i tiny_mask = __builtin_msa_fclt_w(x, p4f_tanh_tiny);
+
+  // Clamp the inputs to the range [-9, 9] since anything outside
+  // this range is -/+1.0f in single-precision.
+  x = (Packet4f)__builtin_msa_bsel_v((v16u8)__builtin_msa_fclt_w(p4f_tanh_hi, x), (v16u8)x,
+                                     (v16u8)p4f_tanh_hi);
+
+  // Since the polynomials are odd/even, we need x**2.
+  Packet4f x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial p.
+  Packet4f p = pmadd(x2, p4f_alpha_13, p4f_alpha_11);
+  p = pmadd(x2, p, p4f_alpha_9);
+  p = pmadd(x2, p, p4f_alpha_7);
+  p = pmadd(x2, p, p4f_alpha_5);
+  p = pmadd(x2, p, p4f_alpha_3);
+  p = pmadd(x2, p, p4f_alpha_1);
+  p = pmul(x, p);
+
+  // Evaluate the denominator polynomial q.
+  Packet4f q = pmadd(x2, p4f_beta_6, p4f_beta_4);
+  q = pmadd(x2, q, p4f_beta_2);
+  q = pmadd(x2, q, p4f_beta_0);
+
+  // Divide the numerator by the denominator.
+  p = pdiv(p, q);
+
+  // Reinstate the sign.
+  p = (Packet4f)__builtin_msa_binsli_w((v4u32)p, (v4u32)_x, 0);
+
+  // When the argument is very small in magnitude it's more accurate to just return it.
+  p = (Packet4f)__builtin_msa_bsel_v((v16u8)tiny_mask, (v16u8)p, (v16u8)_x);
+
+  return p;
+}
+
+template <bool sine>
+Packet4f psincos_inner_msa_float(const Packet4f& _x) {
+  static _EIGEN_DECLARE_CONST_Packet4f(sincos_max_arg, 13176795.0f);  // Approx. (2**24) / (4/Pi).
+  static _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP1, -0.78515625f);
+  static _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP2, -2.4187564849853515625e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(minus_cephes_DP3, -3.77489497744594108e-8f);
+  static _EIGEN_DECLARE_CONST_Packet4f(sincof_p0, -1.9515295891e-4f);
+  static _EIGEN_DECLARE_CONST_Packet4f(sincof_p1, 8.3321608736e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(sincof_p2, -1.6666654611e-1f);
+  static _EIGEN_DECLARE_CONST_Packet4f(coscof_p0, 2.443315711809948e-5f);
+  static _EIGEN_DECLARE_CONST_Packet4f(coscof_p1, -1.388731625493765e-3f);
+  static _EIGEN_DECLARE_CONST_Packet4f(coscof_p2, 4.166664568298827e-2f);
+  static _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f);  // 4/Pi.
+  static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  static _EIGEN_DECLARE_CONST_Packet4f(1, 1.0f);
+
+  Packet4f x = pabs(_x);
+
+  // Translate infinite arguments into NANs.
+  Packet4f zero_or_nan_if_inf = psub(_x, _x);
+  x = padd(x, zero_or_nan_if_inf);
+  // Prevent sin/cos from generating values larger than 1.0 in magnitude
+  // for very large arguments by setting x to 0.0.
+  Packet4i small_or_nan_mask = __builtin_msa_fcult_w(x, p4f_sincos_max_arg);
+  x = pand(x, (Packet4f)small_or_nan_mask);
+
+  // Scale x by 4/Pi to find x's octant.
+  Packet4f y = pmul(x, p4f_cephes_FOPI);
+  // Get the octant. We'll reduce x by this number of octants or by one more than it.
+  Packet4i y_int = __builtin_msa_ftrunc_s_w(y);
+  // x's from even-numbered octants will translate to octant 0: [0, +Pi/4].
+  // x's from odd-numbered octants will translate to octant -1: [-Pi/4, 0].
+  // Adjustment for odd-numbered octants: octant = (octant + 1) & (~1).
+  Packet4i y_int1 = __builtin_msa_addvi_w(y_int, 1);
+  Packet4i y_int2 = (Packet4i)__builtin_msa_bclri_w((Packet4ui)y_int1, 0); // bclri = bit-clear
+  y = __builtin_msa_ffint_s_w(y_int2);
+
+  // Compute the sign to apply to the polynomial.
+  Packet4i sign_mask = sine ? pxor(__builtin_msa_slli_w(y_int1, 29), (Packet4i)_x)
+                            : __builtin_msa_slli_w(__builtin_msa_addvi_w(y_int, 3), 29);
+
+  // Get the polynomial selection mask.
+  // We'll calculate both (sin and cos) polynomials and then select from the two.
+  Packet4i poly_mask = __builtin_msa_ceqi_w(__builtin_msa_slli_w(y_int2, 30), 0);
+
+  // Reduce x by y octants to get: -Pi/4 <= x <= +Pi/4.
+  // The magic pass: "Extended precision modular arithmetic"
+  // x = ((x - y * DP1) - y * DP2) - y * DP3
+  Packet4f tmp1 = pmul(y, p4f_minus_cephes_DP1);
+  Packet4f tmp2 = pmul(y, p4f_minus_cephes_DP2);
+  Packet4f tmp3 = pmul(y, p4f_minus_cephes_DP3);
+  x = padd(x, tmp1);
+  x = padd(x, tmp2);
+  x = padd(x, tmp3);
+
+  // Evaluate the cos(x) polynomial.
+  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);
+  y = __builtin_msa_fmsub_w(y, z, p4f_half);
+  y = padd(y, p4f_1);
+
+  // Evaluate the sin(x) polynomial.
+  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 polynomials.
+  y = sine ? (Packet4f)__builtin_msa_bsel_v((v16u8)poly_mask, (v16u8)y, (v16u8)y2)
+           : (Packet4f)__builtin_msa_bsel_v((v16u8)poly_mask, (v16u8)y2, (v16u8)y);
+
+  // Update the sign.
+  sign_mask = pxor(sign_mask, (Packet4i)y);
+  y = (Packet4f)__builtin_msa_binsli_w((v4u32)y, (v4u32)sign_mask, 0); // binsli = bit-insert-left
+  return y;
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+psin<Packet4f>(const Packet4f& x) {
+  return psincos_inner_msa_float</* sine */ true>(x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+pcos<Packet4f>(const Packet4f& x) {
+  return psincos_inner_msa_float</* sine */ false>(x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2d
+pexp<Packet2d>(const Packet2d& _x) {
+  // Limiting double-precision pexp's argument to [-1024, +1024] lets pexp
+  // reach 0 and INFINITY naturally.
+  static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -1024.0);
+  static _EIGEN_DECLARE_CONST_Packet2d(exp_hi, +1024.0);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+  static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+  static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+  static _EIGEN_DECLARE_CONST_Packet2d(1, 1.0);
+  static _EIGEN_DECLARE_CONST_Packet2d(2, 2.0);
+
+  Packet2d x = _x;
+
+  // Clamp x.
+  x = (Packet2d)__builtin_msa_bsel_v((v16u8)__builtin_msa_fclt_d(x, p2d_exp_lo), (v16u8)x,
+                                     (v16u8)p2d_exp_lo);
+  x = (Packet2d)__builtin_msa_bsel_v((v16u8)__builtin_msa_fclt_d(p2d_exp_hi, x), (v16u8)x,
+                                     (v16u8)p2d_exp_hi);
+
+  // Round to nearest integer by adding 0.5 (with x's sign) and truncating.
+  Packet2d x2_add = (Packet2d)__builtin_msa_binsli_d((v2u64)p2d_half, (v2u64)x, 0);
+  Packet2d x2 = pmadd(x, p2d_cephes_LOG2EF, x2_add);
+  Packet2l x2_long = __builtin_msa_ftrunc_s_d(x2);
+  Packet2d x2_long_d = __builtin_msa_ffint_s_d(x2_long);
+
+  x = __builtin_msa_fmsub_d(x, x2_long_d, p2d_cephes_exp_C1);
+  x = __builtin_msa_fmsub_d(x, x2_long_d, p2d_cephes_exp_C2);
+
+  x2 = pmul(x, x);
+
+  Packet2d px = p2d_cephes_exp_p0;
+  px = pmadd(px, x2, p2d_cephes_exp_p1);
+  px = pmadd(px, x2, p2d_cephes_exp_p2);
+  px = pmul(px, x);
+
+  Packet2d qx = p2d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+  x = pdiv(px, psub(qx, px));
+  x = pmadd(p2d_2, x, p2d_1);
+
+  // x *= 2**exponent.
+  x = __builtin_msa_fexp2_d(x, x2_long);
+
+  return x;
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_MSA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/PacketMath.h
new file mode 100644
index 0000000000..afe8f3375b
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/MSA/PacketMath.h
@@ -0,0 +1,1233 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2018 Wave Computing, Inc.
+// Written by:
+//   Chris Larsen
+//   Alexey Frunze (afrunze@wavecomp.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_MSA_H
+#define EIGEN_PACKET_MATH_MSA_H
+
+#include <iostream>
+#include <string>
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
+#endif
+
+#if 0
+#define EIGEN_MSA_DEBUG                                                             \
+  static bool firstTime = true;                                                     \
+  do {                                                                              \
+    if (firstTime) {                                                                \
+      std::cout << __FILE__ << ':' << __LINE__ << ':' << __FUNCTION__ << std::endl; \
+      firstTime = false;                                                            \
+    }                                                                               \
+  } while (0)
+#else
+#define EIGEN_MSA_DEBUG
+#endif
+
+#define EIGEN_MSA_SHF_I8(a, b, c, d) (((d) << 6) | ((c) << 4) | ((b) << 2) | (a))
+
+typedef v4f32 Packet4f;
+typedef v4i32 Packet4i;
+typedef v4u32 Packet4ui;
+
+#define _EIGEN_DECLARE_CONST_Packet4f(NAME, X) const Packet4f p4f_##NAME = { X, X, X, X }
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME, X) const Packet4i p4i_##NAME = { X, X, X, X }
+#define _EIGEN_DECLARE_CONST_Packet4ui(NAME, X) const Packet4ui p4ui_##NAME = { X, X, X, X }
+
+inline std::ostream& operator<<(std::ostream& os, const Packet4f& value) {
+  os << "[ " << value[0] << ", " << value[1] << ", " << value[2] << ", " << value[3] << " ]";
+  return os;
+}
+
+inline std::ostream& operator<<(std::ostream& os, const Packet4i& value) {
+  os << "[ " << value[0] << ", " << value[1] << ", " << value[2] << ", " << value[3] << " ]";
+  return os;
+}
+
+inline std::ostream& operator<<(std::ostream& os, const Packet4ui& value) {
+  os << "[ " << value[0] << ", " << value[1] << ", " << value[2] << ", " << value[3] << " ]";
+  return os;
+}
+
+template <>
+struct packet_traits<float> : default_packet_traits {
+  typedef Packet4f type;
+  typedef Packet4f half;  // Packet2f intrinsics not implemented yet
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,  // Packet2f intrinsics not implemented yet
+    // FIXME check the Has*
+    HasDiv = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct packet_traits<int32_t> : default_packet_traits {
+  typedef Packet4i type;
+  typedef Packet4i half;  // Packet2i intrinsics not implemented yet
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,  // Packet2i intrinsics not implemented yet
+    // FIXME check the Has*
+    HasDiv = 1,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct unpacket_traits<Packet4f> {
+  typedef float type;
+  enum { size = 4, alignment = Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false };
+  typedef Packet4f half;
+};
+
+template <>
+struct unpacket_traits<Packet4i> {
+  typedef int32_t type;
+  enum { size = 4, alignment = Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false };
+  typedef Packet4i half;
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4f v = { from, from, from, from };
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t& from) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fill_w(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pload1<Packet4f>(const float* from) {
+  EIGEN_MSA_DEBUG;
+
+  float f = *from;
+  Packet4f v = { f, f, f, f };
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pload1<Packet4i>(const int32_t* from) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fill_w(*from);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fadd_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_addv_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) {
+  EIGEN_MSA_DEBUG;
+
+  static const Packet4f countdown = { 0.0f, 1.0f, 2.0f, 3.0f };
+  return padd(pset1<Packet4f>(a), countdown);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a) {
+  EIGEN_MSA_DEBUG;
+
+  static const Packet4i countdown = { 0, 1, 2, 3 };
+  return padd(pset1<Packet4i>(a), countdown);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fsub_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_subv_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_bnegi_w((v4u32)a, 31);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_addvi_w((v4i32)__builtin_msa_nori_b((v16u8)a, 0), 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fmul_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_mulv_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fdiv_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_div_s_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fmadd_w(c, a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) {
+  EIGEN_MSA_DEBUG;
+
+  // Use "asm" construct to avoid __builtin_msa_maddv_w GNU C bug.
+  Packet4i value = c;
+  __asm__("maddv.w %w[value], %w[a], %w[b]\n"
+          // Outputs
+          : [value] "+f"(value)
+          // Inputs
+          : [a] "f"(a), [b] "f"(b));
+  return value;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_and_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4i)__builtin_msa_and_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_or_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4i)__builtin_msa_or_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_xor_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4i)__builtin_msa_xor_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+  return pand(a, (Packet4f)__builtin_msa_xori_b((v16u8)b, 255));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return pand(a, (Packet4i)__builtin_msa_xori_b((v16u8)b, 255));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  // This prefers numbers to NaNs.
+  return __builtin_msa_fmin_w(a, b);
+#else
+  // This prefers NaNs to numbers.
+  Packet4i aNaN = __builtin_msa_fcun_w(a, a);
+  Packet4i aMinOrNaN = por(__builtin_msa_fclt_w(a, b), aNaN);
+  return (Packet4f)__builtin_msa_bsel_v((v16u8)aMinOrNaN, (v16u8)b, (v16u8)a);
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_min_s_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  // This prefers numbers to NaNs.
+  return __builtin_msa_fmax_w(a, b);
+#else
+  // This prefers NaNs to numbers.
+  Packet4i aNaN = __builtin_msa_fcun_w(a, a);
+  Packet4i aMaxOrNaN = por(__builtin_msa_fclt_w(b, a), aNaN);
+  return (Packet4f)__builtin_msa_bsel_v((v16u8)aMaxOrNaN, (v16u8)b, (v16u8)a);
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_max_s_w(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_LOAD return (Packet4f)__builtin_msa_ld_w(const_cast<float*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_LOAD return __builtin_msa_ld_w(const_cast<int32_t*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return (Packet4f)__builtin_msa_ld_w(const_cast<float*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int32_t* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return (Packet4i)__builtin_msa_ld_w(const_cast<int32_t*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from) {
+  EIGEN_MSA_DEBUG;
+
+  float f0 = from[0], f1 = from[1];
+  Packet4f v0 = { f0, f0, f0, f0 };
+  Packet4f v1 = { f1, f1, f1, f1 };
+  return (Packet4f)__builtin_msa_ilvr_d((v2i64)v1, (v2i64)v0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from) {
+  EIGEN_MSA_DEBUG;
+
+  int32_t i0 = from[0], i1 = from[1];
+  Packet4i v0 = { i0, i0, i0, i0 };
+  Packet4i v1 = { i1, i1, i1, i1 };
+  return (Packet4i)__builtin_msa_ilvr_d((v2i64)v1, (v2i64)v0);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet4f& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_STORE __builtin_msa_st_w((Packet4i)from, to, 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet4i& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_STORE __builtin_msa_st_w(from, to, 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet4f& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_STORE __builtin_msa_st_w((Packet4i)from, to, 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet4i& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_STORE __builtin_msa_st_w(from, to, 0);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  float f = *from;
+  Packet4f v = { f, f, f, f };
+  v[1] = from[stride];
+  v[2] = from[2 * stride];
+  v[3] = from[3 * stride];
+  return v;
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  int32_t i = *from;
+  Packet4i v = { i, i, i, i };
+  v[1] = from[stride];
+  v[2] = from[2 * stride];
+  v[3] = from[3 * stride];
+  return v;
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from,
+                                                        Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  *to = from[0];
+  to += stride;
+  *to = from[1];
+  to += stride;
+  *to = from[2];
+  to += stride;
+  *to = from[3];
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from,
+                                                          Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  *to = from[0];
+  to += stride;
+  *to = from[1];
+  to += stride;
+  *to = from[2];
+  to += stride;
+  *to = from[3];
+}
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) {
+  EIGEN_MSA_DEBUG;
+
+  __builtin_prefetch(addr);
+}
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t* addr) {
+  EIGEN_MSA_DEBUG;
+
+  __builtin_prefetch(addr);
+}
+
+template <>
+EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE int32_t pfirst<Packet4i>(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_shf_w((v4i32)a, EIGEN_MSA_SHF_I8(3, 2, 1, 0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_shf_w(a, EIGEN_MSA_SHF_I8(3, 2, 1, 0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet4f)__builtin_msa_bclri_w((v4u32)a, 31);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4i zero = __builtin_msa_ldi_w(0);
+  return __builtin_msa_add_a_w(zero, a);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4f s = padd(a, (Packet4f)__builtin_msa_shf_w((v4i32)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  s = padd(s, (Packet4f)__builtin_msa_shf_w((v4i32)s, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return s[0];
+}
+
+
+template <>
+EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4i s = padd(a, __builtin_msa_shf_w(a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  s = padd(s, __builtin_msa_shf_w(s, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return s[0];
+}
+
+// Other reduction functions:
+// mul
+template <>
+EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4f p = pmul(a, (Packet4f)__builtin_msa_shf_w((v4i32)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  p = pmul(p, (Packet4f)__builtin_msa_shf_w((v4i32)p, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return p[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4i p = pmul(a, __builtin_msa_shf_w(a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  p = pmul(p, __builtin_msa_shf_w(p, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return p[0];
+}
+
+// min
+template <>
+EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  // Swap 64-bit halves of a.
+  Packet4f swapped = (Packet4f)__builtin_msa_shf_w((Packet4i)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+#if !EIGEN_FAST_MATH
+  // Detect presence of NaNs from pairs a[0]-a[2] and a[1]-a[3] as two 32-bit
+  // masks of all zeroes/ones in low 64 bits.
+  v16u8 unord = (v16u8)__builtin_msa_fcun_w(a, swapped);
+  // Combine the two masks into one: 64 ones if no NaNs, otherwise 64 zeroes.
+  unord = (v16u8)__builtin_msa_ceqi_d((v2i64)unord, 0);
+#endif
+  // Continue with min computation.
+  Packet4f v = __builtin_msa_fmin_w(a, swapped);
+  v = __builtin_msa_fmin_w(
+      v, (Packet4f)__builtin_msa_shf_w((Packet4i)v, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+#if !EIGEN_FAST_MATH
+  // Based on the mask select between v and 4 qNaNs.
+  v16u8 qnans = (v16u8)__builtin_msa_fill_w(0x7FC00000);
+  v = (Packet4f)__builtin_msa_bsel_v(unord, qnans, (v16u8)v);
+#endif
+  return v[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4i m = pmin(a, __builtin_msa_shf_w(a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  m = pmin(m, __builtin_msa_shf_w(m, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return m[0];
+}
+
+// max
+template <>
+EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  // Swap 64-bit halves of a.
+  Packet4f swapped = (Packet4f)__builtin_msa_shf_w((Packet4i)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+#if !EIGEN_FAST_MATH
+  // Detect presence of NaNs from pairs a[0]-a[2] and a[1]-a[3] as two 32-bit
+  // masks of all zeroes/ones in low 64 bits.
+  v16u8 unord = (v16u8)__builtin_msa_fcun_w(a, swapped);
+  // Combine the two masks into one: 64 ones if no NaNs, otherwise 64 zeroes.
+  unord = (v16u8)__builtin_msa_ceqi_d((v2i64)unord, 0);
+#endif
+  // Continue with max computation.
+  Packet4f v = __builtin_msa_fmax_w(a, swapped);
+  v = __builtin_msa_fmax_w(
+      v, (Packet4f)__builtin_msa_shf_w((Packet4i)v, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+#if !EIGEN_FAST_MATH
+  // Based on the mask select between v and 4 qNaNs.
+  v16u8 qnans = (v16u8)__builtin_msa_fill_w(0x7FC00000);
+  v = (Packet4f)__builtin_msa_bsel_v(unord, qnans, (v16u8)v);
+#endif
+  return v[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet4i m = pmax(a, __builtin_msa_shf_w(a, EIGEN_MSA_SHF_I8(2, 3, 0, 1)));
+  m = pmax(m, __builtin_msa_shf_w(m, EIGEN_MSA_SHF_I8(1, 0, 3, 2)));
+  return m[0];
+}
+
+inline std::ostream& operator<<(std::ostream& os, const PacketBlock<Packet4f, 4>& value) {
+  os << "[ " << value.packet[0] << "," << std::endl
+     << "  " << value.packet[1] << "," << std::endl
+     << "  " << value.packet[2] << "," << std::endl
+     << "  " << value.packet[3] << " ]";
+  return os;
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4f, 4>& kernel) {
+  EIGEN_MSA_DEBUG;
+
+  v4i32 tmp1, tmp2, tmp3, tmp4;
+
+  tmp1 = __builtin_msa_ilvr_w((v4i32)kernel.packet[1], (v4i32)kernel.packet[0]);
+  tmp2 = __builtin_msa_ilvr_w((v4i32)kernel.packet[3], (v4i32)kernel.packet[2]);
+  tmp3 = __builtin_msa_ilvl_w((v4i32)kernel.packet[1], (v4i32)kernel.packet[0]);
+  tmp4 = __builtin_msa_ilvl_w((v4i32)kernel.packet[3], (v4i32)kernel.packet[2]);
+
+  kernel.packet[0] = (Packet4f)__builtin_msa_ilvr_d((v2i64)tmp2, (v2i64)tmp1);
+  kernel.packet[1] = (Packet4f)__builtin_msa_ilvod_d((v2i64)tmp2, (v2i64)tmp1);
+  kernel.packet[2] = (Packet4f)__builtin_msa_ilvr_d((v2i64)tmp4, (v2i64)tmp3);
+  kernel.packet[3] = (Packet4f)__builtin_msa_ilvod_d((v2i64)tmp4, (v2i64)tmp3);
+}
+
+inline std::ostream& operator<<(std::ostream& os, const PacketBlock<Packet4i, 4>& value) {
+  os << "[ " << value.packet[0] << "," << std::endl
+     << "  " << value.packet[1] << "," << std::endl
+     << "  " << value.packet[2] << "," << std::endl
+     << "  " << value.packet[3] << " ]";
+  return os;
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4i, 4>& kernel) {
+  EIGEN_MSA_DEBUG;
+
+  v4i32 tmp1, tmp2, tmp3, tmp4;
+
+  tmp1 = __builtin_msa_ilvr_w(kernel.packet[1], kernel.packet[0]);
+  tmp2 = __builtin_msa_ilvr_w(kernel.packet[3], kernel.packet[2]);
+  tmp3 = __builtin_msa_ilvl_w(kernel.packet[1], kernel.packet[0]);
+  tmp4 = __builtin_msa_ilvl_w(kernel.packet[3], kernel.packet[2]);
+
+  kernel.packet[0] = (Packet4i)__builtin_msa_ilvr_d((v2i64)tmp2, (v2i64)tmp1);
+  kernel.packet[1] = (Packet4i)__builtin_msa_ilvod_d((v2i64)tmp2, (v2i64)tmp1);
+  kernel.packet[2] = (Packet4i)__builtin_msa_ilvr_d((v2i64)tmp4, (v2i64)tmp3);
+  kernel.packet[3] = (Packet4i)__builtin_msa_ilvod_d((v2i64)tmp4, (v2i64)tmp3);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f psqrt(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fsqrt_w(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f prsqrt(const Packet4f& a) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  return __builtin_msa_frsqrt_w(a);
+#else
+  Packet4f ones = __builtin_msa_ffint_s_w(__builtin_msa_ldi_w(1));
+  return pdiv(ones, psqrt(a));
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) {
+  Packet4f v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"  // 3 = round towards -INFINITY.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.w %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) {
+  Packet4f v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"
+      "xori    %[new_mode], %[new_mode], 1\n"  // 2 = round towards +INFINITY.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.w %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) {
+  Packet4f v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"
+      "xori    %[new_mode], %[new_mode], 3\n"  // 0 = round to nearest, ties to even.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.w %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket,
+                                    const Packet4f& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2],
+                       ifPacket.select[3] };
+  Packet4i mask = __builtin_msa_ceqi_w((Packet4i)select, 0);
+  return (Packet4f)__builtin_msa_bsel_v((v16u8)mask, (v16u8)thenPacket, (v16u8)elsePacket);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket,
+                                    const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2],
+                       ifPacket.select[3] };
+  Packet4i mask = __builtin_msa_ceqi_w((Packet4i)select, 0);
+  return (Packet4i)__builtin_msa_bsel_v((v16u8)mask, (v16u8)thenPacket, (v16u8)elsePacket);
+}
+
+//---------- double ----------
+
+typedef v2f64 Packet2d;
+typedef v2i64 Packet2l;
+typedef v2u64 Packet2ul;
+
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME, X) const Packet2d p2d_##NAME = { X, X }
+#define _EIGEN_DECLARE_CONST_Packet2l(NAME, X) const Packet2l p2l_##NAME = { X, X }
+#define _EIGEN_DECLARE_CONST_Packet2ul(NAME, X) const Packet2ul p2ul_##NAME = { X, X }
+
+inline std::ostream& operator<<(std::ostream& os, const Packet2d& value) {
+  os << "[ " << value[0] << ", " << value[1] << " ]";
+  return os;
+}
+
+inline std::ostream& operator<<(std::ostream& os, const Packet2l& value) {
+  os << "[ " << value[0] << ", " << value[1] << " ]";
+  return os;
+}
+
+inline std::ostream& operator<<(std::ostream& os, const Packet2ul& value) {
+  os << "[ " << value[0] << ", " << value[1] << " ]";
+  return os;
+}
+
+template <>
+struct packet_traits<double> : default_packet_traits {
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+    // FIXME check the Has*
+    HasDiv = 1,
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasBlend = 1
+  };
+};
+
+template <>
+struct unpacket_traits<Packet2d> {
+  typedef double type;
+  enum { size = 2, alignment = Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false };
+  typedef Packet2d half;
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d value = { from, from };
+  return value;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fadd_d(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) {
+  EIGEN_MSA_DEBUG;
+
+  static const Packet2d countdown = { 0.0, 1.0 };
+  return padd(pset1<Packet2d>(a), countdown);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fsub_d(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_bnegi_d((v2u64)a, 63);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fmul_d(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fdiv_d(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fmadd_d(c, a, b);
+}
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using MSA
+// intrinsics
+template <>
+EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_and_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_or_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_xor_v((v16u8)a, (v16u8)b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+  return pand(a, (Packet2d)__builtin_msa_xori_b((v16u8)b, 255));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return (Packet2d)__builtin_msa_ld_d(const_cast<double*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  // This prefers numbers to NaNs.
+  return __builtin_msa_fmin_d(a, b);
+#else
+  // This prefers NaNs to numbers.
+  v2i64 aNaN = __builtin_msa_fcun_d(a, a);
+  v2i64 aMinOrNaN = por(__builtin_msa_fclt_d(a, b), aNaN);
+  return (Packet2d)__builtin_msa_bsel_v((v16u8)aMinOrNaN, (v16u8)b, (v16u8)a);
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  // This prefers numbers to NaNs.
+  return __builtin_msa_fmax_d(a, b);
+#else
+  // This prefers NaNs to numbers.
+  v2i64 aNaN = __builtin_msa_fcun_d(a, a);
+  v2i64 aMaxOrNaN = por(__builtin_msa_fclt_d(b, a), aNaN);
+  return (Packet2d)__builtin_msa_bsel_v((v16u8)aMaxOrNaN, (v16u8)b, (v16u8)a);
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_LOAD return (Packet2d)__builtin_msa_ld_d(const_cast<double*>(from), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d value = { *from, *from };
+  return value;
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_ALIGNED_STORE __builtin_msa_st_d((v2i64)from, to, 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
+  EIGEN_MSA_DEBUG;
+
+  EIGEN_DEBUG_UNALIGNED_STORE __builtin_msa_st_d((v2i64)from, to, 0);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d value;
+  value[0] = *from;
+  from += stride;
+  value[1] = *from;
+  return value;
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from,
+                                                         Index stride) {
+  EIGEN_MSA_DEBUG;
+
+  *to = from[0];
+  to += stride;
+  *to = from[1];
+}
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) {
+  EIGEN_MSA_DEBUG;
+
+  __builtin_prefetch(addr);
+}
+
+template <>
+EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return a[0];
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_shf_w((v4i32)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return (Packet2d)__builtin_msa_bclri_d((v2u64)a, 63);
+}
+
+template <>
+EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d s = padd(a, preverse(a));
+  return s[0];
+}
+
+// Other reduction functions:
+// mul
+template <>
+EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d p = pmul(a, preverse(a));
+  return p[0];
+}
+
+// min
+template <>
+EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  Packet2d swapped = (Packet2d)__builtin_msa_shf_w((Packet4i)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+  Packet2d v = __builtin_msa_fmin_d(a, swapped);
+  return v[0];
+#else
+  double a0 = a[0], a1 = a[1];
+  return ((numext::isnan)(a0) || a0 < a1) ? a0 : a1;
+#endif
+}
+
+// max
+template <>
+EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  Packet2d swapped = (Packet2d)__builtin_msa_shf_w((Packet4i)a, EIGEN_MSA_SHF_I8(2, 3, 0, 1));
+  Packet2d v = __builtin_msa_fmax_d(a, swapped);
+  return v[0];
+#else
+  double a0 = a[0], a1 = a[1];
+  return ((numext::isnan)(a0) || a0 > a1) ? a0 : a1;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d psqrt(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+  return __builtin_msa_fsqrt_d(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d prsqrt(const Packet2d& a) {
+  EIGEN_MSA_DEBUG;
+
+#if EIGEN_FAST_MATH
+  return __builtin_msa_frsqrt_d(a);
+#else
+  Packet2d ones = __builtin_msa_ffint_s_d(__builtin_msa_ldi_d(1));
+  return pdiv(ones, psqrt(a));
+#endif
+}
+
+inline std::ostream& operator<<(std::ostream& os, const PacketBlock<Packet2d, 2>& value) {
+  os << "[ " << value.packet[0] << "," << std::endl << "  " << value.packet[1] << " ]";
+  return os;
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet2d, 2>& kernel) {
+  EIGEN_MSA_DEBUG;
+
+  Packet2d trn1 = (Packet2d)__builtin_msa_ilvev_d((v2i64)kernel.packet[1], (v2i64)kernel.packet[0]);
+  Packet2d trn2 = (Packet2d)__builtin_msa_ilvod_d((v2i64)kernel.packet[1], (v2i64)kernel.packet[0]);
+  kernel.packet[0] = trn1;
+  kernel.packet[1] = trn2;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) {
+  Packet2d v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"  // 3 = round towards -INFINITY.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.d %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) {
+  Packet2d v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"
+      "xori    %[new_mode], %[new_mode], 1\n"  // 2 = round towards +INFINITY.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.d %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) {
+  Packet2d v = a;
+  int32_t old_mode, new_mode;
+  asm volatile(
+      "cfcmsa  %[old_mode], $1\n"
+      "ori     %[new_mode], %[old_mode], 3\n"
+      "xori    %[new_mode], %[new_mode], 3\n"  // 0 = round to nearest, ties to even.
+      "ctcmsa  $1, %[new_mode]\n"
+      "frint.d %w[v], %w[v]\n"
+      "ctcmsa  $1, %[old_mode]\n"
+      :  // outputs
+      [old_mode] "=r"(old_mode), [new_mode] "=r"(new_mode),
+      [v] "+f"(v)
+      :  // inputs
+      :  // clobbers
+  );
+  return v;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket,
+                                    const Packet2d& elsePacket) {
+  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2l mask = __builtin_msa_ceqi_d((Packet2l)select, 0);
+  return (Packet2d)__builtin_msa_bsel_v((v16u8)mask, (v16u8)thenPacket, (v16u8)elsePacket);
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_PACKET_MATH_MSA_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/Complex.h
index ef50ba3035..f40af7f87f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/Complex.h
@@ -15,9 +15,10 @@ namespace Eigen {
 
 namespace internal {
 
-inline uint32x4_t p4ui_CONJ_XOR() {
+inline uint32x4_t p4ui_CONJ_XOR()
+{
 // See bug 1325, clang fails to call vld1q_u64.
-#if EIGEN_COMP_CLANG
+#if EIGEN_COMP_CLANG || EIGEN_COMP_CASTXML
   uint32x4_t ret = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
   return ret;
 #else
@@ -26,61 +27,136 @@ inline uint32x4_t p4ui_CONJ_XOR() {
 #endif
 }
 
-inline uint32x2_t p2ui_CONJ_XOR() {
+inline uint32x2_t p2ui_CONJ_XOR()
+{
   static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000 };
   return vld1_u32( conj_XOR_DATA );
 }
 
 //---------- float ----------
+
+struct Packet1cf
+{
+  EIGEN_STRONG_INLINE Packet1cf() {}
+  EIGEN_STRONG_INLINE explicit Packet1cf(const Packet2f& a) : v(a) {}
+  Packet2f v;
+};
 struct Packet2cf
 {
   EIGEN_STRONG_INLINE Packet2cf() {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
-  Packet4f  v;
+  Packet4f v;
 };
 
-template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+template<> struct packet_traits<std::complex<float> > : default_packet_traits
 {
   typedef Packet2cf type;
-  typedef Packet2cf half;
-  enum {
+  typedef Packet1cf half;
+  enum
+  {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
-    HasHalfPacket = 0,
-
-    HasAdd    = 1,
-    HasSub    = 1,
-    HasMul    = 1,
-    HasDiv    = 1,
-    HasNegate = 1,
-    HasAbs    = 0,
-    HasAbs2   = 0,
-    HasMin    = 0,
-    HasMax    = 0,
+    HasHalfPacket = 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<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+template<> struct unpacket_traits<Packet1cf>
 {
-  float32x2_t r64;
-  r64 = vld1_f32((float *)&from);
+  typedef std::complex<float> type;
+  typedef Packet1cf half;
+  typedef Packet2f as_real;
+  enum
+  {
+    size = 1,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet2cf>
+{
+  typedef std::complex<float> type;
+  typedef Packet1cf half;
+  typedef Packet4f as_real;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cf pcast<float,Packet1cf>(const float& a)
+{ return Packet1cf(vset_lane_f32(a, vdup_n_f32(0.f), 0)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pcast<Packet2f,Packet2cf>(const Packet2f& a)
+{ return Packet2cf(vreinterpretq_f32_u64(vmovl_u32(vreinterpret_u32_f32(a)))); }
 
+template<> EIGEN_STRONG_INLINE Packet1cf pset1<Packet1cf>(const std::complex<float>& from)
+{ return Packet1cf(vld1_f32(reinterpret_cast<const float*>(&from))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>& from)
+{
+  const float32x2_t r64 = vld1_f32(reinterpret_cast<const 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 Packet1cf padd<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(padd<Packet2f>(a.v, b.v)); }
+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 Packet1cf psub<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(psub<Packet2f>(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 Packet1cf pnegate(const Packet1cf& a) { return Packet1cf(pnegate<Packet2f>(a.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate<Packet4f>(a.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cf pconj(const Packet1cf& a)
+{
+  const Packet2ui b = vreinterpret_u32_f32(a.v);
+  return Packet1cf(vreinterpret_f32_u32(veor_u32(b, p2ui_CONJ_XOR())));
+}
 template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 {
-  Packet4ui b = vreinterpretq_u32_f32(a.v);
+  const Packet4ui b = vreinterpretq_u32_f32(a.v);
   return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR())));
 }
 
+template<> EIGEN_STRONG_INLINE Packet1cf pmul<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{
+  Packet2f v1, v2;
+
+  // Get the real values of a | a1_re | a1_re |
+  v1 = vdup_lane_f32(a.v, 0);
+  // Get the imag values of a | a1_im | a1_im |
+  v2 = vdup_lane_f32(a.v, 1);
+  // Multiply the real a with b
+  v1 = vmul_f32(v1, b.v);
+  // Multiply the imag a with b
+  v2 = vmul_f32(v2, b.v);
+  // 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 and return the result
+  return Packet1cf(vadd_f32(v1, v2));
+}
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   Packet4f v1, v2;
@@ -93,7 +169,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
   v1 = vmulq_f32(v1, b.v);
   // Multiply the imag a with b
   v2 = vmulq_f32(v2, b.v);
-  // Conjugate v2 
+  // Conjugate v2
   v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR()));
   // Swap real/imag elements in v2.
   v2 = vrev64q_f32(v2);
@@ -101,98 +177,144 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
   return Packet2cf(vaddq_f32(v1, v2));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+template<> EIGEN_STRONG_INLINE Packet1cf pcmp_eq(const Packet1cf& a, const Packet1cf& b)
 {
-  return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+  // Compare real and imaginary parts of a and b to get the mask vector:
+  // [re(a[0])==re(b[0]), im(a[0])==im(b[0])]
+  Packet2f eq = pcmp_eq<Packet2f>(a.v, b.v);
+  // Swap real/imag elements in the mask in to get:
+  // [im(a[0])==im(b[0]), re(a[0])==re(b[0])]
+  Packet2f eq_swapped = vrev64_f32(eq);
+  // Return re(a)==re(b) && im(a)==im(b) by computing bitwise AND of eq and eq_swapped
+  return Packet1cf(pand<Packet2f>(eq, eq_swapped));
 }
-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 pcmp_eq(const Packet2cf& a, const Packet2cf& b)
+{
+  // Compare real and imaginary parts of a and b to get the mask vector:
+  // [re(a[0])==re(b[0]), im(a[0])==im(b[0]), re(a[1])==re(b[1]), im(a[1])==im(b[1])]
+  Packet4f eq = pcmp_eq<Packet4f>(a.v, b.v);
+  // Swap real/imag elements in the mask in to get:
+  // [im(a[0])==im(b[0]), re(a[0])==re(b[0]), im(a[1])==im(b[1]), re(a[1])==re(b[1])]
+  Packet4f eq_swapped = vrev64q_f32(eq);
+  // Return re(a)==re(b) && im(a)==im(b) by computing bitwise AND of eq and eq_swapped
+  return Packet2cf(pand<Packet4f>(eq, eq_swapped));
 }
 
-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 Packet1cf pand<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(vreinterpret_f32_u32(vand_u32(vreinterpret_u32_f32(a.v), vreinterpret_u32_f32(b.v)))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{ return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v), vreinterpretq_u32_f32(b.v)))); }
 
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
+template<> EIGEN_STRONG_INLINE Packet1cf por<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(vreinterpret_f32_u32(vorr_u32(vreinterpret_u32_f32(a.v), vreinterpret_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 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 Packet1cf pxor<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(a.v), vreinterpret_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_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+template<> EIGEN_STRONG_INLINE Packet1cf pandnot<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
+{ return Packet1cf(vreinterpret_f32_u32(vbic_u32(vreinterpret_u32_f32(a.v), vreinterpret_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 Packet1cf pload<Packet1cf>(const std::complex<float>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cf(pload<Packet2f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(reinterpret_cast<const float*>(from))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cf ploadu<Packet1cf>(const std::complex<float>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cf(ploadu<Packet2f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(reinterpret_cast<const float*>(from))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cf ploaddup<Packet1cf>(const std::complex<float>* from)
+{ return pset1<Packet1cf>(*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 Packet1cf& from)
+{ EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *to, const Packet2cf& from)
+{ EIGEN_DEBUG_ALIGNED_STORE pstore(reinterpret_cast<float*>(to), from.v); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *to, const Packet1cf& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE pstoreu((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(reinterpret_cast<float*>(to), from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cf pgather<std::complex<float>, Packet1cf>(
+    const std::complex<float>* from, Index stride)
+{
+  const Packet2f tmp = vdup_n_f32(std::real(from[0*stride]));
+  return Packet1cf(vset_lane_f32(std::imag(from[0*stride]), tmp, 1));
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(
+    const std::complex<float>* from, Index stride)
 {
-  Packet4f res = pset1<Packet4f>(0.f);
-  res = vsetq_lane_f32(std::real(from[0*stride]), res, 0);
+  Packet4f res = vdupq_n_f32(std::real(from[0*stride]));
   res = vsetq_lane_f32(std::imag(from[0*stride]), res, 1);
   res = vsetq_lane_f32(std::real(from[1*stride]), res, 2);
   res = vsetq_lane_f32(std::imag(from[1*stride]), res, 3);
   return Packet2cf(res);
 }
 
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet1cf>(
+    std::complex<float>* to, const Packet1cf& from, Index stride)
+{ to[stride*0] = std::complex<float>(vget_lane_f32(from.v, 0), vget_lane_f32(from.v, 1)); }
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(
+    std::complex<float>* to, const Packet2cf& from, Index stride)
 {
   to[stride*0] = std::complex<float>(vgetq_lane_f32(from.v, 0), vgetq_lane_f32(from.v, 1));
   to[stride*1] = std::complex<float>(vgetq_lane_f32(from.v, 2), vgetq_lane_f32(from.v, 3));
 }
 
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { EIGEN_ARM_PREFETCH((float *)addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *addr)
+{ EIGEN_ARM_PREFETCH(reinterpret_cast<const float*>(addr)); }
 
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+template<> EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet1cf>(const Packet1cf& a)
 {
-  std::complex<float> EIGEN_ALIGN16 x[2];
-  vst1q_f32((float *)x, a.v);
+  EIGEN_ALIGN16 std::complex<float> x;
+  vst1_f32(reinterpret_cast<float*>(&x), a.v);
+  return x;
+}
+template<> EIGEN_STRONG_INLINE std::complex<float> pfirst<Packet2cf>(const Packet2cf& a)
+{
+  EIGEN_ALIGN16 std::complex<float> x[2];
+  vst1q_f32(reinterpret_cast<float*>(x), a.v);
   return x[0];
 }
 
+template<> EIGEN_STRONG_INLINE Packet1cf preverse(const Packet1cf& a) { return a; }
 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);
-}
+{ return Packet2cf(vcombine_f32(vget_high_f32(a.v), vget_low_f32(a.v))); }
 
+template<> EIGEN_STRONG_INLINE Packet1cf pcplxflip<Packet1cf>(const Packet1cf& a)
+{ return Packet1cf(vrev64_f32(a.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& a)
+{ return Packet2cf(vrev64q_f32(a.v)); }
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet1cf>(const Packet1cf& a)
 {
-  return Packet2cf(vrev64q_f32(a.v));
+  std::complex<float> s;
+  vst1_f32((float *)&s, a.v);
+  return s;
 }
-
 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);
-
+  vst1_f32(reinterpret_cast<float*>(&s), vadd_f32(vget_low_f32(a.v), vget_high_f32(a.v)));
   return s;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet1cf>(const Packet1cf& a)
 {
-  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);
+  std::complex<float> s;
+  vst1_f32((float *)&s, a.v);
+  return s;
 }
-
 template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
 {
   float32x2_t a1, a2, v1, v2, prod;
@@ -208,90 +330,67 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
   v1 = vmul_f32(v1, a2);
   // Multiply the imag a with b
   v2 = vmul_f32(v2, a2);
-  // Conjugate v2 
+  // 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);
+  vst1_f32(reinterpret_cast<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);
-  }
-};
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cf,Packet2f)
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
 
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+template<> EIGEN_STRONG_INLINE Packet1cf pdiv<Packet1cf>(const Packet1cf& a, const Packet1cf& b)
 {
-  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));
-  }
-};
+  // TODO optimize it for NEON
+  Packet1cf res = pmul(a, pconj(b));
+  Packet2f s, rev_s;
 
-EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
+  // this computes the norm
+  s = vmul_f32(b.v, b.v);
+  rev_s = vrev64_f32(s);
 
+  return Packet1cf(pdiv<Packet2f>(res.v, vadd_f32(s, rev_s)));
+}
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   // TODO optimize it for NEON
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
+  Packet2cf res = pmul(a,pconj(b));
   Packet4f s, rev_s;
 
   // this computes the norm
   s = vmulq_f32(b.v, b.v);
   rev_s = vrev64q_f32(s);
 
-  return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
+  return Packet2cf(pdiv<Packet4f>(res.v, vaddq_f32(s, rev_s)));
 }
 
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet1cf, 1>& /*kernel*/) {}
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet2cf, 2>& kernel)
+{
   Packet4f tmp = vcombine_f32(vget_high_f32(kernel.packet[0].v), vget_high_f32(kernel.packet[1].v));
   kernel.packet[0].v = vcombine_f32(vget_low_f32(kernel.packet[0].v), vget_low_f32(kernel.packet[1].v));
   kernel.packet[1].v = tmp;
 }
 
+template<> EIGEN_STRONG_INLINE Packet1cf psqrt<Packet1cf>(const Packet1cf& a) {
+  return psqrt_complex<Packet1cf>(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf psqrt<Packet2cf>(const Packet2cf& a) {
+  return psqrt_complex<Packet2cf>(a);
+}
+
 //---------- double ----------
 #if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
 
 // See bug 1325, clang fails to call vld1q_u64.
-#if EIGEN_COMP_CLANG
+#if EIGEN_COMP_CLANG || EIGEN_COMP_CASTXML
   static uint64x2_t p2ul_CONJ_XOR = {0x0, 0x8000000000000000};
 #else
   const uint64_t  p2ul_conj_XOR_DATA[] = { 0x0, 0x8000000000000000 };
@@ -309,7 +408,8 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 {
   typedef Packet1cd type;
   typedef Packet1cd half;
-  enum {
+  enum
+  {
     Vectorizable = 1,
     AlignedOnScalar = 0,
     size = 1,
@@ -328,24 +428,50 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+template<> struct unpacket_traits<Packet1cd>
+{
+  typedef std::complex<double> type;
+  typedef Packet1cd half;
+  typedef Packet2d as_real;
+  enum
+  {
+    size=1,
+    alignment=Aligned16,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>(reinterpret_cast<const double*>(from))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>(reinterpret_cast<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 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 padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{ return Packet1cd(padd<Packet2d>(a.v, b.v)); }
 
-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 psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{ return Packet1cd(psub<Packet2d>(a.v, b.v)); }
 
-template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(padd<Packet2d>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(psub<Packet2d>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate<Packet2d>(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a)
+{ return Packet1cd(pnegate<Packet2d>(a.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
+{ return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
 
 template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
   Packet2d v1, v2;
 
-  // Get the real values of a 
+  // Get the real values of a
   v1 = vdupq_lane_f64(vget_low_f64(a.v), 0);
   // Get the imag values of a
   v2 = vdupq_lane_f64(vget_high_f64(a.v), 0);
@@ -353,7 +479,7 @@ template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, con
   v1 = vmulq_f64(v1, b.v);
   // Multiply the imag a with b
   v2 = vmulq_f64(v2, b.v);
-  // Conjugate v2 
+  // Conjugate v2
   v2 = vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(v2), p2ul_CONJ_XOR));
   // Swap real/imag elements in v2.
   v2 = preverse<Packet2d>(v2);
@@ -361,31 +487,44 @@ template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, con
   return Packet1cd(vaddq_f64(v1, v2));
 }
 
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+template<> EIGEN_STRONG_INLINE Packet1cd pcmp_eq(const Packet1cd& a, const Packet1cd& b)
 {
-  return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+  // Compare real and imaginary parts of a and b to get the mask vector:
+  // [re(a)==re(b), im(a)==im(b)]
+  Packet2d eq = pcmp_eq<Packet2d>(a.v, b.v);
+  // Swap real/imag elements in the mask in to get:
+  // [im(a)==im(b), re(a)==re(b)]
+  Packet2d eq_swapped = vreinterpretq_f64_u32(vrev64q_u32(vreinterpretq_u32_f64(eq)));
+  // Return re(a)==re(b) & im(a)==im(b) by computing bitwise AND of eq and eq_swapped
+  return Packet1cd(pand<Packet2d>(eq, eq_swapped));
 }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{ return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v)))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd por<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{ return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v)))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pxor<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{ return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v)))); }
+
 template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
-{
-  return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
-}
+{ return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v)))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from)
+{ return pset1<Packet1cd>(*from); }
 
-template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *to, const Packet1cd& from)
+{ EIGEN_DEBUG_ALIGNED_STORE pstore(reinterpret_cast<double*>(to), from.v); }
 
-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 pstoreu<std::complex<double> >(std::complex<double> *to, const Packet1cd& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), from.v); }
 
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ARM_PREFETCH((double *)addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *addr)
+{ EIGEN_ARM_PREFETCH(reinterpret_cast<const double*>(addr)); }
 
-template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(
+    const std::complex<double>* from, Index stride)
 {
   Packet2d res = pset1<Packet2d>(0.0);
   res = vsetq_lane_f64(std::real(from[0*stride]), res, 0);
@@ -393,17 +532,14 @@ template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Pack
   return Packet1cd(res);
 }
 
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
-{
-  to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1));
-}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(
+    std::complex<double>* to, const Packet1cd& from, Index stride)
+{ to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1)); }
 
-
-template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet1cd>(const Packet1cd& a)
 {
-  std::complex<double> EIGEN_ALIGN16 res;
+  EIGEN_ALIGN16 std::complex<double> res;
   pstore<std::complex<double> >(&res, a);
-
   return res;
 }
 
@@ -411,59 +547,14 @@ 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>
-{
-  static EIGEN_STRONG_INLINE 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
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
-
-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
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
-
-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
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
 
 template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
   // TODO optimize it for NEON
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet1cd res = pmul(a,pconj(b));
   Packet2d s = pmul<Packet2d>(b.v, b.v);
   Packet2d rev_s = preverse<Packet2d>(s);
 
@@ -471,9 +562,7 @@ template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, con
 }
 
 EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
+{ return Packet1cd(preverse(Packet2d(x.v))); }
 
 EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
 {
@@ -481,6 +570,11 @@ EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
   kernel.packet[0].v = vcombine_f64(vget_low_f64(kernel.packet[0].v), vget_low_f64(kernel.packet[1].v));
   kernel.packet[1].v = tmp;
 }
+
+template<> EIGEN_STRONG_INLINE Packet1cd psqrt<Packet1cd>(const Packet1cd& a) {
+  return psqrt_complex<Packet1cd>(a);
+}
+
 #endif // EIGEN_ARCH_ARM64
 
 } // end namespace internal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h
new file mode 100644
index 0000000000..3481f337e3
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h
@@ -0,0 +1,183 @@
+namespace Eigen {
+namespace internal {
+  
+#if EIGEN_ARCH_ARM && EIGEN_COMP_CLANG
+
+// Clang seems to excessively spill registers in the GEBP kernel on 32-bit arm.
+// Here we specialize gebp_traits to eliminate these register spills.
+// See #2138.
+template<>
+struct gebp_traits <float,float,false,false,Architecture::NEON,GEBPPacketFull>
+ : gebp_traits<float,float,false,false,Architecture::Generic,GEBPPacketFull>
+{
+  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  { 
+    // This volatile inline ASM both acts as a barrier to prevent reordering,
+    // as well as enforces strict register use.
+    asm volatile(
+      "vmla.f32 %q[r], %q[c], %q[alpha]"
+      : [r] "+w" (r)
+      : [c] "w" (c),
+        [alpha] "w" (alpha)
+      : );
+  }
+
+  template <typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const Packet4f& a, const Packet4f& b,
+                                Packet4f& c, Packet4f& tmp,
+                                const LaneIdType&) const {
+    acc(a, b, c);
+  }
+  
+  template <typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const Packet4f& a, const QuadPacket<Packet4f>& b,
+                                Packet4f& c, Packet4f& tmp,
+                                const LaneIdType& lane) const {
+    madd(a, b.get(lane), c, tmp, lane);
+  }
+};
+
+#endif // EIGEN_ARCH_ARM && EIGEN_COMP_CLANG
+
+#if EIGEN_ARCH_ARM64
+
+template<>
+struct gebp_traits <float,float,false,false,Architecture::NEON,GEBPPacketFull>
+ : gebp_traits<float,float,false,false,Architecture::Generic,GEBPPacketFull>
+{
+  typedef float RhsPacket;
+  typedef float32x4_t RhsPacketx4;
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = *b;
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
+  {
+    dest = vld1q_f32(b);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = *b;
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const
+  {}
+
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    loadRhs(b,dest);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<0>&) const
+  {
+    c = vfmaq_n_f32(c, a, b);
+  }
+
+  // NOTE: Template parameter inference failed when compiled with Android NDK:
+  // "candidate template ignored: could not match 'FixedInt<N>' against 'Eigen::internal::FixedInt<0>".
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<0>&) const
+  { madd_helper<0>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<1>&) const
+  { madd_helper<1>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<2>&) const
+  { madd_helper<2>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<3>&) const
+  { madd_helper<3>(a, b, c); }
+
+ private:
+  template<int LaneID>
+  EIGEN_STRONG_INLINE void madd_helper(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c) const
+  {
+    #if EIGEN_COMP_GNUC_STRICT && !(EIGEN_GNUC_AT_LEAST(9,0))
+    // workaround gcc issue https://gcc.gnu.org/bugzilla/show_bug.cgi?id=89101
+    // vfmaq_laneq_f32 is implemented through a costly dup
+         if(LaneID==0)  asm("fmla %0.4s, %1.4s, %2.s[0]\n" : "+w" (c) : "w" (a), "w" (b) :  );
+    else if(LaneID==1)  asm("fmla %0.4s, %1.4s, %2.s[1]\n" : "+w" (c) : "w" (a), "w" (b) :  );
+    else if(LaneID==2)  asm("fmla %0.4s, %1.4s, %2.s[2]\n" : "+w" (c) : "w" (a), "w" (b) :  );
+    else if(LaneID==3)  asm("fmla %0.4s, %1.4s, %2.s[3]\n" : "+w" (c) : "w" (a), "w" (b) :  );
+    #else
+    c = vfmaq_laneq_f32(c, a, b, LaneID);
+    #endif
+  }
+};
+
+
+template<>
+struct gebp_traits <double,double,false,false,Architecture::NEON>
+ : gebp_traits<double,double,false,false,Architecture::Generic>
+{
+  typedef double RhsPacket;
+
+  struct RhsPacketx4 {
+    float64x2_t B_0, B_1;
+  };
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = *b;
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
+  {
+    dest.B_0 = vld1q_f64(b);
+    dest.B_1 = vld1q_f64(b+2);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, RhsPacket& dest) const
+  {
+    loadRhs(b,dest);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const
+  {}
+
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    loadRhs(b,dest);
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<0>&) const
+  {
+    c = vfmaq_n_f64(c, a, b);
+  }
+
+  // NOTE: Template parameter inference failed when compiled with Android NDK:
+  // "candidate template ignored: could not match 'FixedInt<N>' against 'Eigen::internal::FixedInt<0>".
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<0>&) const
+  { madd_helper<0>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<1>&) const
+  { madd_helper<1>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<2>&) const
+  { madd_helper<2>(a, b, c); }
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c, RhsPacket& /*tmp*/, const FixedInt<3>&) const
+  { madd_helper<3>(a, b, c); }
+
+ private:
+  template <int LaneID>
+  EIGEN_STRONG_INLINE void madd_helper(const LhsPacket& a, const RhsPacketx4& b, AccPacket& c) const
+  {
+    #if EIGEN_COMP_GNUC_STRICT && !(EIGEN_GNUC_AT_LEAST(9,0))
+    // workaround gcc issue https://gcc.gnu.org/bugzilla/show_bug.cgi?id=89101
+    // vfmaq_laneq_f64 is implemented through a costly dup
+         if(LaneID==0)  asm("fmla %0.2d, %1.2d, %2.d[0]\n" : "+w" (c) : "w" (a), "w" (b.B_0) :  );
+    else if(LaneID==1)  asm("fmla %0.2d, %1.2d, %2.d[1]\n" : "+w" (c) : "w" (a), "w" (b.B_0) :  );
+    else if(LaneID==2)  asm("fmla %0.2d, %1.2d, %2.d[0]\n" : "+w" (c) : "w" (a), "w" (b.B_1) :  );
+    else if(LaneID==3)  asm("fmla %0.2d, %1.2d, %2.d[1]\n" : "+w" (c) : "w" (a), "w" (b.B_1) :  );
+    #else
+         if(LaneID==0) c = vfmaq_laneq_f64(c, a, b.B_0, 0);
+    else if(LaneID==1) c = vfmaq_laneq_f64(c, a, b.B_0, 1);
+    else if(LaneID==2) c = vfmaq_laneq_f64(c, a, b.B_1, 0);
+    else if(LaneID==3) c = vfmaq_laneq_f64(c, a, b.B_1, 1);
+    #endif
+  }
+};
+
+#endif // EIGEN_ARCH_ARM64
+
+}  // namespace internal
+}  // namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/MathFunctions.h
index 6bb05bb922..fa6615a851 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/MathFunctions.h
@@ -5,10 +5,6 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-/* 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_NEON_H
 #define EIGEN_MATH_FUNCTIONS_NEON_H
 
@@ -16,74 +12,62 @@ namespace Eigen {
 
 namespace internal {
 
-template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& _x)
-{
-  Packet4f x = _x;
-  Packet4f tmp, fx;
-
-  _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,  88.3762626647950f);
-  _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);
-
-  x = vminq_f32(x, p4f_exp_hi);
-  x = vmaxq_f32(x, p4f_exp_lo);
-
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = vmlaq_f32(p4f_half, x, p4f_cephes_LOG2EF);
-
-  /* perform a floorf */
-  tmp = vcvtq_f32_s32(vcvtq_s32_f32(fx));
-
-  /* if greater, substract 1 */
-  Packet4ui mask = vcgtq_f32(tmp, fx);
-  mask = vandq_u32(mask, vreinterpretq_u32_f32(p4f_1));
-
-  fx = vsubq_f32(tmp, vreinterpretq_f32_u32(mask));
-
-  tmp = vmulq_f32(fx, p4f_cephes_exp_C1);
-  Packet4f z = vmulq_f32(fx, p4f_cephes_exp_C2);
-  x = vsubq_f32(x, tmp);
-  x = vsubq_f32(x, z);
-
-  Packet4f y = vmulq_f32(p4f_cephes_exp_p0, x);
-  z = vmulq_f32(x, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p1);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p2);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p3);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p4);
-  y = vmulq_f32(y, x);
-  y = vaddq_f32(y, p4f_cephes_exp_p5);
-
-  y = vmulq_f32(y, z);
-  y = vaddq_f32(y, x);
-  y = vaddq_f32(y, p4f_1);
-
-  /* build 2^n */
-  int32x4_t mm;
-  mm = vcvtq_s32_f32(fx);
-  mm = vaddq_s32(mm, p4i_0x7f);
-  mm = vshlq_n_s32(mm, 23);
-  Packet4f pow2n = vreinterpretq_f32_s32(mm);
-
-  y = vmulq_f32(y, pow2n);
-  return y;
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2f pexp<Packet2f>(const Packet2f& x)
+{ return pexp_float(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f pexp<Packet4f>(const Packet4f& x)
+{ return pexp_float(x); }
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2f plog<Packet2f>(const Packet2f& x)
+{ return plog_float(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f plog<Packet4f>(const Packet4f& x)
+{ return plog_float(x); }
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2f psin<Packet2f>(const Packet2f& x)
+{ return psin_float(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f psin<Packet4f>(const Packet4f& x)
+{ return psin_float(x); }
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2f pcos<Packet2f>(const Packet2f& x)
+{ return pcos_float(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f pcos<Packet4f>(const Packet4f& x)
+{ return pcos_float(x); }
+
+// Hyperbolic Tangent function.
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2f ptanh<Packet2f>(const Packet2f& x)
+{ return internal::generic_fast_tanh_float(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f ptanh<Packet4f>(const Packet4f& x)
+{ return internal::generic_fast_tanh_float(x); }
+
+BF16_PACKET_FUNCTION(Packet4f, Packet4bf, psin)
+BF16_PACKET_FUNCTION(Packet4f, Packet4bf, pcos)
+BF16_PACKET_FUNCTION(Packet4f, Packet4bf, plog)
+BF16_PACKET_FUNCTION(Packet4f, Packet4bf, pexp)
+BF16_PACKET_FUNCTION(Packet4f, Packet4bf, ptanh)
+
+template <>
+EIGEN_STRONG_INLINE Packet4bf pfrexp(const Packet4bf& a, Packet4bf& exponent) {
+  Packet4f fexponent;
+  const Packet4bf out = F32ToBf16(pfrexp<Packet4f>(Bf16ToF32(a), fexponent));
+  exponent = F32ToBf16(fexponent);
+  return out;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4bf pldexp(const Packet4bf& a, const Packet4bf& exponent) {
+  return F32ToBf16(pldexp<Packet4f>(Bf16ToF32(a), Bf16ToF32(exponent)));
 }
 
+//---------- double ----------
+
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2d pexp<Packet2d>(const Packet2d& x)
+{ return pexp_double(x); }
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet2d plog<Packet2d>(const Packet2d& x)
+{ return plog_double(x); }
+
+#endif
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/PacketMath.h
index 836fbc0dde..6996cc8d37 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -24,23 +24,118 @@ namespace internal {
 #define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
 
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#endif
-
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
 #if EIGEN_ARCH_ARM64
 #define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
 #else
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16 
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
 #endif
 #endif
 
-typedef float32x2_t Packet2f;
-typedef float32x4_t Packet4f;
-typedef int32x4_t   Packet4i;
-typedef int32x2_t   Packet2i;
-typedef uint32x4_t  Packet4ui;
+#if EIGEN_COMP_MSVC_STRICT
+
+// In MSVC's arm_neon.h header file, all NEON vector types
+// are aliases to the same underlying type __n128.
+// We thus have to wrap them to make them different C++ types.
+// (See also bug 1428)
+typedef eigen_packet_wrapper<float32x2_t,0>  Packet2f;
+typedef eigen_packet_wrapper<float32x4_t,1>  Packet4f;
+typedef eigen_packet_wrapper<int32_t    ,2>  Packet4c;
+typedef eigen_packet_wrapper<int8x8_t   ,3>  Packet8c;
+typedef eigen_packet_wrapper<int8x16_t  ,4>  Packet16c;
+typedef eigen_packet_wrapper<uint32_t   ,5>  Packet4uc;
+typedef eigen_packet_wrapper<uint8x8_t  ,6>  Packet8uc;
+typedef eigen_packet_wrapper<uint8x16_t ,7>  Packet16uc;
+typedef eigen_packet_wrapper<int16x4_t  ,8>  Packet4s;
+typedef eigen_packet_wrapper<int16x8_t  ,9>  Packet8s;
+typedef eigen_packet_wrapper<uint16x4_t ,10> Packet4us;
+typedef eigen_packet_wrapper<uint16x8_t ,11> Packet8us;
+typedef eigen_packet_wrapper<int32x2_t  ,12> Packet2i;
+typedef eigen_packet_wrapper<int32x4_t  ,13> Packet4i;
+typedef eigen_packet_wrapper<uint32x2_t ,14> Packet2ui;
+typedef eigen_packet_wrapper<uint32x4_t ,15> Packet4ui;
+typedef eigen_packet_wrapper<int64x2_t  ,16> Packet2l;
+typedef eigen_packet_wrapper<uint64x2_t ,17> Packet2ul;
+
+#else
+
+typedef float32x2_t                          Packet2f;
+typedef float32x4_t                          Packet4f;
+typedef eigen_packet_wrapper<int32_t    ,2>  Packet4c;
+typedef int8x8_t                             Packet8c;
+typedef int8x16_t                            Packet16c;
+typedef eigen_packet_wrapper<uint32_t   ,5>  Packet4uc;
+typedef uint8x8_t                            Packet8uc;
+typedef uint8x16_t                           Packet16uc;
+typedef int16x4_t                            Packet4s;
+typedef int16x8_t                            Packet8s;
+typedef uint16x4_t                           Packet4us;
+typedef uint16x8_t                           Packet8us;
+typedef int32x2_t                            Packet2i;
+typedef int32x4_t                            Packet4i;
+typedef uint32x2_t                           Packet2ui;
+typedef uint32x4_t                           Packet4ui;
+typedef int64x2_t                            Packet2l;
+typedef uint64x2_t                           Packet2ul;
+
+#endif // EIGEN_COMP_MSVC_STRICT
+
+EIGEN_STRONG_INLINE Packet4f shuffle1(const Packet4f& m, int mask){
+  const float* a = reinterpret_cast<const float*>(&m);
+  Packet4f res = {*(a + (mask & 3)), *(a + ((mask >> 2) & 3)), *(a + ((mask >> 4) & 3 )), *(a + ((mask >> 6) & 3))};
+  return res;
+}
+
+// fuctionally equivalent to _mm_shuffle_ps in SSE when interleave
+// == false (i.e. shuffle<false>(m, n, mask) equals _mm_shuffle_ps(m, n, mask)),
+// interleave m and n when interleave == true. Currently used in LU/arch/InverseSize4.h
+// to enable a shared implementation for fast inversion of matrices of size 4. 
+template<bool interleave> 
+EIGEN_STRONG_INLINE Packet4f shuffle2(const Packet4f &m, const Packet4f &n, int mask)
+{
+  const float* a = reinterpret_cast<const float*>(&m);
+  const float* b = reinterpret_cast<const float*>(&n);
+  Packet4f res = {*(a + (mask & 3)), *(a + ((mask >> 2) & 3)), *(b + ((mask >> 4) & 3)), *(b + ((mask >> 6) & 3))};
+  return res;
+}
+
+template<> 
+EIGEN_STRONG_INLINE Packet4f shuffle2<true>(const Packet4f &m, const Packet4f &n, int mask) 
+{
+  const float* a = reinterpret_cast<const float*>(&m);
+  const float* b = reinterpret_cast<const float*>(&n);
+  Packet4f res = {*(a + (mask & 3)), *(b + ((mask >> 2) & 3)), *(a + ((mask >> 4) & 3)), *(b + ((mask >> 6) & 3))};
+  return res;
+}
+
+EIGEN_STRONG_INLINE static int eigen_neon_shuffle_mask(int p, int q, int r, int s) {return ((s)<<6|(r)<<4|(q)<<2|(p));}
+
+EIGEN_STRONG_INLINE Packet4f vec4f_swizzle1(const Packet4f& a, int p, int q, int r, int s)
+{ 
+  return shuffle1(a, eigen_neon_shuffle_mask(p, q, r, s));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_swizzle2(const Packet4f& a, const Packet4f& b, int p, int q, int r, int s)
+{ 
+  return shuffle2<false>(a,b,eigen_neon_shuffle_mask(p, q, r, s));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_movelh(const Packet4f& a, const Packet4f& b)
+{
+  return shuffle2<false>(a,b,eigen_neon_shuffle_mask(0, 1, 0, 1));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_movehl(const Packet4f& a, const Packet4f& b)
+{
+  return shuffle2<false>(b,a,eigen_neon_shuffle_mask(2, 3, 2, 3));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_unpacklo(const Packet4f& a, const Packet4f& b)
+{
+  return shuffle2<true>(a,b,eigen_neon_shuffle_mask(0, 0, 1, 1));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_unpackhi(const Packet4f& a, const Packet4f& b)
+{
+  return shuffle2<true>(a,b,eigen_neon_shuffle_mask(2, 2, 3, 3));
+}
+#define vec4f_duplane(a, p) \
+  vdupq_lane_f32(vget_low_f32(a), p)
 
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   const Packet4f p4f_##NAME = pset1<Packet4f>(X)
@@ -60,667 +155,4430 @@ typedef uint32x4_t  Packet4ui;
   #define EIGEN_ARM_PREFETCH(ADDR) __builtin_prefetch(ADDR);
 #elif defined __pld
   #define EIGEN_ARM_PREFETCH(ADDR) __pld(ADDR)
-#elif EIGEN_ARCH_ARM32
+#elif EIGEN_ARCH_ARM
   #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ("pld [%[addr]]\n" :: [addr] "r" (ADDR) : );
 #else
   // by default no explicit prefetching
   #define EIGEN_ARM_PREFETCH(ADDR)
 #endif
 
-template<> struct packet_traits<float>  : default_packet_traits
-{
-  typedef Packet4f type;
-  typedef Packet4f half; // Packet2f intrinsics not implemented yet
+template <>
+struct packet_traits<float> : default_packet_traits
+{
+  typedef Packet4f type;
+  typedef Packet2f half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+
+    HasDiv   = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1,
+
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = EIGEN_FAST_MATH,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf  = EIGEN_FAST_MATH,
+    HasBessel = 0,  // Issues with accuracy.
+    HasNdtri = 0
+  };
+};
+
+template <>
+struct packet_traits<int8_t> : default_packet_traits
+{
+  typedef Packet16c type;
+  typedef Packet8c half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasAbsDiff   = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0
+  };
+};
+
+template <>
+struct packet_traits<uint8_t> : default_packet_traits
+{
+  typedef Packet16uc type;
+  typedef Packet8uc half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 0,
+    HasAbs       = 1,
+    HasAbsDiff   = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+
+    HasSqrt = 1
+  };
+};
+
+template <>
+struct packet_traits<int16_t> : default_packet_traits
+{
+  typedef Packet8s type;
+  typedef Packet4s half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasAbsDiff   = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0
+  };
+};
+
+template <>
+struct packet_traits<uint16_t> : default_packet_traits
+{
+  typedef Packet8us type;
+  typedef Packet4us half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 0,
+    HasAbs       = 0,
+    HasAbsDiff   = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+    HasSqrt = 1
+  };
+};
+
+template <>
+struct packet_traits<int32_t> : default_packet_traits
+{
+  typedef Packet4i type;
+  typedef Packet2i half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0
+  };
+};
+
+template <>
+struct packet_traits<uint32_t> : default_packet_traits
+{
+  typedef Packet4ui type;
+  typedef Packet2ui half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 0,
+    HasAbs       = 0,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+
+    HasSqrt = 1
+  };
+};
+
+template <>
+struct packet_traits<int64_t> : default_packet_traits
+{
+  typedef Packet2l type;
+  typedef Packet2l half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasCmp       = 1,
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0
+  };
+};
+
+template <>
+struct packet_traits<uint64_t> : default_packet_traits
+{
+  typedef Packet2ul type;
+  typedef Packet2ul half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasCmp       = 1,
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 0,
+    HasAbs       = 0,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0
+  };
+};
+
+#if EIGEN_GNUC_AT_MOST(4, 4) && !EIGEN_COMP_LLVM
+// workaround gcc 4.2, 4.3 and 4.4 compilation 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 float32x2_t vld1_dup_f32(const float* x) { return ::vld1_dup_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<Packet2f>
+{
+  typedef float type;
+  typedef Packet2f half;
+  typedef Packet2i integer_packet;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4f>
+{
+  typedef float type;
+  typedef Packet2f half;
+  typedef Packet4i integer_packet;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4c>
+{
+  typedef int8_t type;
+  typedef Packet4c half;
+  enum
+  {
+    size = 4,
+    alignment = Unaligned,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet8c>
+{
+  typedef int8_t type;
+  typedef Packet4c half;
+  enum
+  {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet16c>
+{
+  typedef int8_t type;
+  typedef Packet8c half;
+  enum
+  {
+    size = 16,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4uc>
+{
+  typedef uint8_t type;
+  typedef Packet4uc half;
+  enum
+  {
+    size = 4,
+    alignment = Unaligned,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet8uc>
+{
+  typedef uint8_t type;
+  typedef Packet4uc half;
+  enum
+  {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet16uc>
+{
+  typedef uint8_t type;
+  typedef Packet8uc half;
+  enum
+  {
+    size = 16,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false};
+};
+template<> struct unpacket_traits<Packet4s>
+{
+  typedef int16_t type;
+  typedef Packet4s half;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet8s>
+{
+  typedef int16_t type;
+  typedef Packet4s half;
+  enum
+  {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4us>
+{
+  typedef uint16_t type;
+  typedef Packet4us half;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet8us>
+{
+  typedef uint16_t type;
+  typedef Packet4us half;
+  enum
+  {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet2i>
+{
+  typedef int32_t type;
+  typedef Packet2i half;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4i>
+{
+  typedef int32_t type;
+  typedef Packet2i half;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet2ui>
+{
+  typedef uint32_t type;
+  typedef Packet2ui half;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet4ui>
+{
+  typedef uint32_t type;
+  typedef Packet2ui half;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet2l>
+{
+  typedef int64_t type;
+  typedef Packet2l half;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+template<> struct unpacket_traits<Packet2ul>
+{
+  typedef uint64_t type;
+  typedef Packet2ul half;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet2f pset1<Packet2f>(const float& from) { return vdup_n_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from) { return vdupq_n_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4c pset1<Packet4c>(const int8_t& from)
+{ return vget_lane_s32(vreinterpret_s32_s8(vdup_n_s8(from)), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c pset1<Packet8c>(const int8_t& from) { return vdup_n_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet16c pset1<Packet16c>(const int8_t& from) { return vdupq_n_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet4uc pset1<Packet4uc>(const uint8_t& from)
+{ return vget_lane_u32(vreinterpret_u32_u8(vdup_n_u8(from)), 0); }
+template<> EIGEN_STRONG_INLINE Packet8uc pset1<Packet8uc>(const uint8_t& from) { return vdup_n_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet16uc pset1<Packet16uc>(const uint8_t& from) { return vdupq_n_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet4s pset1<Packet4s>(const int16_t& from) { return vdup_n_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet8s pset1<Packet8s>(const int16_t& from) { return vdupq_n_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet4us pset1<Packet4us>(const uint16_t& from) { return vdup_n_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet8us pset1<Packet8us>(const uint16_t& from) { return vdupq_n_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet2i pset1<Packet2i>(const int32_t& from) { return vdup_n_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t& from) { return vdupq_n_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet2ui pset1<Packet2ui>(const uint32_t& from) { return vdup_n_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet4ui pset1<Packet4ui>(const uint32_t& from) { return vdupq_n_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet2l pset1<Packet2l>(const int64_t& from) { return vdupq_n_s64(from); }
+template<> EIGEN_STRONG_INLINE Packet2ul pset1<Packet2ul>(const uint64_t& from) { return vdupq_n_u64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pset1frombits<Packet2f>(unsigned int from)
+{ return vreinterpret_f32_u32(vdup_n_u32(from)); }
+template<> EIGEN_STRONG_INLINE Packet4f pset1frombits<Packet4f>(unsigned int from)
+{ return vreinterpretq_f32_u32(vdupq_n_u32(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2f plset<Packet2f>(const float& a)
+{
+  const float c[] = {0.0f,1.0f};
+  return vadd_f32(pset1<Packet2f>(a), vld1_f32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
+{
+  const float c[] = {0.0f,1.0f,2.0f,3.0f};
+  return vaddq_f32(pset1<Packet4f>(a), vld1q_f32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4c plset<Packet4c>(const int8_t& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vadd_s8(vreinterpret_s8_u32(vdup_n_u32(0x03020100)), vdup_n_s8(a))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c plset<Packet8c>(const int8_t& a)
+{
+  const int8_t c[] = {0,1,2,3,4,5,6,7};
+  return vadd_s8(pset1<Packet8c>(a), vld1_s8(c));
+}
+template<> EIGEN_STRONG_INLINE Packet16c plset<Packet16c>(const int8_t& a)
+{
+  const int8_t c[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15};
+  return vaddq_s8(pset1<Packet16c>(a), vld1q_s8(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4uc plset<Packet4uc>(const uint8_t& a)
+{ return vget_lane_u32(vreinterpret_u32_u8(vadd_u8(vreinterpret_u8_u32(vdup_n_u32(0x03020100)), vdup_n_u8(a))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8uc plset<Packet8uc>(const uint8_t& a)
+{
+  const uint8_t c[] = {0,1,2,3,4,5,6,7};
+  return vadd_u8(pset1<Packet8uc>(a), vld1_u8(c));
+}
+template<> EIGEN_STRONG_INLINE Packet16uc plset<Packet16uc>(const uint8_t& a)
+{
+  const uint8_t c[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15};
+  return vaddq_u8(pset1<Packet16uc>(a), vld1q_u8(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4s plset<Packet4s>(const int16_t& a)
+{
+  const int16_t c[] = {0,1,2,3};
+  return vadd_s16(pset1<Packet4s>(a), vld1_s16(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4us plset<Packet4us>(const uint16_t& a)
+{
+  const uint16_t c[] = {0,1,2,3};
+  return vadd_u16(pset1<Packet4us>(a), vld1_u16(c));
+}
+template<> EIGEN_STRONG_INLINE Packet8s plset<Packet8s>(const int16_t& a)
+{
+  const int16_t c[] = {0,1,2,3,4,5,6,7};
+  return vaddq_s16(pset1<Packet8s>(a), vld1q_s16(c));
+}
+template<> EIGEN_STRONG_INLINE Packet8us plset<Packet8us>(const uint16_t& a)
+{
+  const uint16_t c[] = {0,1,2,3,4,5,6,7};
+  return vaddq_u16(pset1<Packet8us>(a), vld1q_u16(c));
+}
+template<> EIGEN_STRONG_INLINE Packet2i plset<Packet2i>(const int32_t& a)
+{
+  const int32_t c[] = {0,1};
+  return vadd_s32(pset1<Packet2i>(a), vld1_s32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a)
+{
+  const int32_t c[] = {0,1,2,3};
+  return vaddq_s32(pset1<Packet4i>(a), vld1q_s32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet2ui plset<Packet2ui>(const uint32_t& a)
+{
+  const uint32_t c[] = {0,1};
+  return vadd_u32(pset1<Packet2ui>(a), vld1_u32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet4ui plset<Packet4ui>(const uint32_t& a)
+{
+  const uint32_t c[] = {0,1,2,3};
+  return vaddq_u32(pset1<Packet4ui>(a), vld1q_u32(c));
+}
+template<> EIGEN_STRONG_INLINE Packet2l plset<Packet2l>(const int64_t& a)
+{
+  const int64_t c[] = {0,1};
+  return vaddq_s64(pset1<Packet2l>(a), vld1q_s64(c));
+}
+template<> EIGEN_STRONG_INLINE Packet2ul plset<Packet2ul>(const uint64_t& a)
+{
+  const uint64_t c[] = {0,1};
+  return vaddq_u64(pset1<Packet2ul>(a), vld1q_u64(c));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f padd<Packet2f>(const Packet2f& a, const Packet2f& b) { return vadd_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vaddq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4c padd<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vadd_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c padd<Packet8c>(const Packet8c& a, const Packet8c& b) { return vadd_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c padd<Packet16c>(const Packet16c& a, const Packet16c& b) { return vaddq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc padd<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vadd_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc padd<Packet8uc>(const Packet8uc& a, const Packet8uc& b) { return vadd_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc padd<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vaddq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s padd<Packet4s>(const Packet4s& a, const Packet4s& b) { return vadd_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s padd<Packet8s>(const Packet8s& a, const Packet8s& b) { return vaddq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us padd<Packet4us>(const Packet4us& a, const Packet4us& b) { return vadd_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us padd<Packet8us>(const Packet8us& a, const Packet8us& b) { return vaddq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i padd<Packet2i>(const Packet2i& a, const Packet2i& b) { return vadd_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vaddq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui padd<Packet2ui>(const Packet2ui& a, const Packet2ui& b) { return vadd_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui padd<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vaddq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l padd<Packet2l>(const Packet2l& a, const Packet2l& b) { return vaddq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul padd<Packet2ul>(const Packet2ul& a, const Packet2ul& b) { return vaddq_u64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f psub<Packet2f>(const Packet2f& a, const Packet2f& b) { return vsub_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vsubq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4c psub<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vsub_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c psub<Packet8c>(const Packet8c& a, const Packet8c& b) { return vsub_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c psub<Packet16c>(const Packet16c& a, const Packet16c& b) { return vsubq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc psub<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vsub_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc psub<Packet8uc>(const Packet8uc& a, const Packet8uc& b) { return vsub_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc psub<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vsubq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s psub<Packet4s>(const Packet4s& a, const Packet4s& b) { return vsub_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s psub<Packet8s>(const Packet8s& a, const Packet8s& b) { return vsubq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us psub<Packet4us>(const Packet4us& a, const Packet4us& b) { return vsub_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us psub<Packet8us>(const Packet8us& a, const Packet8us& b) { return vsubq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i psub<Packet2i>(const Packet2i& a, const Packet2i& b) { return vsub_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vsubq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui psub<Packet2ui>(const Packet2ui& a, const Packet2ui& b) { return vsub_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui psub<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vsubq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l psub<Packet2l>(const Packet2l& a, const Packet2l& b) { return vsubq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul psub<Packet2ul>(const Packet2ul& a, const Packet2ul& b) { return vsubq_u64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pxor<Packet2f>(const Packet2f& a, const Packet2f& b);
+template<> EIGEN_STRONG_INLINE Packet2f paddsub<Packet2f>(const Packet2f& a, const Packet2f & b) {
+  Packet2f mask = {numext::bit_cast<float>(0x80000000u), 0.0f};
+  return padd(a, pxor(mask, b));
+}
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b);
+template<> EIGEN_STRONG_INLINE Packet4f paddsub<Packet4f>(const Packet4f& a, const Packet4f& b) {
+  Packet4f mask = {numext::bit_cast<float>(0x80000000u), 0.0f, numext::bit_cast<float>(0x80000000u), 0.0f};
+  return padd(a, pxor(mask, b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pnegate(const Packet2f& a) { return vneg_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return vnegq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4c pnegate(const Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vneg_s8(vreinterpret_s8_s32(vdup_n_s32(a)))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c pnegate(const Packet8c& a) { return vneg_s8(a); }
+template<> EIGEN_STRONG_INLINE Packet16c pnegate(const Packet16c& a) { return vnegq_s8(a); }
+template<> EIGEN_STRONG_INLINE Packet4s pnegate(const Packet4s& a) { return vneg_s16(a); }
+template<> EIGEN_STRONG_INLINE Packet8s pnegate(const Packet8s& a) { return vnegq_s16(a); }
+template<> EIGEN_STRONG_INLINE Packet2i pnegate(const Packet2i& a) { return vneg_s32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return vnegq_s32(a); }
+template<> EIGEN_STRONG_INLINE Packet2l pnegate(const Packet2l& a) {
+#if EIGEN_ARCH_ARM64
+  return vnegq_s64(a);
+#else
+  return vcombine_s64(
+      vdup_n_s64(-vgetq_lane_s64(a, 0)),
+      vdup_n_s64(-vgetq_lane_s64(a, 1)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pconj(const Packet2f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4c pconj(const Packet4c& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8c pconj(const Packet8c& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet16c pconj(const Packet16c& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4uc pconj(const Packet4uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8uc pconj(const Packet8uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet16uc pconj(const Packet16uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4s pconj(const Packet4s& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8s pconj(const Packet8s& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4us pconj(const Packet4us& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8us pconj(const Packet8us& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2i pconj(const Packet2i& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2ui pconj(const Packet2ui& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4ui pconj(const Packet4ui& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2l pconj(const Packet2l& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2ul pconj(const Packet2ul& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2f pmul<Packet2f>(const Packet2f& a, const Packet2f& b) { return vmul_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmulq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4c pmul<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vmul_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pmul<Packet8c>(const Packet8c& a, const Packet8c& b) { return vmul_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmul<Packet16c>(const Packet16c& a, const Packet16c& b) { return vmulq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pmul<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vmul_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pmul<Packet8uc>(const Packet8uc& a, const Packet8uc& b) { return vmul_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmul<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vmulq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pmul<Packet4s>(const Packet4s& a, const Packet4s& b) { return vmul_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmul<Packet8s>(const Packet8s& a, const Packet8s& b) { return vmulq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pmul<Packet4us>(const Packet4us& a, const Packet4us& b) { return vmul_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmul<Packet8us>(const Packet8us& a, const Packet8us& b) { return vmulq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pmul<Packet2i>(const Packet2i& a, const Packet2i& b) { return vmul_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmulq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pmul<Packet2ui>(const Packet2ui& a, const Packet2ui& b) { return vmul_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pmul<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vmulq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pmul<Packet2l>(const Packet2l& a, const Packet2l& b) {
+  return vcombine_s64(
+    vdup_n_s64(vgetq_lane_s64(a, 0)*vgetq_lane_s64(b, 0)),
+    vdup_n_s64(vgetq_lane_s64(a, 1)*vgetq_lane_s64(b, 1)));
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pmul<Packet2ul>(const Packet2ul& a, const Packet2ul& b) {
+  return vcombine_u64(
+    vdup_n_u64(vgetq_lane_u64(a, 0)*vgetq_lane_u64(b, 0)),
+    vdup_n_u64(vgetq_lane_u64(a, 1)*vgetq_lane_u64(b, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pdiv<Packet2f>(const Packet2f& a, const Packet2f& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vdiv_f32(a,b);
+#else
+  Packet2f 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 = vrecpe_f32(b);
+
+  // This returns a differential, by which we will have to multiply inv to get a better
+  // approximation of 1/b.
+  restep = vrecps_f32(b, inv);
+  inv = vmul_f32(restep, inv);
+
+  // Finally, multiply a by 1/b and get the wanted result of the division.
+  div = vmul_f32(a, inv);
+
+  return div;
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vdivq_f32(a,b);
+#else
+  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;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4c pdiv<Packet4c>(const Packet4c& /*a*/, const Packet4c& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4c>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pdiv<Packet8c>(const Packet8c& /*a*/, const Packet8c& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet8c>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet16c pdiv<Packet16c>(const Packet16c& /*a*/, const Packet16c& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet16c>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet4uc pdiv<Packet4uc>(const Packet4uc& /*a*/, const Packet4uc& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4uc>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pdiv<Packet8uc>(const Packet8uc& /*a*/, const Packet8uc& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet8uc>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet16uc pdiv<Packet16uc>(const Packet16uc& /*a*/, const Packet16uc& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet16uc>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet4s pdiv<Packet4s>(const Packet4s& /*a*/, const Packet4s& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4s>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet8s pdiv<Packet8s>(const Packet8s& /*a*/, const Packet8s& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet8s>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet4us pdiv<Packet4us>(const Packet4us& /*a*/, const Packet4us& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4us>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet8us pdiv<Packet8us>(const Packet8us& /*a*/, const Packet8us& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet8us>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet2i pdiv<Packet2i>(const Packet2i& /*a*/, const Packet2i& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet2i>(0);
+}
+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);
+}
+template<> EIGEN_STRONG_INLINE Packet2ui pdiv<Packet2ui>(const Packet2ui& /*a*/, const Packet2ui& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet2ui>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet4ui pdiv<Packet4ui>(const Packet4ui& /*a*/, const Packet4ui& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet4ui>(0);
+}
+template<> EIGEN_STRONG_INLINE Packet2l pdiv<Packet2l>(const Packet2l& /*a*/, const Packet2l& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet2l>(0LL);
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pdiv<Packet2ul>(const Packet2ul& /*a*/, const Packet2ul& /*b*/)
+{
+  eigen_assert(false && "packet integer division are not supported by NEON");
+  return pset1<Packet2ul>(0ULL);
+}
+
+
+#ifdef __ARM_FEATURE_FMA
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+{ return vfmaq_f32(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet2f pmadd(const Packet2f& a, const Packet2f& b, const Packet2f& c)
+{ return vfma_f32(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+{
+  return vmlaq_f32(c,a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet2f pmadd(const Packet2f& a, const Packet2f& b, const Packet2f& c)
+{
+  return vmla_f32(c,a,b);
+}
+#endif
+
+// No FMA instruction for int, so use MLA unconditionally.
+template<> EIGEN_STRONG_INLINE Packet4c pmadd(const Packet4c& a, const Packet4c& b, const Packet4c& c)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vmla_s8(
+      vreinterpret_s8_s32(vdup_n_s32(c)),
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pmadd(const Packet8c& a, const Packet8c& b, const Packet8c& c)
+{ return vmla_s8(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmadd(const Packet16c& a, const Packet16c& b, const Packet16c& c)
+{ return vmlaq_s8(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pmadd(const Packet4uc& a, const Packet4uc& b, const Packet4uc& c)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vmla_u8(
+      vreinterpret_u8_u32(vdup_n_u32(c)),
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pmadd(const Packet8uc& a, const Packet8uc& b, const Packet8uc& c)
+{ return vmla_u8(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmadd(const Packet16uc& a, const Packet16uc& b, const Packet16uc& c)
+{ return vmlaq_u8(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pmadd(const Packet4s& a, const Packet4s& b, const Packet4s& c)
+{ return vmla_s16(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmadd(const Packet8s& a, const Packet8s& b, const Packet8s& c)
+{ return vmlaq_s16(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pmadd(const Packet4us& a, const Packet4us& b, const Packet4us& c)
+{ return vmla_u16(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmadd(const Packet8us& a, const Packet8us& b, const Packet8us& c)
+{ return vmlaq_u16(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pmadd(const Packet2i& a, const Packet2i& b, const Packet2i& c)
+{ return vmla_s32(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c)
+{ return vmlaq_s32(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pmadd(const Packet2ui& a, const Packet2ui& b, const Packet2ui& c)
+{ return vmla_u32(c,a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pmadd(const Packet4ui& a, const Packet4ui& b, const Packet4ui& c)
+{ return vmlaq_u32(c,a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pabsdiff<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vabd_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pabsdiff<Packet4f>(const Packet4f& a, const Packet4f& b)
+{ return vabdq_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4c pabsdiff<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vabd_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pabsdiff<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return vabd_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pabsdiff<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vabdq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pabsdiff<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vabd_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pabsdiff<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vabd_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pabsdiff<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vabdq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pabsdiff<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vabd_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pabsdiff<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vabdq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pabsdiff<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vabd_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pabsdiff<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vabdq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pabsdiff<Packet2i>(const Packet2i& a, const Packet2i& b)
+{ return vabd_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pabsdiff<Packet4i>(const Packet4i& a, const Packet4i& b)
+{ return vabdq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pabsdiff<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vabd_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pabsdiff<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vabdq_u32(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pmin<Packet2f>(const Packet2f& a, const Packet2f& b) { return vmin_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
+
+#ifdef __ARM_FEATURE_NUMERIC_MAXMIN
+// numeric max and min are only available if ARM_FEATURE_NUMERIC_MAXMIN is defined (which can only be the case for Armv8 systems).
+template<> EIGEN_STRONG_INLINE Packet4f pmin<PropagateNumbers, Packet4f>(const Packet4f& a, const Packet4f& b) { return vminnmq_f32(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2f pmin<PropagateNumbers, Packet2f>(const Packet2f& a, const Packet2f& b) { return vminnm_f32(a, b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<PropagateNaN, Packet4f>(const Packet4f& a, const Packet4f& b) { return pmin<Packet4f>(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pmin<PropagateNaN, Packet2f>(const Packet2f& a, const Packet2f& b) { return pmin<Packet2f>(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4c pmin<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vmin_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pmin<Packet8c>(const Packet8c& a, const Packet8c& b) { return vmin_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmin<Packet16c>(const Packet16c& a, const Packet16c& b) { return vminq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pmin<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vmin_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pmin<Packet8uc>(const Packet8uc& a, const Packet8uc& b) { return vmin_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmin<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vminq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pmin<Packet4s>(const Packet4s& a, const Packet4s& b) { return vmin_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmin<Packet8s>(const Packet8s& a, const Packet8s& b) { return vminq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pmin<Packet4us>(const Packet4us& a, const Packet4us& b) { return vmin_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmin<Packet8us>(const Packet8us& a, const Packet8us& b) { return vminq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pmin<Packet2i>(const Packet2i& a, const Packet2i& b) { return vmin_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vminq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pmin<Packet2ui>(const Packet2ui& a, const Packet2ui& b) { return vmin_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pmin<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vminq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pmin<Packet2l>(const Packet2l& a, const Packet2l& b) {
+  return vcombine_s64(
+      vdup_n_s64((std::min)(vgetq_lane_s64(a, 0), vgetq_lane_s64(b, 0))),
+      vdup_n_s64((std::min)(vgetq_lane_s64(a, 1), vgetq_lane_s64(b, 1))));
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pmin<Packet2ul>(const Packet2ul& a, const Packet2ul& b) {
+  return vcombine_u64(
+      vdup_n_u64((std::min)(vgetq_lane_u64(a, 0), vgetq_lane_u64(b, 0))),
+      vdup_n_u64((std::min)(vgetq_lane_u64(a, 1), vgetq_lane_u64(b, 1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pmax<Packet2f>(const Packet2f& a, const Packet2f& b) { return vmax_f32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxq_f32(a,b); }
+
+#ifdef __ARM_FEATURE_NUMERIC_MAXMIN
+// numeric max and min are only available if ARM_FEATURE_NUMERIC_MAXMIN is defined (which can only be the case for Armv8 systems).
+template<> EIGEN_STRONG_INLINE Packet4f pmax<PropagateNumbers, Packet4f>(const Packet4f& a, const Packet4f& b) { return vmaxnmq_f32(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2f pmax<PropagateNumbers, Packet2f>(const Packet2f& a, const Packet2f& b) { return vmaxnm_f32(a, b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<PropagateNaN, Packet4f>(const Packet4f& a, const Packet4f& b) { return pmax<Packet4f>(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pmax<PropagateNaN, Packet2f>(const Packet2f& a, const Packet2f& b) { return pmax<Packet2f>(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet4c pmax<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vmax_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pmax<Packet8c>(const Packet8c& a, const Packet8c& b) { return vmax_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pmax<Packet16c>(const Packet16c& a, const Packet16c& b) { return vmaxq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pmax<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vmax_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pmax<Packet8uc>(const Packet8uc& a, const Packet8uc& b) { return vmax_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pmax<Packet16uc>(const Packet16uc& a, const Packet16uc& b) { return vmaxq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pmax<Packet4s>(const Packet4s& a, const Packet4s& b) { return vmax_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pmax<Packet8s>(const Packet8s& a, const Packet8s& b) { return vmaxq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pmax<Packet4us>(const Packet4us& a, const Packet4us& b) { return vmax_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pmax<Packet8us>(const Packet8us& a, const Packet8us& b) { return vmaxq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pmax<Packet2i>(const Packet2i& a, const Packet2i& b) { return vmax_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vmaxq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pmax<Packet2ui>(const Packet2ui& a, const Packet2ui& b) { return vmax_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pmax<Packet4ui>(const Packet4ui& a, const Packet4ui& b) { return vmaxq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pmax<Packet2l>(const Packet2l& a, const Packet2l& b) {
+  return vcombine_s64(
+      vdup_n_s64((std::max)(vgetq_lane_s64(a, 0), vgetq_lane_s64(b, 0))),
+      vdup_n_s64((std::max)(vgetq_lane_s64(a, 1), vgetq_lane_s64(b, 1))));
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pmax<Packet2ul>(const Packet2ul& a, const Packet2ul& b) {
+  return vcombine_u64(
+      vdup_n_u64((std::max)(vgetq_lane_u64(a, 0), vgetq_lane_u64(b, 0))),
+      vdup_n_u64((std::max)(vgetq_lane_u64(a, 1), vgetq_lane_u64(b, 1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pcmp_le<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vcle_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_le<Packet4f>(const Packet4f& a, const Packet4f& b)
+{ return vreinterpretq_f32_u32(vcleq_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4c pcmp_le<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_u8(vcle_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pcmp_le<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return vreinterpret_s8_u8(vcle_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_le<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vreinterpretq_s8_u8(vcleq_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4uc pcmp_le<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vcle_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pcmp_le<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vcle_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_le<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vcleq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pcmp_le<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vreinterpret_s16_u16(vcle_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_le<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vreinterpretq_s16_u16(vcleq_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4us pcmp_le<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vcle_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_le<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vcleq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pcmp_le<Packet2i>(const Packet2i& a, const Packet2i& b)
+{ return vreinterpret_s32_u32(vcle_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_le<Packet4i>(const Packet4i& a, const Packet4i& b)
+{ return vreinterpretq_s32_u32(vcleq_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2ui pcmp_le<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vcle_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pcmp_le<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vcleq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pcmp_le<Packet2l>(const Packet2l& a, const Packet2l& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vreinterpretq_s64_u64(vcleq_s64(a,b));
+#else
+  return vcombine_s64(
+      vdup_n_s64(vgetq_lane_s64(a, 0) <= vgetq_lane_s64(b, 0) ? numext::int64_t(-1) : 0),
+      vdup_n_s64(vgetq_lane_s64(a, 1) <= vgetq_lane_s64(b, 1) ? numext::int64_t(-1) : 0));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pcmp_le<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vcleq_u64(a,b);
+#else
+  return vcombine_u64(
+      vdup_n_u64(vgetq_lane_u64(a, 0) <= vgetq_lane_u64(b, 0) ? numext::uint64_t(-1) : 0),
+      vdup_n_u64(vgetq_lane_u64(a, 1) <= vgetq_lane_u64(b, 1) ? numext::uint64_t(-1) : 0));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pcmp_lt<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vclt_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt<Packet4f>(const Packet4f& a, const Packet4f& b)
+{ return vreinterpretq_f32_u32(vcltq_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4c pcmp_lt<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_u8(vclt_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pcmp_lt<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return vreinterpret_s8_u8(vclt_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_lt<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vreinterpretq_s8_u8(vcltq_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4uc pcmp_lt<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vclt_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pcmp_lt<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vclt_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_lt<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vcltq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pcmp_lt<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vreinterpret_s16_u16(vclt_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_lt<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vreinterpretq_s16_u16(vcltq_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4us pcmp_lt<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vclt_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_lt<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vcltq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pcmp_lt<Packet2i>(const Packet2i& a, const Packet2i& b)
+{ return vreinterpret_s32_u32(vclt_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_lt<Packet4i>(const Packet4i& a, const Packet4i& b)
+{ return vreinterpretq_s32_u32(vcltq_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2ui pcmp_lt<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vclt_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pcmp_lt<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vcltq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pcmp_lt<Packet2l>(const Packet2l& a, const Packet2l& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vreinterpretq_s64_u64(vcltq_s64(a,b));
+#else
+  return vcombine_s64(
+      vdup_n_s64(vgetq_lane_s64(a, 0) < vgetq_lane_s64(b, 0) ? numext::int64_t(-1) : 0),
+      vdup_n_s64(vgetq_lane_s64(a, 1) < vgetq_lane_s64(b, 1) ? numext::int64_t(-1) : 0));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pcmp_lt<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vcltq_u64(a,b);
+#else
+  return vcombine_u64(
+      vdup_n_u64(vgetq_lane_u64(a, 0) < vgetq_lane_u64(b, 0) ? numext::uint64_t(-1) : 0),
+      vdup_n_u64(vgetq_lane_u64(a, 1) < vgetq_lane_u64(b, 1) ? numext::uint64_t(-1) : 0));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pcmp_eq<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vceq_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_eq<Packet4f>(const Packet4f& a, const Packet4f& b)
+{ return vreinterpretq_f32_u32(vceqq_f32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4c pcmp_eq<Packet4c>(const Packet4c& a, const Packet4c& b)
+{
+  return vget_lane_s32(vreinterpret_s32_u8(vceq_s8(
+      vreinterpret_s8_s32(vdup_n_s32(a)),
+      vreinterpret_s8_s32(vdup_n_s32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c pcmp_eq<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return vreinterpret_s8_u8(vceq_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet16c pcmp_eq<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vreinterpretq_s8_u8(vceqq_s8(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4uc pcmp_eq<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vceq_u8(
+      vreinterpret_u8_u32(vdup_n_u32(a)),
+      vreinterpret_u8_u32(vdup_n_u32(b)))), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pcmp_eq<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vceq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pcmp_eq<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vceqq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pcmp_eq<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vreinterpret_s16_u16(vceq_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet8s pcmp_eq<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vreinterpretq_s16_u16(vceqq_s16(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4us pcmp_eq<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vceq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pcmp_eq<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vceqq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pcmp_eq<Packet2i>(const Packet2i& a, const Packet2i& b)
+{ return vreinterpret_s32_u32(vceq_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_eq<Packet4i>(const Packet4i& a, const Packet4i& b)
+{ return vreinterpretq_s32_u32(vceqq_s32(a,b)); }
+template<> EIGEN_STRONG_INLINE Packet2ui pcmp_eq<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vceq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pcmp_eq<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vceqq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pcmp_eq<Packet2l>(const Packet2l& a, const Packet2l& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vreinterpretq_s64_u64(vceqq_s64(a,b));
+#else
+  return vcombine_s64(
+      vdup_n_s64(vgetq_lane_s64(a, 0) == vgetq_lane_s64(b, 0) ? numext::int64_t(-1) : 0),
+      vdup_n_s64(vgetq_lane_s64(a, 1) == vgetq_lane_s64(b, 1) ? numext::int64_t(-1) : 0));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pcmp_eq<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{
+#if EIGEN_ARCH_ARM64
+  return vceqq_u64(a,b);
+#else
+  return vcombine_u64(
+      vdup_n_u64(vgetq_lane_u64(a, 0) == vgetq_lane_u64(b, 0) ? numext::uint64_t(-1) : 0),
+      vdup_n_u64(vgetq_lane_u64(a, 1) == vgetq_lane_u64(b, 1) ? numext::uint64_t(-1) : 0));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pcmp_lt_or_nan<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vmvn_u32(vcge_f32(a,b))); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt_or_nan<Packet4f>(const Packet4f& a, const Packet4f& b)
+{ return vreinterpretq_f32_u32(vmvnq_u32(vcgeq_f32(a,b))); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet2f pand<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vand_u32(vreinterpret_u32_f32(a),vreinterpret_u32_f32(b))); }
+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 Packet4c pand<Packet4c>(const Packet4c& a, const Packet4c& b)
+{ return a & b; }
+template<> EIGEN_STRONG_INLINE Packet8c pand<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return vand_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pand<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vandq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pand<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{ return a & b; }
+template<> EIGEN_STRONG_INLINE Packet8uc pand<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vand_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pand<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vandq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pand<Packet4s>(const Packet4s& a, const Packet4s& b) { return vand_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pand<Packet8s>(const Packet8s& a, const Packet8s& b) { return vandq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pand<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vand_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pand<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vandq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pand<Packet2i>(const Packet2i& a, const Packet2i& b) { return vand_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vandq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pand<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vand_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pand<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vandq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pand<Packet2l>(const Packet2l& a, const Packet2l& b) { return vandq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul pand<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{ return vandq_u64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f por<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vorr_u32(vreinterpret_u32_f32(a),vreinterpret_u32_f32(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 Packet4c por<Packet4c>(const Packet4c& a, const Packet4c& b)
+{ return a | b; }
+template<> EIGEN_STRONG_INLINE Packet8c por<Packet8c>(const Packet8c& a, const Packet8c& b) { return vorr_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c por<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return vorrq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc por<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{ return a | b; }
+template<> EIGEN_STRONG_INLINE Packet8uc por<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vorr_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc por<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vorrq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s por<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vorr_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s por<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vorrq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us por<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vorr_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us por<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vorrq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i por<Packet2i>(const Packet2i& a, const Packet2i& b) { return vorr_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vorrq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui por<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vorr_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui por<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vorrq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l por<Packet2l>(const Packet2l& a, const Packet2l& b)
+{ return vorrq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul por<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{ return vorrq_u64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pxor<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(a),vreinterpret_u32_f32(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 Packet4c pxor<Packet4c>(const Packet4c& a, const Packet4c& b)
+{ return a ^ b; }
+template<> EIGEN_STRONG_INLINE Packet8c pxor<Packet8c>(const Packet8c& a, const Packet8c& b)
+{ return veor_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pxor<Packet16c>(const Packet16c& a, const Packet16c& b)
+{ return veorq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pxor<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{ return a ^ b; }
+template<> EIGEN_STRONG_INLINE Packet8uc pxor<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return veor_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pxor<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return veorq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pxor<Packet4s>(const Packet4s& a, const Packet4s& b) { return veor_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pxor<Packet8s>(const Packet8s& a, const Packet8s& b) { return veorq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pxor<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return veor_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pxor<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return veorq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pxor<Packet2i>(const Packet2i& a, const Packet2i& b) { return veor_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return veorq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pxor<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return veor_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pxor<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return veorq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pxor<Packet2l>(const Packet2l& a, const Packet2l& b)
+{ return veorq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul pxor<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{ return veorq_u64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pandnot<Packet2f>(const Packet2f& a, const Packet2f& b)
+{ return vreinterpret_f32_u32(vbic_u32(vreinterpret_u32_f32(a),vreinterpret_u32_f32(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 Packet4c pandnot<Packet4c>(const Packet4c& a, const Packet4c& b)
+{ return a & ~b; }
+template<> EIGEN_STRONG_INLINE Packet8c pandnot<Packet8c>(const Packet8c& a, const Packet8c& b) { return vbic_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16c pandnot<Packet16c>(const Packet16c& a, const Packet16c& b) { return vbicq_s8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4uc pandnot<Packet4uc>(const Packet4uc& a, const Packet4uc& b)
+{ return a & ~b; }
+template<> EIGEN_STRONG_INLINE Packet8uc pandnot<Packet8uc>(const Packet8uc& a, const Packet8uc& b)
+{ return vbic_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16uc pandnot<Packet16uc>(const Packet16uc& a, const Packet16uc& b)
+{ return vbicq_u8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4s pandnot<Packet4s>(const Packet4s& a, const Packet4s& b)
+{ return vbic_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8s pandnot<Packet8s>(const Packet8s& a, const Packet8s& b)
+{ return vbicq_s16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4us pandnot<Packet4us>(const Packet4us& a, const Packet4us& b)
+{ return vbic_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8us pandnot<Packet8us>(const Packet8us& a, const Packet8us& b)
+{ return vbicq_u16(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2i pandnot<Packet2i>(const Packet2i& a, const Packet2i& b)
+{ return vbic_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b)
+{ return vbicq_s32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ui pandnot<Packet2ui>(const Packet2ui& a, const Packet2ui& b)
+{ return vbic_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4ui pandnot<Packet4ui>(const Packet4ui& a, const Packet4ui& b)
+{ return vbicq_u32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2l pandnot<Packet2l>(const Packet2l& a, const Packet2l& b)
+{ return vbicq_s64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2ul pandnot<Packet2ul>(const Packet2ul& a, const Packet2ul& b)
+{ return vbicq_u64(a,b); }
+
+
+template<int N> EIGEN_STRONG_INLINE Packet4c parithmetic_shift_right(Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vshr_n_s8(vreinterpret_s8_s32(vdup_n_s32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8c parithmetic_shift_right(Packet8c a) { return vshr_n_s8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet16c parithmetic_shift_right(Packet16c a) { return vshrq_n_s8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4uc parithmetic_shift_right(Packet4uc& a)
+{ return vget_lane_u32(vreinterpret_u32_u8(vshr_n_u8(vreinterpret_u8_u32(vdup_n_u32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8uc parithmetic_shift_right(Packet8uc a) { return vshr_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet16uc parithmetic_shift_right(Packet16uc a) { return vshrq_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4s parithmetic_shift_right(Packet4s a) { return vshr_n_s16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet8s parithmetic_shift_right(Packet8s a) { return vshrq_n_s16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4us parithmetic_shift_right(Packet4us a) { return vshr_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet8us parithmetic_shift_right(Packet8us a) { return vshrq_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2i parithmetic_shift_right(Packet2i a) { return vshr_n_s32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4i parithmetic_shift_right(Packet4i a) { return vshrq_n_s32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2ui parithmetic_shift_right(Packet2ui a) { return vshr_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4ui parithmetic_shift_right(Packet4ui a) { return vshrq_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2l parithmetic_shift_right(Packet2l a) { return vshrq_n_s64(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2ul parithmetic_shift_right(Packet2ul a) { return vshrq_n_u64(a,N); }
+
+template<int N> EIGEN_STRONG_INLINE Packet4c plogical_shift_right(Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_u8(vshr_n_u8(vreinterpret_u8_s32(vdup_n_s32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8c plogical_shift_right(Packet8c a)
+{ return vreinterpret_s8_u8(vshr_n_u8(vreinterpret_u8_s8(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet16c plogical_shift_right(Packet16c a)
+{ return vreinterpretq_s8_u8(vshrq_n_u8(vreinterpretq_u8_s8(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet4uc plogical_shift_right(Packet4uc& a)
+{ return vget_lane_u32(vreinterpret_u32_s8(vshr_n_s8(vreinterpret_s8_u32(vdup_n_u32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8uc plogical_shift_right(Packet8uc a) { return vshr_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet16uc plogical_shift_right(Packet16uc a) { return vshrq_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4s plogical_shift_right(Packet4s a)
+{ return vreinterpret_s16_u16(vshr_n_u16(vreinterpret_u16_s16(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet8s plogical_shift_right(Packet8s a)
+{ return vreinterpretq_s16_u16(vshrq_n_u16(vreinterpretq_u16_s16(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet4us plogical_shift_right(Packet4us a) { return vshr_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet8us plogical_shift_right(Packet8us a) { return vshrq_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2i plogical_shift_right(Packet2i a)
+{ return vreinterpret_s32_u32(vshr_n_u32(vreinterpret_u32_s32(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_right(Packet4i a)
+{ return vreinterpretq_s32_u32(vshrq_n_u32(vreinterpretq_u32_s32(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet2ui plogical_shift_right(Packet2ui a) { return vshr_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4ui plogical_shift_right(Packet4ui a) { return vshrq_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2l plogical_shift_right(Packet2l a)
+{ return vreinterpretq_s64_u64(vshrq_n_u64(vreinterpretq_u64_s64(a),N)); }
+template<int N> EIGEN_STRONG_INLINE Packet2ul plogical_shift_right(Packet2ul a) { return vshrq_n_u64(a,N); }
+
+template<int N> EIGEN_STRONG_INLINE Packet4c plogical_shift_left(Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vshl_n_s8(vreinterpret_s8_s32(vdup_n_s32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8c plogical_shift_left(Packet8c a) { return vshl_n_s8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet16c plogical_shift_left(Packet16c a) { return vshlq_n_s8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4uc plogical_shift_left(Packet4uc& a)
+{ return vget_lane_u32(vreinterpret_u32_u8(vshl_n_u8(vreinterpret_u8_u32(vdup_n_u32(a)), N)), 0); }
+template<int N> EIGEN_STRONG_INLINE Packet8uc plogical_shift_left(Packet8uc a) { return vshl_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet16uc plogical_shift_left(Packet16uc a) { return vshlq_n_u8(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4s plogical_shift_left(Packet4s a) { return vshl_n_s16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet8s plogical_shift_left(Packet8s a) { return vshlq_n_s16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4us plogical_shift_left(Packet4us a) { return vshl_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet8us plogical_shift_left(Packet8us a) { return vshlq_n_u16(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2i plogical_shift_left(Packet2i a) { return vshl_n_s32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_left(Packet4i a) { return vshlq_n_s32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2ui plogical_shift_left(Packet2ui a) { return vshl_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4ui plogical_shift_left(Packet4ui a) { return vshlq_n_u32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2l plogical_shift_left(Packet2l a) { return vshlq_n_s64(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet2ul plogical_shift_left(Packet2ul a) { return vshlq_n_u64(a,N); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pload<Packet2f>(const float* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4c pload<Packet4c>(const int8_t* from)
+{
+  Packet4c res;
+  memcpy(&res, from, sizeof(Packet4c));
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet8c pload<Packet8c>(const int8_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet16c pload<Packet16c>(const int8_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet4uc pload<Packet4uc>(const uint8_t* from)
+{
+  Packet4uc res;
+  memcpy(&res, from, sizeof(Packet4uc));
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet8uc pload<Packet8uc>(const uint8_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet16uc pload<Packet16uc>(const uint8_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet4s pload<Packet4s>(const int16_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet8s pload<Packet8s>(const int16_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet4us pload<Packet4us>(const uint16_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet8us pload<Packet8us>(const uint16_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet2i pload<Packet2i>(const int32_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int32_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet2ui pload<Packet2ui>(const uint32_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet4ui pload<Packet4ui>(const uint32_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet2l pload<Packet2l>(const int64_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s64(from); }
+template<> EIGEN_STRONG_INLINE Packet2ul pload<Packet2ul>(const uint64_t* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_u64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2f ploadu<Packet2f>(const float* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4c ploadu<Packet4c>(const int8_t* from)
+{
+  Packet4c res;
+  memcpy(&res, from, sizeof(Packet4c));
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet8c ploadu<Packet8c>(const int8_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet16c ploadu<Packet16c>(const int8_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s8(from); }
+template<> EIGEN_STRONG_INLINE Packet4uc ploadu<Packet4uc>(const uint8_t* from)
+{
+  Packet4uc res;
+  memcpy(&res, from, sizeof(Packet4uc));
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet8uc ploadu<Packet8uc>(const uint8_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet16uc ploadu<Packet16uc>(const uint8_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_u8(from); }
+template<> EIGEN_STRONG_INLINE Packet4s ploadu<Packet4s>(const int16_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet8s ploadu<Packet8s>(const int16_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s16(from); }
+template<> EIGEN_STRONG_INLINE Packet4us ploadu<Packet4us>(const uint16_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet8us ploadu<Packet8us>(const uint16_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_u16(from); }
+template<> EIGEN_STRONG_INLINE Packet2i ploadu<Packet2i>(const int32_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int32_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet2ui ploadu<Packet2ui>(const uint32_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet4ui ploadu<Packet4ui>(const uint32_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet2l ploadu<Packet2l>(const int64_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s64(from); }
+template<> EIGEN_STRONG_INLINE Packet2ul ploadu<Packet2ul>(const uint64_t* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_u64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2f ploaddup<Packet2f>(const float* from)
+{ return vld1_dup_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
+{ return vcombine_f32(vld1_dup_f32(from), vld1_dup_f32(from+1)); }
+template<> EIGEN_STRONG_INLINE Packet4c ploaddup<Packet4c>(const int8_t* from)
+{
+  const int8x8_t a = vreinterpret_s8_s32(vdup_n_s32(pload<Packet4c>(from)));
+  return vget_lane_s32(vreinterpret_s32_s8(vzip_s8(a,a).val[0]), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8c ploaddup<Packet8c>(const int8_t* from)
+{
+  const int8x8_t a = vld1_s8(from);
+  return vzip_s8(a,a).val[0];
+}
+template<> EIGEN_STRONG_INLINE Packet16c ploaddup<Packet16c>(const int8_t* from)
+{
+  const int8x8_t a = vld1_s8(from);
+  const int8x8x2_t b = vzip_s8(a,a);
+  return vcombine_s8(b.val[0], b.val[1]);
+}
+template<> EIGEN_STRONG_INLINE Packet4uc ploaddup<Packet4uc>(const uint8_t* from)
+{
+  const uint8x8_t a = vreinterpret_u8_u32(vdup_n_u32(pload<Packet4uc>(from)));
+  return vget_lane_u32(vreinterpret_u32_u8(vzip_u8(a,a).val[0]), 0);
+}
+template<> EIGEN_STRONG_INLINE Packet8uc ploaddup<Packet8uc>(const uint8_t* from)
+{
+  const uint8x8_t a = vld1_u8(from);
+  return vzip_u8(a,a).val[0];
+}
+template<> EIGEN_STRONG_INLINE Packet16uc ploaddup<Packet16uc>(const uint8_t* from)
+{
+  const uint8x8_t a = vld1_u8(from);
+  const uint8x8x2_t b = vzip_u8(a,a);
+  return vcombine_u8(b.val[0], b.val[1]);
+}
+template<> EIGEN_STRONG_INLINE Packet4s ploaddup<Packet4s>(const int16_t* from)
+{
+  return vreinterpret_s16_u32(vzip_u32(vreinterpret_u32_s16(vld1_dup_s16(from)),
+      vreinterpret_u32_s16(vld1_dup_s16(from+1))).val[0]);
+}
+template<> EIGEN_STRONG_INLINE Packet8s ploaddup<Packet8s>(const int16_t* from)
+{
+  const int16x4_t a = vld1_s16(from);
+  const int16x4x2_t b = vzip_s16(a,a);
+  return vcombine_s16(b.val[0], b.val[1]);
+}
+template<> EIGEN_STRONG_INLINE Packet4us ploaddup<Packet4us>(const uint16_t* from)
+{
+  return vreinterpret_u16_u32(vzip_u32(vreinterpret_u32_u16(vld1_dup_u16(from)),
+      vreinterpret_u32_u16(vld1_dup_u16(from+1))).val[0]);
+}
+template<> EIGEN_STRONG_INLINE Packet8us ploaddup<Packet8us>(const uint16_t* from)
+{
+  const uint16x4_t a = vld1_u16(from);
+  const uint16x4x2_t b = vzip_u16(a,a);
+  return vcombine_u16(b.val[0], b.val[1]);
+}
+template<> EIGEN_STRONG_INLINE Packet2i ploaddup<Packet2i>(const int32_t* from)
+{ return vld1_dup_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from)
+{ return vcombine_s32(vld1_dup_s32(from), vld1_dup_s32(from+1)); }
+template<> EIGEN_STRONG_INLINE Packet2ui ploaddup<Packet2ui>(const uint32_t* from)
+{ return vld1_dup_u32(from); }
+template<> EIGEN_STRONG_INLINE Packet4ui ploaddup<Packet4ui>(const uint32_t* from)
+{ return vcombine_u32(vld1_dup_u32(from), vld1_dup_u32(from+1)); }
+template<> EIGEN_STRONG_INLINE Packet2l ploaddup<Packet2l>(const int64_t* from)
+{ return vld1q_dup_s64(from); }
+template<> EIGEN_STRONG_INLINE Packet2ul ploaddup<Packet2ul>(const uint64_t* from)
+{ return vld1q_dup_u64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploadquad<Packet4f>(const float* from) { return vld1q_dup_f32(from); }
+template<> EIGEN_STRONG_INLINE Packet4c ploadquad<Packet4c>(const int8_t* from)
+{ return vget_lane_s32(vreinterpret_s32_s8(vld1_dup_s8(from)), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c ploadquad<Packet8c>(const int8_t* from)
+{
+  return vreinterpret_s8_u32(vzip_u32(
+      vreinterpret_u32_s8(vld1_dup_s8(from)),
+      vreinterpret_u32_s8(vld1_dup_s8(from+1))).val[0]);
+}
+template<> EIGEN_STRONG_INLINE Packet16c ploadquad<Packet16c>(const int8_t* from)
+{
+  const int8x8_t a = vreinterpret_s8_u32(vzip_u32(
+      vreinterpret_u32_s8(vld1_dup_s8(from)),
+      vreinterpret_u32_s8(vld1_dup_s8(from+1))).val[0]);
+  const int8x8_t b = vreinterpret_s8_u32(vzip_u32(
+      vreinterpret_u32_s8(vld1_dup_s8(from+2)),
+      vreinterpret_u32_s8(vld1_dup_s8(from+3))).val[0]);
+  return vcombine_s8(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet4uc ploadquad<Packet4uc>(const uint8_t* from)
+{ return vget_lane_u32(vreinterpret_u32_u8(vld1_dup_u8(from)), 0); }
+template<> EIGEN_STRONG_INLINE Packet8uc ploadquad<Packet8uc>(const uint8_t* from)
+{
+  return vreinterpret_u8_u32(vzip_u32(
+      vreinterpret_u32_u8(vld1_dup_u8(from)),
+      vreinterpret_u32_u8(vld1_dup_u8(from+1))).val[0]);
+}
+template<> EIGEN_STRONG_INLINE Packet16uc ploadquad<Packet16uc>(const uint8_t* from)
+{
+  const uint8x8_t a = vreinterpret_u8_u32(vzip_u32(
+      vreinterpret_u32_u8(vld1_dup_u8(from)),
+      vreinterpret_u32_u8(vld1_dup_u8(from+1))).val[0]);
+  const uint8x8_t b = vreinterpret_u8_u32(vzip_u32(
+      vreinterpret_u32_u8(vld1_dup_u8(from+2)),
+      vreinterpret_u32_u8(vld1_dup_u8(from+3))).val[0]);
+  return vcombine_u8(a,b);
+}
+template<> EIGEN_STRONG_INLINE Packet8s ploadquad<Packet8s>(const int16_t* from)
+{ return vcombine_s16(vld1_dup_s16(from), vld1_dup_s16(from+1)); }
+template<> EIGEN_STRONG_INLINE Packet8us ploadquad<Packet8us>(const uint16_t* from)
+{ return vcombine_u16(vld1_dup_u16(from), vld1_dup_u16(from+1)); }
+template<> EIGEN_STRONG_INLINE Packet4i ploadquad<Packet4i>(const int32_t* from) { return vld1q_dup_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4ui ploadquad<Packet4ui>(const uint32_t* from) { return vld1q_dup_u32(from); }
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet2f& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_f32(to,from); }
+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<int8_t>(int8_t* to, const Packet4c& from)
+{ memcpy(to, &from, sizeof(from)); }
+template<> EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet8c& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_s8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int8_t>(int8_t* to, const Packet16c& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_s8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet4uc& from)
+{ memcpy(to, &from, sizeof(from)); }
+template<> EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet8uc& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_u8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint8_t>(uint8_t* to, const Packet16uc& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_u8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int16_t>(int16_t* to, const Packet4s& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_s16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int16_t>(int16_t* to, const Packet8s& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_s16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint16_t>(uint16_t* to, const Packet4us& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_u16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint16_t>(uint16_t* to, const Packet8us& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_u16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet2i& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_s32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int32_t>(int32_t* to, const Packet4i& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint32_t>(uint32_t* to, const Packet2ui& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1_u32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint32_t>(uint32_t* to, const Packet4ui& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_u32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<int64_t>(int64_t* to, const Packet2l& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_s64(to,from); }
+template<> EIGEN_STRONG_INLINE void pstore<uint64_t>(uint64_t* to, const Packet2ul& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_u64(to,from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet2f& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_f32(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<int8_t>(int8_t* to, const Packet4c& from)
+{ memcpy(to, &from, sizeof(from)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int8_t>(int8_t* to, const Packet8c& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_s8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int8_t>(int8_t* to, const Packet16c& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_s8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint8_t>(uint8_t* to, const Packet4uc& from)
+{ memcpy(to, &from, sizeof(from)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint8_t>(uint8_t* to, const Packet8uc& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_u8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint8_t>(uint8_t* to, const Packet16uc& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_u8(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int16_t>(int16_t* to, const Packet4s& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_s16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int16_t>(int16_t* to, const Packet8s& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_s16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint16_t>(uint16_t* to, const Packet4us& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_u16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint16_t>(uint16_t* to, const Packet8us& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_u16(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet2i& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_s32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int32_t>(int32_t* to, const Packet4i& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint32_t>(uint32_t* to, const Packet2ui& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1_u32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint32_t>(uint32_t* to, const Packet4ui& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_u32(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int64_t>(int64_t* to, const Packet2l& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_s64(to,from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<uint64_t>(uint64_t* to, const Packet2ul& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_u64(to,from); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2f pgather<float, Packet2f>(const float* from, Index stride)
+{
+  Packet2f res = vld1_dup_f32(from);
+  res = vld1_lane_f32(from + 1*stride, res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  Packet4f res = vld1q_dup_f32(from);
+  res = vld1q_lane_f32(from + 1*stride, res, 1);
+  res = vld1q_lane_f32(from + 2*stride, res, 2);
+  res = vld1q_lane_f32(from + 3*stride, res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4c pgather<int8_t, Packet4c>(const int8_t* from, Index stride)
+{
+  Packet4c res;
+  for (int i = 0; i != 4; i++)
+    reinterpret_cast<int8_t*>(&res)[i] = *(from + i * stride);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8c pgather<int8_t, Packet8c>(const int8_t* from, Index stride)
+{
+  Packet8c res = vld1_dup_s8(from);
+  res = vld1_lane_s8(from + 1*stride, res, 1);
+  res = vld1_lane_s8(from + 2*stride, res, 2);
+  res = vld1_lane_s8(from + 3*stride, res, 3);
+  res = vld1_lane_s8(from + 4*stride, res, 4);
+  res = vld1_lane_s8(from + 5*stride, res, 5);
+  res = vld1_lane_s8(from + 6*stride, res, 6);
+  res = vld1_lane_s8(from + 7*stride, res, 7);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet16c pgather<int8_t, Packet16c>(const int8_t* from, Index stride)
+{
+  Packet16c res = vld1q_dup_s8(from);
+  res = vld1q_lane_s8(from + 1*stride, res, 1);
+  res = vld1q_lane_s8(from + 2*stride, res, 2);
+  res = vld1q_lane_s8(from + 3*stride, res, 3);
+  res = vld1q_lane_s8(from + 4*stride, res, 4);
+  res = vld1q_lane_s8(from + 5*stride, res, 5);
+  res = vld1q_lane_s8(from + 6*stride, res, 6);
+  res = vld1q_lane_s8(from + 7*stride, res, 7);
+  res = vld1q_lane_s8(from + 8*stride, res, 8);
+  res = vld1q_lane_s8(from + 9*stride, res, 9);
+  res = vld1q_lane_s8(from + 10*stride, res, 10);
+  res = vld1q_lane_s8(from + 11*stride, res, 11);
+  res = vld1q_lane_s8(from + 12*stride, res, 12);
+  res = vld1q_lane_s8(from + 13*stride, res, 13);
+  res = vld1q_lane_s8(from + 14*stride, res, 14);
+  res = vld1q_lane_s8(from + 15*stride, res, 15);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4uc pgather<uint8_t, Packet4uc>(const uint8_t* from, Index stride)
+{
+  Packet4uc res;
+  for (int i = 0; i != 4; i++)
+    reinterpret_cast<uint8_t*>(&res)[i] = *(from + i * stride);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8uc pgather<uint8_t, Packet8uc>(const uint8_t* from, Index stride)
+{
+  Packet8uc res = vld1_dup_u8(from);
+  res = vld1_lane_u8(from + 1*stride, res, 1);
+  res = vld1_lane_u8(from + 2*stride, res, 2);
+  res = vld1_lane_u8(from + 3*stride, res, 3);
+  res = vld1_lane_u8(from + 4*stride, res, 4);
+  res = vld1_lane_u8(from + 5*stride, res, 5);
+  res = vld1_lane_u8(from + 6*stride, res, 6);
+  res = vld1_lane_u8(from + 7*stride, res, 7);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet16uc pgather<uint8_t, Packet16uc>(const uint8_t* from, Index stride)
+{
+  Packet16uc res = vld1q_dup_u8(from);
+  res = vld1q_lane_u8(from + 1*stride, res, 1);
+  res = vld1q_lane_u8(from + 2*stride, res, 2);
+  res = vld1q_lane_u8(from + 3*stride, res, 3);
+  res = vld1q_lane_u8(from + 4*stride, res, 4);
+  res = vld1q_lane_u8(from + 5*stride, res, 5);
+  res = vld1q_lane_u8(from + 6*stride, res, 6);
+  res = vld1q_lane_u8(from + 7*stride, res, 7);
+  res = vld1q_lane_u8(from + 8*stride, res, 8);
+  res = vld1q_lane_u8(from + 9*stride, res, 9);
+  res = vld1q_lane_u8(from + 10*stride, res, 10);
+  res = vld1q_lane_u8(from + 11*stride, res, 11);
+  res = vld1q_lane_u8(from + 12*stride, res, 12);
+  res = vld1q_lane_u8(from + 13*stride, res, 13);
+  res = vld1q_lane_u8(from + 14*stride, res, 14);
+  res = vld1q_lane_u8(from + 15*stride, res, 15);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4s pgather<int16_t, Packet4s>(const int16_t* from, Index stride)
+{
+  Packet4s res = vld1_dup_s16(from);
+  res = vld1_lane_s16(from + 1*stride, res, 1);
+  res = vld1_lane_s16(from + 2*stride, res, 2);
+  res = vld1_lane_s16(from + 3*stride, res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8s pgather<int16_t, Packet8s>(const int16_t* from, Index stride)
+{
+  Packet8s res = vld1q_dup_s16(from);
+  res = vld1q_lane_s16(from + 1*stride, res, 1);
+  res = vld1q_lane_s16(from + 2*stride, res, 2);
+  res = vld1q_lane_s16(from + 3*stride, res, 3);
+  res = vld1q_lane_s16(from + 4*stride, res, 4);
+  res = vld1q_lane_s16(from + 5*stride, res, 5);
+  res = vld1q_lane_s16(from + 6*stride, res, 6);
+  res = vld1q_lane_s16(from + 7*stride, res, 7);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4us pgather<uint16_t, Packet4us>(const uint16_t* from, Index stride)
+{
+  Packet4us res = vld1_dup_u16(from);
+  res = vld1_lane_u16(from + 1*stride, res, 1);
+  res = vld1_lane_u16(from + 2*stride, res, 2);
+  res = vld1_lane_u16(from + 3*stride, res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8us pgather<uint16_t, Packet8us>(const uint16_t* from, Index stride)
+{
+  Packet8us res = vld1q_dup_u16(from);
+  res = vld1q_lane_u16(from + 1*stride, res, 1);
+  res = vld1q_lane_u16(from + 2*stride, res, 2);
+  res = vld1q_lane_u16(from + 3*stride, res, 3);
+  res = vld1q_lane_u16(from + 4*stride, res, 4);
+  res = vld1q_lane_u16(from + 5*stride, res, 5);
+  res = vld1q_lane_u16(from + 6*stride, res, 6);
+  res = vld1q_lane_u16(from + 7*stride, res, 7);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2i pgather<int32_t, Packet2i>(const int32_t* from, Index stride)
+{
+  Packet2i res = vld1_dup_s32(from);
+  res = vld1_lane_s32(from + 1*stride, res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride)
+{
+  Packet4i res = vld1q_dup_s32(from);
+  res = vld1q_lane_s32(from + 1*stride, res, 1);
+  res = vld1q_lane_s32(from + 2*stride, res, 2);
+  res = vld1q_lane_s32(from + 3*stride, res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2ui pgather<uint32_t, Packet2ui>(const uint32_t* from, Index stride)
+{
+  Packet2ui res = vld1_dup_u32(from);
+  res = vld1_lane_u32(from + 1*stride, res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4ui pgather<uint32_t, Packet4ui>(const uint32_t* from, Index stride)
+{
+  Packet4ui res = vld1q_dup_u32(from);
+  res = vld1q_lane_u32(from + 1*stride, res, 1);
+  res = vld1q_lane_u32(from + 2*stride, res, 2);
+  res = vld1q_lane_u32(from + 3*stride, res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2l pgather<int64_t, Packet2l>(const int64_t* from, Index stride)
+{
+  Packet2l res = vld1q_dup_s64(from);
+  res = vld1q_lane_s64(from + 1*stride, res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2ul pgather<uint64_t, Packet2ul>(const uint64_t* from, Index stride)
+{
+  Packet2ul res = vld1q_dup_u64(from);
+  res = vld1q_lane_u64(from + 1*stride, res, 1);
+  return res;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<float, Packet2f>(float* to, const Packet2f& from, Index stride)
+{
+  vst1_lane_f32(to + stride*0, from, 0);
+  vst1_lane_f32(to + stride*1, from, 1);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  vst1q_lane_f32(to + stride*0, from, 0);
+  vst1q_lane_f32(to + stride*1, from, 1);
+  vst1q_lane_f32(to + stride*2, from, 2);
+  vst1q_lane_f32(to + stride*3, from, 3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int8_t, Packet4c>(int8_t* to, const Packet4c& from, Index stride)
+{
+  for (int i = 0; i != 4; i++)
+    *(to + i * stride) = reinterpret_cast<const int8_t*>(&from)[i];
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int8_t, Packet8c>(int8_t* to, const Packet8c& from, Index stride)
+{
+  vst1_lane_s8(to + stride*0, from, 0);
+  vst1_lane_s8(to + stride*1, from, 1);
+  vst1_lane_s8(to + stride*2, from, 2);
+  vst1_lane_s8(to + stride*3, from, 3);
+  vst1_lane_s8(to + stride*4, from, 4);
+  vst1_lane_s8(to + stride*5, from, 5);
+  vst1_lane_s8(to + stride*6, from, 6);
+  vst1_lane_s8(to + stride*7, from, 7);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int8_t, Packet16c>(int8_t* to, const Packet16c& from, Index stride)
+{
+  vst1q_lane_s8(to + stride*0, from, 0);
+  vst1q_lane_s8(to + stride*1, from, 1);
+  vst1q_lane_s8(to + stride*2, from, 2);
+  vst1q_lane_s8(to + stride*3, from, 3);
+  vst1q_lane_s8(to + stride*4, from, 4);
+  vst1q_lane_s8(to + stride*5, from, 5);
+  vst1q_lane_s8(to + stride*6, from, 6);
+  vst1q_lane_s8(to + stride*7, from, 7);
+  vst1q_lane_s8(to + stride*8, from, 8);
+  vst1q_lane_s8(to + stride*9, from, 9);
+  vst1q_lane_s8(to + stride*10, from, 10);
+  vst1q_lane_s8(to + stride*11, from, 11);
+  vst1q_lane_s8(to + stride*12, from, 12);
+  vst1q_lane_s8(to + stride*13, from, 13);
+  vst1q_lane_s8(to + stride*14, from, 14);
+  vst1q_lane_s8(to + stride*15, from, 15);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint8_t, Packet4uc>(uint8_t* to, const Packet4uc& from, Index stride)
+{
+  for (int i = 0; i != 4; i++)
+    *(to + i * stride) = reinterpret_cast<const uint8_t*>(&from)[i];
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint8_t, Packet8uc>(uint8_t* to, const Packet8uc& from, Index stride)
+{
+  vst1_lane_u8(to + stride*0, from, 0);
+  vst1_lane_u8(to + stride*1, from, 1);
+  vst1_lane_u8(to + stride*2, from, 2);
+  vst1_lane_u8(to + stride*3, from, 3);
+  vst1_lane_u8(to + stride*4, from, 4);
+  vst1_lane_u8(to + stride*5, from, 5);
+  vst1_lane_u8(to + stride*6, from, 6);
+  vst1_lane_u8(to + stride*7, from, 7);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint8_t, Packet16uc>(uint8_t* to, const Packet16uc& from, Index stride)
+{
+  vst1q_lane_u8(to + stride*0, from, 0);
+  vst1q_lane_u8(to + stride*1, from, 1);
+  vst1q_lane_u8(to + stride*2, from, 2);
+  vst1q_lane_u8(to + stride*3, from, 3);
+  vst1q_lane_u8(to + stride*4, from, 4);
+  vst1q_lane_u8(to + stride*5, from, 5);
+  vst1q_lane_u8(to + stride*6, from, 6);
+  vst1q_lane_u8(to + stride*7, from, 7);
+  vst1q_lane_u8(to + stride*8, from, 8);
+  vst1q_lane_u8(to + stride*9, from, 9);
+  vst1q_lane_u8(to + stride*10, from, 10);
+  vst1q_lane_u8(to + stride*11, from, 11);
+  vst1q_lane_u8(to + stride*12, from, 12);
+  vst1q_lane_u8(to + stride*13, from, 13);
+  vst1q_lane_u8(to + stride*14, from, 14);
+  vst1q_lane_u8(to + stride*15, from, 15);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int16_t, Packet4s>(int16_t* to, const Packet4s& from, Index stride)
+{
+  vst1_lane_s16(to + stride*0, from, 0);
+  vst1_lane_s16(to + stride*1, from, 1);
+  vst1_lane_s16(to + stride*2, from, 2);
+  vst1_lane_s16(to + stride*3, from, 3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int16_t, Packet8s>(int16_t* to, const Packet8s& from, Index stride)
+{
+  vst1q_lane_s16(to + stride*0, from, 0);
+  vst1q_lane_s16(to + stride*1, from, 1);
+  vst1q_lane_s16(to + stride*2, from, 2);
+  vst1q_lane_s16(to + stride*3, from, 3);
+  vst1q_lane_s16(to + stride*4, from, 4);
+  vst1q_lane_s16(to + stride*5, from, 5);
+  vst1q_lane_s16(to + stride*6, from, 6);
+  vst1q_lane_s16(to + stride*7, from, 7);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint16_t, Packet4us>(uint16_t* to, const Packet4us& from, Index stride)
+{
+  vst1_lane_u16(to + stride*0, from, 0);
+  vst1_lane_u16(to + stride*1, from, 1);
+  vst1_lane_u16(to + stride*2, from, 2);
+  vst1_lane_u16(to + stride*3, from, 3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint16_t, Packet8us>(uint16_t* to, const Packet8us& from, Index stride)
+{
+  vst1q_lane_u16(to + stride*0, from, 0);
+  vst1q_lane_u16(to + stride*1, from, 1);
+  vst1q_lane_u16(to + stride*2, from, 2);
+  vst1q_lane_u16(to + stride*3, from, 3);
+  vst1q_lane_u16(to + stride*4, from, 4);
+  vst1q_lane_u16(to + stride*5, from, 5);
+  vst1q_lane_u16(to + stride*6, from, 6);
+  vst1q_lane_u16(to + stride*7, from, 7);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int32_t, Packet2i>(int32_t* to, const Packet2i& from, Index stride)
+{
+  vst1_lane_s32(to + stride*0, from, 0);
+  vst1_lane_s32(to + stride*1, from, 1);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from, Index stride)
+{
+  vst1q_lane_s32(to + stride*0, from, 0);
+  vst1q_lane_s32(to + stride*1, from, 1);
+  vst1q_lane_s32(to + stride*2, from, 2);
+  vst1q_lane_s32(to + stride*3, from, 3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint32_t, Packet2ui>(uint32_t* to, const Packet2ui& from, Index stride)
+{
+  vst1_lane_u32(to + stride*0, from, 0);
+  vst1_lane_u32(to + stride*1, from, 1);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint32_t, Packet4ui>(uint32_t* to, const Packet4ui& from, Index stride)
+{
+  vst1q_lane_u32(to + stride*0, from, 0);
+  vst1q_lane_u32(to + stride*1, from, 1);
+  vst1q_lane_u32(to + stride*2, from, 2);
+  vst1q_lane_u32(to + stride*3, from, 3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<int64_t, Packet2l>(int64_t* to, const Packet2l& from, Index stride)
+{
+  vst1q_lane_s64(to + stride*0, from, 0);
+  vst1q_lane_s64(to + stride*1, from, 1);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<uint64_t, Packet2ul>(uint64_t* to, const Packet2ul& from, Index stride)
+{
+  vst1q_lane_u64(to + stride*0, from, 0);
+  vst1q_lane_u64(to + stride*1, from, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int8_t>(const int8_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<uint8_t>(const uint8_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int16_t>(const int16_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<uint16_t>(const uint16_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<uint32_t>(const uint32_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int64_t>(const int64_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<uint64_t>(const uint64_t* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE float pfirst<Packet2f>(const Packet2f& a) { return vget_lane_f32(a,0); }
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { return vgetq_lane_f32(a,0); }
+template<> EIGEN_STRONG_INLINE int8_t pfirst<Packet4c>(const Packet4c& a) { return static_cast<int8_t>(a & 0xff); }
+template<> EIGEN_STRONG_INLINE int8_t pfirst<Packet8c>(const Packet8c& a) { return vget_lane_s8(a,0); }
+template<> EIGEN_STRONG_INLINE int8_t pfirst<Packet16c>(const Packet16c& a) { return vgetq_lane_s8(a,0); }
+template<> EIGEN_STRONG_INLINE uint8_t pfirst<Packet4uc>(const Packet4uc& a) { return static_cast<uint8_t>(a & 0xff); }
+template<> EIGEN_STRONG_INLINE uint8_t pfirst<Packet8uc>(const Packet8uc& a) { return vget_lane_u8(a,0); }
+template<> EIGEN_STRONG_INLINE uint8_t pfirst<Packet16uc>(const Packet16uc& a) { return vgetq_lane_u8(a,0); }
+template<> EIGEN_STRONG_INLINE int16_t pfirst<Packet4s>(const Packet4s& a) { return vget_lane_s16(a,0); }
+template<> EIGEN_STRONG_INLINE int16_t pfirst<Packet8s>(const Packet8s& a) { return vgetq_lane_s16(a,0); }
+template<> EIGEN_STRONG_INLINE uint16_t pfirst<Packet4us>(const Packet4us& a) { return vget_lane_u16(a,0); }
+template<> EIGEN_STRONG_INLINE uint16_t pfirst<Packet8us>(const Packet8us& a) { return vgetq_lane_u16(a,0); }
+template<> EIGEN_STRONG_INLINE int32_t pfirst<Packet2i>(const Packet2i& a) { return vget_lane_s32(a,0); }
+template<> EIGEN_STRONG_INLINE int32_t pfirst<Packet4i>(const Packet4i& a) { return vgetq_lane_s32(a,0); }
+template<> EIGEN_STRONG_INLINE uint32_t pfirst<Packet2ui>(const Packet2ui& a) { return vget_lane_u32(a,0); }
+template<> EIGEN_STRONG_INLINE uint32_t pfirst<Packet4ui>(const Packet4ui& a) { return vgetq_lane_u32(a,0); }
+template<> EIGEN_STRONG_INLINE int64_t pfirst<Packet2l>(const Packet2l& a) { return vgetq_lane_s64(a,0); }
+template<> EIGEN_STRONG_INLINE uint64_t pfirst<Packet2ul>(const Packet2ul& a) { return vgetq_lane_u64(a,0); }
+
+template<> EIGEN_STRONG_INLINE Packet2f preverse(const Packet2f& a) { return vrev64_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  const float32x4_t a_r64 = vrev64q_f32(a);
+  return vcombine_f32(vget_high_f32(a_r64), vget_low_f32(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet4c preverse(const Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vrev64_s8(vreinterpret_s8_s32(vdup_n_s32(a)))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c preverse(const Packet8c& a) { return vrev64_s8(a); }
+template<> EIGEN_STRONG_INLINE Packet16c preverse(const Packet16c& a)
+{
+  const int8x16_t a_r64 = vrev64q_s8(a);
+  return vcombine_s8(vget_high_s8(a_r64), vget_low_s8(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet4uc preverse(const Packet4uc& a)
+{ return vget_lane_u32(vreinterpret_u32_u8(vrev64_u8(vreinterpret_u8_u32(vdup_n_u32(a)))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8uc preverse(const Packet8uc& a) { return vrev64_u8(a); }
+template<> EIGEN_STRONG_INLINE Packet16uc preverse(const Packet16uc& a)
+{
+  const uint8x16_t a_r64 = vrev64q_u8(a);
+  return vcombine_u8(vget_high_u8(a_r64), vget_low_u8(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet4s preverse(const Packet4s& a) { return vrev64_s16(a); }
+template<> EIGEN_STRONG_INLINE Packet8s preverse(const Packet8s& a)
+{
+  const int16x8_t a_r64 = vrev64q_s16(a);
+  return vcombine_s16(vget_high_s16(a_r64), vget_low_s16(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet4us preverse(const Packet4us& a) { return vrev64_u16(a); }
+template<> EIGEN_STRONG_INLINE Packet8us preverse(const Packet8us& a)
+{
+  const uint16x8_t a_r64 = vrev64q_u16(a);
+  return vcombine_u16(vget_high_u16(a_r64), vget_low_u16(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet2i preverse(const Packet2i& a) { return vrev64_s32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{
+  const int32x4_t a_r64 = vrev64q_s32(a);
+  return vcombine_s32(vget_high_s32(a_r64), vget_low_s32(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet2ui preverse(const Packet2ui& a) { return vrev64_u32(a); }
+template<> EIGEN_STRONG_INLINE Packet4ui preverse(const Packet4ui& a)
+{
+  const uint32x4_t a_r64 = vrev64q_u32(a);
+  return vcombine_u32(vget_high_u32(a_r64), vget_low_u32(a_r64));
+}
+template<> EIGEN_STRONG_INLINE Packet2l preverse(const Packet2l& a)
+{ return vcombine_s64(vget_high_s64(a), vget_low_s64(a)); }
+template<> EIGEN_STRONG_INLINE Packet2ul preverse(const Packet2ul& a)
+{ return vcombine_u64(vget_high_u64(a), vget_low_u64(a)); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pabs(const Packet2f& a) { return vabs_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
+template<> EIGEN_STRONG_INLINE Packet4c pabs<Packet4c>(const Packet4c& a)
+{ return vget_lane_s32(vreinterpret_s32_s8(vabs_s8(vreinterpret_s8_s32(vdup_n_s32(a)))), 0); }
+template<> EIGEN_STRONG_INLINE Packet8c pabs(const Packet8c& a) { return vabs_s8(a); }
+template<> EIGEN_STRONG_INLINE Packet16c pabs(const Packet16c& a) { return vabsq_s8(a); }
+template<> EIGEN_STRONG_INLINE Packet4uc pabs(const Packet4uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8uc pabs(const Packet8uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet16uc pabs(const Packet16uc& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4s pabs(const Packet4s& a) { return vabs_s16(a); }
+template<> EIGEN_STRONG_INLINE Packet8s pabs(const Packet8s& a) { return vabsq_s16(a); }
+template<> EIGEN_STRONG_INLINE Packet4us pabs(const Packet4us& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8us pabs(const Packet8us& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2i pabs(const Packet2i& a) { return vabs_s32(a); }
+template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
+template<> EIGEN_STRONG_INLINE Packet2ui pabs(const Packet2ui& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4ui pabs(const Packet4ui& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2l pabs(const Packet2l& a) {
+#if EIGEN_ARCH_ARM64
+  return vabsq_s64(a);
+#else
+  return vcombine_s64(
+      vdup_n_s64((std::abs)(vgetq_lane_s64(a, 0))),
+      vdup_n_s64((std::abs)(vgetq_lane_s64(a, 1))));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2ul pabs(const Packet2ul& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2f pfrexp<Packet2f>(const Packet2f& a, Packet2f& exponent)
+{ return pfrexp_generic(a,exponent); }
+template<> EIGEN_STRONG_INLINE Packet4f pfrexp<Packet4f>(const Packet4f& a, Packet4f& exponent)
+{ return pfrexp_generic(a,exponent); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pldexp<Packet2f>(const Packet2f& a, const Packet2f& exponent)
+{ return pldexp_generic(a,exponent); }
+template<> EIGEN_STRONG_INLINE Packet4f pldexp<Packet4f>(const Packet4f& a, const Packet4f& exponent)
+{ return pldexp_generic(a,exponent); }
+
+template<> EIGEN_STRONG_INLINE float predux<Packet2f>(const Packet2f& a) { return vget_lane_f32(vpadd_f32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  const float32x2_t sum = vadd_f32(vget_low_f32(a), vget_high_f32(a));
+  return vget_lane_f32(vpadd_f32(sum, sum), 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux<Packet4c>(const Packet4c& a)
+{
+  const int8x8_t a_dup = vreinterpret_s8_s32(vdup_n_s32(a));
+  int8x8_t sum = vpadd_s8(a_dup, a_dup);
+  sum = vpadd_s8(sum, sum);
+  return vget_lane_s8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux<Packet8c>(const Packet8c& a)
+{
+  int8x8_t sum = vpadd_s8(a,a);
+  sum = vpadd_s8(sum, sum);
+  sum = vpadd_s8(sum, sum);
+  return vget_lane_s8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux<Packet16c>(const Packet16c& a)
+{
+  int8x8_t sum = vadd_s8(vget_low_s8(a), vget_high_s8(a));
+  sum = vpadd_s8(sum, sum);
+  sum = vpadd_s8(sum, sum);
+  sum = vpadd_s8(sum, sum);
+  return vget_lane_s8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux<Packet4uc>(const Packet4uc& a)
+{
+  const uint8x8_t a_dup = vreinterpret_u8_u32(vdup_n_u32(a));
+  uint8x8_t sum = vpadd_u8(a_dup, a_dup);
+  sum = vpadd_u8(sum, sum);
+  return vget_lane_u8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux<Packet8uc>(const Packet8uc& a)
+{
+  uint8x8_t sum = vpadd_u8(a,a);
+  sum = vpadd_u8(sum, sum);
+  sum = vpadd_u8(sum, sum);
+  return vget_lane_u8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux<Packet16uc>(const Packet16uc& a)
+{
+  uint8x8_t sum = vadd_u8(vget_low_u8(a), vget_high_u8(a));
+  sum = vpadd_u8(sum, sum);
+  sum = vpadd_u8(sum, sum);
+  sum = vpadd_u8(sum, sum);
+  return vget_lane_u8(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux<Packet4s>(const Packet4s& a)
+{
+  const int16x4_t sum = vpadd_s16(a,a);
+  return vget_lane_s16(vpadd_s16(sum, sum), 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux<Packet8s>(const Packet8s& a)
+{
+  int16x4_t sum = vadd_s16(vget_low_s16(a), vget_high_s16(a));
+  sum = vpadd_s16(sum, sum);
+  sum = vpadd_s16(sum, sum);
+  return vget_lane_s16(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux<Packet4us>(const Packet4us& a)
+{
+  const uint16x4_t sum = vpadd_u16(a,a);
+  return vget_lane_u16(vpadd_u16(sum, sum), 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux<Packet8us>(const Packet8us& a)
+{
+  uint16x4_t sum = vadd_u16(vget_low_u16(a), vget_high_u16(a));
+  sum = vpadd_u16(sum, sum);
+  sum = vpadd_u16(sum, sum);
+  return vget_lane_u16(sum, 0);
+}
+template<> EIGEN_STRONG_INLINE int32_t predux<Packet2i>(const Packet2i& a) { return vget_lane_s32(vpadd_s32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a)
+{
+  const int32x2_t sum = vadd_s32(vget_low_s32(a), vget_high_s32(a));
+  return vget_lane_s32(vpadd_s32(sum, sum), 0);
+}
+template<> EIGEN_STRONG_INLINE uint32_t predux<Packet2ui>(const Packet2ui& a) { return vget_lane_u32(vpadd_u32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE uint32_t predux<Packet4ui>(const Packet4ui& a)
+{
+  const uint32x2_t sum = vadd_u32(vget_low_u32(a), vget_high_u32(a));
+  return vget_lane_u32(vpadd_u32(sum, sum), 0);
+}
+template<> EIGEN_STRONG_INLINE int64_t predux<Packet2l>(const Packet2l& a)
+{ return vgetq_lane_s64(a, 0) + vgetq_lane_s64(a, 1); }
+template<> EIGEN_STRONG_INLINE uint64_t predux<Packet2ul>(const Packet2ul& a)
+{ return vgetq_lane_u64(a, 0) + vgetq_lane_u64(a, 1); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4c predux_half_dowto4(const Packet8c& a)
+{
+  return vget_lane_s32(vreinterpret_s32_s8(vadd_s8(a,
+      vreinterpret_s8_s32(vrev64_s32(vreinterpret_s32_s8(a))))), 0);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8c predux_half_dowto4(const Packet16c& a)
+{ return vadd_s8(vget_high_s8(a), vget_low_s8(a)); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4uc predux_half_dowto4(const Packet8uc& a)
+{
+  return vget_lane_u32(vreinterpret_u32_u8(vadd_u8(a,
+      vreinterpret_u8_u32(vrev64_u32(vreinterpret_u32_u8(a))))), 0);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8uc predux_half_dowto4(const Packet16uc& a)
+{ return vadd_u8(vget_high_u8(a), vget_low_u8(a)); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4s predux_half_dowto4(const Packet8s& a)
+{ return vadd_s16(vget_high_s16(a), vget_low_s16(a)); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4us predux_half_dowto4(const Packet8us& a)
+{ return vadd_u16(vget_high_u16(a), vget_low_u16(a)); }
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet2f>(const Packet2f& a)
+{ return vget_lane_f32(a, 0) * vget_lane_f32(a, 1); }
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{ return predux_mul(vmul_f32(vget_low_f32(a), vget_high_f32(a))); }
+template<> EIGEN_STRONG_INLINE int8_t predux_mul<Packet4c>(const Packet4c& a)
+{
+  int8x8_t prod = vreinterpret_s8_s32(vdup_n_s32(a));
+  prod = vmul_s8(prod, vrev16_s8(prod));
+  return vget_lane_s8(prod, 0) * vget_lane_s8(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_mul<Packet8c>(const Packet8c& a)
+{
+  int8x8_t prod = vmul_s8(a, vrev16_s8(a));
+  prod = vmul_s8(prod, vrev32_s8(prod));
+  return vget_lane_s8(prod, 0) * vget_lane_s8(prod, 4);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_mul<Packet16c>(const Packet16c& a)
+{ return predux_mul(vmul_s8(vget_low_s8(a), vget_high_s8(a))); }
+template<> EIGEN_STRONG_INLINE uint8_t predux_mul<Packet4uc>(const Packet4uc& a)
+{
+  uint8x8_t prod = vreinterpret_u8_u32(vdup_n_u32(a));
+  prod = vmul_u8(prod, vrev16_u8(prod));
+  return vget_lane_u8(prod, 0) * vget_lane_u8(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_mul<Packet8uc>(const Packet8uc& a)
+{
+  uint8x8_t prod = vmul_u8(a, vrev16_u8(a));
+  prod = vmul_u8(prod, vrev32_u8(prod));
+  return vget_lane_u8(prod, 0) * vget_lane_u8(prod, 4);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_mul<Packet16uc>(const Packet16uc& a)
+{ return predux_mul(vmul_u8(vget_low_u8(a), vget_high_u8(a))); }
+template<> EIGEN_STRONG_INLINE int16_t predux_mul<Packet4s>(const Packet4s& a)
+{
+  const int16x4_t prod = vmul_s16(a, vrev32_s16(a));
+  return vget_lane_s16(prod, 0) * vget_lane_s16(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux_mul<Packet8s>(const Packet8s& a)
+{
+  int16x4_t prod;
+
+  // Get the product of a_lo * a_hi -> |a1*a5|a2*a6|a3*a7|a4*a8|
+  prod = vmul_s16(vget_low_s16(a), vget_high_s16(a));
+  // Swap and multiply |a1*a5*a2*a6|a3*a7*a4*a8|
+  prod = vmul_s16(prod, vrev32_s16(prod));
+  // Multiply |a1*a5*a2*a6*a3*a7*a4*a8|
+  return vget_lane_s16(prod, 0) * vget_lane_s16(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_mul<Packet4us>(const Packet4us& a)
+{
+  const uint16x4_t prod = vmul_u16(a, vrev32_u16(a));
+  return vget_lane_u16(prod, 0) * vget_lane_u16(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_mul<Packet8us>(const Packet8us& a)
+{
+  uint16x4_t prod;
+
+  // Get the product of a_lo * a_hi -> |a1*a5|a2*a6|a3*a7|a4*a8|
+  prod = vmul_u16(vget_low_u16(a), vget_high_u16(a));
+  // Swap and multiply |a1*a5*a2*a6|a3*a7*a4*a8|
+  prod = vmul_u16(prod, vrev32_u16(prod));
+  // Multiply |a1*a5*a2*a6*a3*a7*a4*a8|
+  return vget_lane_u16(prod, 0) * vget_lane_u16(prod, 2);
+}
+template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet2i>(const Packet2i& a)
+{ return vget_lane_s32(a, 0) * vget_lane_s32(a, 1); }
+template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a)
+{ return predux_mul(vmul_s32(vget_low_s32(a), vget_high_s32(a))); }
+template<> EIGEN_STRONG_INLINE uint32_t predux_mul<Packet2ui>(const Packet2ui& a)
+{ return vget_lane_u32(a, 0) * vget_lane_u32(a, 1); }
+template<> EIGEN_STRONG_INLINE uint32_t predux_mul<Packet4ui>(const Packet4ui& a)
+{ return predux_mul(vmul_u32(vget_low_u32(a), vget_high_u32(a))); }
+template<> EIGEN_STRONG_INLINE int64_t predux_mul<Packet2l>(const Packet2l& a)
+{ return vgetq_lane_s64(a, 0) * vgetq_lane_s64(a, 1); }
+template<> EIGEN_STRONG_INLINE uint64_t predux_mul<Packet2ul>(const Packet2ul& a)
+{ return vgetq_lane_u64(a, 0) * vgetq_lane_u64(a, 1); }
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet2f>(const Packet2f& a)
+{ return vget_lane_f32(vpmin_f32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  const float32x2_t min = vmin_f32(vget_low_f32(a), vget_high_f32(a));
+  return vget_lane_f32(vpmin_f32(min, min), 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_min<Packet4c>(const Packet4c& a)
+{
+  const int8x8_t a_dup = vreinterpret_s8_s32(vdup_n_s32(a));
+  int8x8_t min = vpmin_s8(a_dup, a_dup);
+  min = vpmin_s8(min, min);
+  return vget_lane_s8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_min<Packet8c>(const Packet8c& a)
+{
+  int8x8_t min = vpmin_s8(a,a);
+  min = vpmin_s8(min, min);
+  min = vpmin_s8(min, min);
+  return vget_lane_s8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_min<Packet16c>(const Packet16c& a)
+{
+  int8x8_t min = vmin_s8(vget_low_s8(a), vget_high_s8(a));
+  min = vpmin_s8(min, min);
+  min = vpmin_s8(min, min);
+  min = vpmin_s8(min, min);
+  return vget_lane_s8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_min<Packet4uc>(const Packet4uc& a)
+{
+  const uint8x8_t a_dup = vreinterpret_u8_u32(vdup_n_u32(a));
+  uint8x8_t min = vpmin_u8(a_dup, a_dup);
+  min = vpmin_u8(min, min);
+  return vget_lane_u8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_min<Packet8uc>(const Packet8uc& a)
+{
+  uint8x8_t min = vpmin_u8(a,a);
+  min = vpmin_u8(min, min);
+  min = vpmin_u8(min, min);
+  return vget_lane_u8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_min<Packet16uc>(const Packet16uc& a)
+{
+  uint8x8_t min = vmin_u8(vget_low_u8(a), vget_high_u8(a));
+  min = vpmin_u8(min, min);
+  min = vpmin_u8(min, min);
+  min = vpmin_u8(min, min);
+  return vget_lane_u8(min, 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux_min<Packet4s>(const Packet4s& a)
+{
+  const int16x4_t min = vpmin_s16(a,a);
+  return vget_lane_s16(vpmin_s16(min, min), 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux_min<Packet8s>(const Packet8s& a)
+{
+  int16x4_t min = vmin_s16(vget_low_s16(a), vget_high_s16(a));
+  min = vpmin_s16(min, min);
+  min = vpmin_s16(min, min);
+  return vget_lane_s16(min, 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_min<Packet4us>(const Packet4us& a)
+{
+  const uint16x4_t min = vpmin_u16(a,a);
+  return vget_lane_u16(vpmin_u16(min, min), 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_min<Packet8us>(const Packet8us& a)
+{
+  uint16x4_t min = vmin_u16(vget_low_u16(a), vget_high_u16(a));
+  min = vpmin_u16(min, min);
+  min = vpmin_u16(min, min);
+  return vget_lane_u16(min, 0);
+}
+template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet2i>(const Packet2i& a)
+{ return vget_lane_s32(vpmin_s32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a)
+{
+  const int32x2_t min = vmin_s32(vget_low_s32(a), vget_high_s32(a));
+  return vget_lane_s32(vpmin_s32(min, min), 0);
+}
+template<> EIGEN_STRONG_INLINE uint32_t predux_min<Packet2ui>(const Packet2ui& a)
+{ return vget_lane_u32(vpmin_u32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE uint32_t predux_min<Packet4ui>(const Packet4ui& a)
+{
+  const uint32x2_t min = vmin_u32(vget_low_u32(a), vget_high_u32(a));
+  return vget_lane_u32(vpmin_u32(min, min), 0);
+}
+template<> EIGEN_STRONG_INLINE int64_t predux_min<Packet2l>(const Packet2l& a)
+{ return (std::min)(vgetq_lane_s64(a, 0), vgetq_lane_s64(a, 1)); }
+template<> EIGEN_STRONG_INLINE uint64_t predux_min<Packet2ul>(const Packet2ul& a)
+{ return (std::min)(vgetq_lane_u64(a, 0), vgetq_lane_u64(a, 1)); }
+
+// max
+template<> EIGEN_STRONG_INLINE float predux_max<Packet2f>(const Packet2f& a)
+{ return vget_lane_f32(vpmax_f32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  const float32x2_t max = vmax_f32(vget_low_f32(a), vget_high_f32(a));
+  return vget_lane_f32(vpmax_f32(max, max), 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_max<Packet4c>(const Packet4c& a)
+{
+  const int8x8_t a_dup = vreinterpret_s8_s32(vdup_n_s32(a));
+  int8x8_t max = vpmax_s8(a_dup, a_dup);
+  max = vpmax_s8(max, max);
+  return vget_lane_s8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_max<Packet8c>(const Packet8c& a)
+{
+  int8x8_t max = vpmax_s8(a,a);
+  max = vpmax_s8(max, max);
+  max = vpmax_s8(max, max);
+  return vget_lane_s8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE int8_t predux_max<Packet16c>(const Packet16c& a)
+{
+  int8x8_t max = vmax_s8(vget_low_s8(a), vget_high_s8(a));
+  max = vpmax_s8(max, max);
+  max = vpmax_s8(max, max);
+  max = vpmax_s8(max, max);
+  return vget_lane_s8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_max<Packet4uc>(const Packet4uc& a)
+{
+  const uint8x8_t a_dup = vreinterpret_u8_u32(vdup_n_u32(a));
+  uint8x8_t max = vpmax_u8(a_dup, a_dup);
+  max = vpmax_u8(max, max);
+  return vget_lane_u8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_max<Packet8uc>(const Packet8uc& a)
+{
+  uint8x8_t max = vpmax_u8(a,a);
+  max = vpmax_u8(max, max);
+  max = vpmax_u8(max, max);
+  return vget_lane_u8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE uint8_t predux_max<Packet16uc>(const Packet16uc& a)
+{
+  uint8x8_t max = vmax_u8(vget_low_u8(a), vget_high_u8(a));
+  max = vpmax_u8(max, max);
+  max = vpmax_u8(max, max);
+  max = vpmax_u8(max, max);
+  return vget_lane_u8(max, 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux_max<Packet4s>(const Packet4s& a)
+{
+  const int16x4_t max = vpmax_s16(a,a);
+  return vget_lane_s16(vpmax_s16(max, max), 0);
+}
+template<> EIGEN_STRONG_INLINE int16_t predux_max<Packet8s>(const Packet8s& a)
+{
+  int16x4_t max = vmax_s16(vget_low_s16(a), vget_high_s16(a));
+  max = vpmax_s16(max, max);
+  max = vpmax_s16(max, max);
+  return vget_lane_s16(max, 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_max<Packet4us>(const Packet4us& a)
+{
+  const uint16x4_t max = vpmax_u16(a,a);
+  return vget_lane_u16(vpmax_u16(max, max), 0);
+}
+template<> EIGEN_STRONG_INLINE uint16_t predux_max<Packet8us>(const Packet8us& a)
+{
+  uint16x4_t max = vmax_u16(vget_low_u16(a), vget_high_u16(a));
+  max = vpmax_u16(max, max);
+  max = vpmax_u16(max, max);
+  return vget_lane_u16(max, 0);
+}
+template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet2i>(const Packet2i& a)
+{ return vget_lane_s32(vpmax_s32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a)
+{
+  const int32x2_t max = vmax_s32(vget_low_s32(a), vget_high_s32(a));
+  return vget_lane_s32(vpmax_s32(max, max), 0);
+}
+template<> EIGEN_STRONG_INLINE uint32_t predux_max<Packet2ui>(const Packet2ui& a)
+{ return vget_lane_u32(vpmax_u32(a,a), 0); }
+template<> EIGEN_STRONG_INLINE uint32_t predux_max<Packet4ui>(const Packet4ui& a)
+{
+  const uint32x2_t max = vmax_u32(vget_low_u32(a), vget_high_u32(a));
+  return vget_lane_u32(vpmax_u32(max, max), 0);
+}
+template<> EIGEN_STRONG_INLINE int64_t predux_max<Packet2l>(const Packet2l& a)
+{ return (std::max)(vgetq_lane_s64(a, 0), vgetq_lane_s64(a, 1)); }
+template<> EIGEN_STRONG_INLINE uint64_t predux_max<Packet2ul>(const Packet2ul& a)
+{ return (std::max)(vgetq_lane_u64(a, 0), vgetq_lane_u64(a, 1)); }
+
+template<> EIGEN_STRONG_INLINE bool predux_any(const Packet4f& x)
+{
+  uint32x2_t tmp = vorr_u32(vget_low_u32( vreinterpretq_u32_f32(x)),
+                            vget_high_u32(vreinterpretq_u32_f32(x)));
+  return vget_lane_u32(vpmax_u32(tmp, tmp), 0);
+}
+
+// Helpers for ptranspose.
+namespace detail {
+  
+template<typename Packet>
+void zip_in_place(Packet& p1, Packet& p2);
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet2f>(Packet2f& p1, Packet2f& p2) {
+  const float32x2x2_t tmp = vzip_f32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4f>(Packet4f& p1, Packet4f& p2) {
+  const float32x4x2_t tmp = vzipq_f32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet8c>(Packet8c& p1, Packet8c& p2) {
+  const int8x8x2_t tmp = vzip_s8(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet16c>(Packet16c& p1, Packet16c& p2) {
+  const int8x16x2_t tmp = vzipq_s8(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet8uc>(Packet8uc& p1, Packet8uc& p2) {
+  const uint8x8x2_t tmp = vzip_u8(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet16uc>(Packet16uc& p1, Packet16uc& p2) {
+  const uint8x16x2_t tmp = vzipq_u8(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet2i>(Packet2i& p1, Packet2i& p2) {
+  const int32x2x2_t tmp = vzip_s32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4i>(Packet4i& p1, Packet4i& p2) {
+  const int32x4x2_t tmp = vzipq_s32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet2ui>(Packet2ui& p1, Packet2ui& p2) {
+  const uint32x2x2_t tmp = vzip_u32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4ui>(Packet4ui& p1, Packet4ui& p2) {
+  const uint32x4x2_t tmp = vzipq_u32(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4s>(Packet4s& p1, Packet4s& p2) {
+  const int16x4x2_t tmp = vzip_s16(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet8s>(Packet8s& p1, Packet8s& p2) {
+  const int16x8x2_t tmp = vzipq_s16(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4us>(Packet4us& p1, Packet4us& p2) {
+  const uint16x4x2_t tmp = vzip_u16(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet8us>(Packet8us& p1, Packet8us& p2) {
+  const uint16x8x2_t tmp = vzipq_u16(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE void ptranspose_impl(PacketBlock<Packet, 2>& kernel) {
+  zip_in_place(kernel.packet[0], kernel.packet[1]);
+}
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE void ptranspose_impl(PacketBlock<Packet, 4>& kernel) {
+  zip_in_place(kernel.packet[0], kernel.packet[2]);
+  zip_in_place(kernel.packet[1], kernel.packet[3]);
+  zip_in_place(kernel.packet[0], kernel.packet[1]);
+  zip_in_place(kernel.packet[2], kernel.packet[3]);
+}
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE void ptranspose_impl(PacketBlock<Packet, 8>& kernel) {
+  zip_in_place(kernel.packet[0], kernel.packet[4]);
+  zip_in_place(kernel.packet[1], kernel.packet[5]);
+  zip_in_place(kernel.packet[2], kernel.packet[6]);
+  zip_in_place(kernel.packet[3], kernel.packet[7]);
+
+  zip_in_place(kernel.packet[0], kernel.packet[2]);
+  zip_in_place(kernel.packet[1], kernel.packet[3]);
+  zip_in_place(kernel.packet[4], kernel.packet[6]);
+  zip_in_place(kernel.packet[5], kernel.packet[7]);
+  
+  zip_in_place(kernel.packet[0], kernel.packet[1]);
+  zip_in_place(kernel.packet[2], kernel.packet[3]);
+  zip_in_place(kernel.packet[4], kernel.packet[5]);
+  zip_in_place(kernel.packet[6], kernel.packet[7]);
+}
+
+template<typename Packet>
+EIGEN_ALWAYS_INLINE void ptranspose_impl(PacketBlock<Packet, 16>& kernel) {
+  EIGEN_UNROLL_LOOP
+  for (int i=0; i<4; ++i) {
+    const int m = (1 << i);
+    EIGEN_UNROLL_LOOP
+    for (int j=0; j<m; ++j) {
+      const int n = (1 << (3-i));
+      EIGEN_UNROLL_LOOP
+      for (int k=0; k<n; ++k) {
+        const int idx = 2*j*n+k;
+        zip_in_place(kernel.packet[idx], kernel.packet[idx + n]);
+      }
+    }
+  }
+}
+
+} // namespace detail
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2f, 2>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4f, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4c, 4>& kernel)
+{
+  const int8x8_t a = vreinterpret_s8_s32(vset_lane_s32(kernel.packet[2], vdup_n_s32(kernel.packet[0]), 1));
+  const int8x8_t b = vreinterpret_s8_s32(vset_lane_s32(kernel.packet[3], vdup_n_s32(kernel.packet[1]), 1));
+
+  const int8x8x2_t zip8 = vzip_s8(a,b);
+  const int16x4x2_t zip16 = vzip_s16(vreinterpret_s16_s8(zip8.val[0]), vreinterpret_s16_s8(zip8.val[1]));
+
+  kernel.packet[0] = vget_lane_s32(vreinterpret_s32_s16(zip16.val[0]), 0);
+  kernel.packet[1] = vget_lane_s32(vreinterpret_s32_s16(zip16.val[0]), 1);
+  kernel.packet[2] = vget_lane_s32(vreinterpret_s32_s16(zip16.val[1]), 0);
+  kernel.packet[3] = vget_lane_s32(vreinterpret_s32_s16(zip16.val[1]), 1);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8c, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8c, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16c, 16>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16c, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16c, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4uc, 4>& kernel)
+{
+  const uint8x8_t a = vreinterpret_u8_u32(vset_lane_u32(kernel.packet[2], vdup_n_u32(kernel.packet[0]), 1));
+  const uint8x8_t b = vreinterpret_u8_u32(vset_lane_u32(kernel.packet[3], vdup_n_u32(kernel.packet[1]), 1));
+
+  const uint8x8x2_t zip8 = vzip_u8(a,b);
+  const uint16x4x2_t zip16 = vzip_u16(vreinterpret_u16_u8(zip8.val[0]), vreinterpret_u16_u8(zip8.val[1]));
+
+  kernel.packet[0] = vget_lane_u32(vreinterpret_u32_u16(zip16.val[0]), 0);
+  kernel.packet[1] = vget_lane_u32(vreinterpret_u32_u16(zip16.val[0]), 1);
+  kernel.packet[2] = vget_lane_u32(vreinterpret_u32_u16(zip16.val[1]), 0);
+  kernel.packet[3] = vget_lane_u32(vreinterpret_u32_u16(zip16.val[1]), 1);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8uc, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8uc, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16uc, 16>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16uc, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet16uc, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4s, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8s, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8s, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4us, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8us, 8>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8us, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2i, 2>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4i, 4>& kernel) {
+    detail::ptranspose_impl(kernel);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2ui, 2>& kernel) {
+  detail::zip_in_place(kernel.packet[0], kernel.packet[1]);
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4ui, 4>& kernel) {
+  detail::ptranspose_impl(kernel);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet2l, 2>& kernel)
+{
+#if EIGEN_ARCH_ARM64
+  const int64x2_t tmp1 = vzip1q_s64(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[1] = vzip2q_s64(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[0] = tmp1;
+#else
+  const int64x1_t tmp[2][2] = {
+    { vget_low_s64(kernel.packet[0]), vget_high_s64(kernel.packet[0]) },
+    { vget_low_s64(kernel.packet[1]), vget_high_s64(kernel.packet[1]) }
+  };
+
+  kernel.packet[0] = vcombine_s64(tmp[0][0], tmp[1][0]);
+  kernel.packet[1] = vcombine_s64(tmp[0][1], tmp[1][1]);
+#endif
+}
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet2ul, 2>& kernel)
+{
+#if EIGEN_ARCH_ARM64
+  const uint64x2_t tmp1 = vzip1q_u64(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[1] = vzip2q_u64(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[0] = tmp1;
+#else
+  const uint64x1_t tmp[2][2] = {
+    { vget_low_u64(kernel.packet[0]), vget_high_u64(kernel.packet[0]) },
+    { vget_low_u64(kernel.packet[1]), vget_high_u64(kernel.packet[1]) }
+  };
+
+  kernel.packet[0] = vcombine_u64(tmp[0][0], tmp[1][0]);
+  kernel.packet[1] = vcombine_u64(tmp[0][1], tmp[1][1]);
+#endif
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2f pselect( const Packet2f& mask, const Packet2f& a, const Packet2f& b)
+{ return vbsl_f32(vreinterpret_u32_f32(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4f pselect(const Packet4f& mask, const Packet4f& a, const Packet4f& b)
+{ return vbslq_f32(vreinterpretq_u32_f32(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8c pselect(const Packet8c& mask, const Packet8c& a, const Packet8c& b)
+{ return vbsl_s8(vreinterpret_u8_s8(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet16c pselect(const Packet16c& mask, const Packet16c& a, const Packet16c& b)
+{ return vbslq_s8(vreinterpretq_u8_s8(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8uc pselect(const Packet8uc& mask, const Packet8uc& a, const Packet8uc& b)
+{ return vbsl_u8(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet16uc pselect(const Packet16uc& mask, const Packet16uc& a, const Packet16uc& b)
+{ return vbslq_u8(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4s pselect(const Packet4s& mask, const Packet4s& a, const Packet4s& b)
+{ return vbsl_s16(vreinterpret_u16_s16(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8s pselect(const Packet8s& mask, const Packet8s& a, const Packet8s& b)
+{ return vbslq_s16(vreinterpretq_u16_s16(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4us pselect(const Packet4us& mask, const Packet4us& a, const Packet4us& b)
+{ return vbsl_u16(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8us pselect(const Packet8us& mask, const Packet8us& a, const Packet8us& b)
+{ return vbslq_u16(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2i pselect(const Packet2i& mask, const Packet2i& a, const Packet2i& b)
+{ return vbsl_s32(vreinterpret_u32_s32(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4i pselect(const Packet4i& mask, const Packet4i& a, const Packet4i& b)
+{ return vbslq_s32(vreinterpretq_u32_s32(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2ui pselect(const Packet2ui& mask, const Packet2ui& a, const Packet2ui& b)
+{ return vbsl_u32(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4ui pselect(const Packet4ui& mask, const Packet4ui& a, const Packet4ui& b)
+{ return vbslq_u32(mask, a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2l pselect(const Packet2l& mask, const Packet2l& a, const Packet2l& b)
+{ return vbslq_s64(vreinterpretq_u64_s64(mask), a, b); }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2ul pselect(const Packet2ul& mask, const Packet2ul& a, const Packet2ul& b)
+{ return vbslq_u64(mask, a, b); }
+
+// Use armv8 rounding intinsics if available.
+#if EIGEN_ARCH_ARMV8
+template<> EIGEN_STRONG_INLINE Packet2f print<Packet2f>(const Packet2f& a)
+{ return vrndn_f32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f print<Packet4f>(const Packet4f& a)
+{ return vrndnq_f32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pfloor<Packet2f>(const Packet2f& a)
+{ return vrndm_f32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
+{ return vrndmq_f32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2f pceil<Packet2f>(const Packet2f& a)
+{ return vrndp_f32(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a)
+{ return vrndpq_f32(a); }
+
+#else
+
+template<> EIGEN_STRONG_INLINE Packet4f print(const Packet4f& a) {
+  // Adds and subtracts signum(a) * 2^23 to force rounding.
+  const Packet4f limit = pset1<Packet4f>(static_cast<float>(1<<23));
+  const Packet4f abs_a = pabs(a);
+  Packet4f r = padd(abs_a, limit);
+  // Don't compile-away addition and subtraction.
+  EIGEN_OPTIMIZATION_BARRIER(r);
+  r = psub(r, limit);
+  // If greater than limit, simply return a.  Otherwise, account for sign.
+  r = pselect(pcmp_lt(abs_a, limit),
+              pselect(pcmp_lt(a, pzero(a)), pnegate(r), r), a);
+  return r;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f print(const Packet2f& a) {
+  // Adds and subtracts signum(a) * 2^23 to force rounding.
+  const Packet2f limit = pset1<Packet2f>(static_cast<float>(1<<23));
+  const Packet2f abs_a = pabs(a);
+  Packet2f r = padd(abs_a, limit);
+  // Don't compile-away addition and subtraction.
+  EIGEN_OPTIMIZATION_BARRIER(r);
+  r = psub(r, limit);
+  // If greater than limit, simply return a.  Otherwise, account for sign.
+  r = pselect(pcmp_lt(abs_a, limit),
+              pselect(pcmp_lt(a, pzero(a)), pnegate(r), r), a);
+  return r;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
+{
+  const Packet4f cst_1 = pset1<Packet4f>(1.0f);
+  Packet4f tmp  = print<Packet4f>(a);
+  // If greater, subtract one.
+  Packet4f mask = pcmp_lt(a, tmp);
+  mask = pand(mask, cst_1);
+  return psub(tmp, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pfloor<Packet2f>(const Packet2f& a)
+{
+  const Packet2f cst_1 = pset1<Packet2f>(1.0f);
+  Packet2f tmp  = print<Packet2f>(a);
+  // If greater, subtract one.
+  Packet2f mask = pcmp_lt(a, tmp);
+  mask = pand(mask, cst_1);
+  return psub(tmp, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a)
+{
+  const Packet4f cst_1 = pset1<Packet4f>(1.0f);
+  Packet4f tmp  = print<Packet4f>(a);
+  // If smaller, add one.
+  Packet4f mask = pcmp_lt(tmp, a);
+  mask = pand(mask, cst_1);
+  return padd(tmp, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f pceil<Packet2f>(const Packet2f& a)
+{
+  const Packet2f cst_1 = pset1<Packet2f>(1.0);
+  Packet2f tmp  = print<Packet2f>(a);
+  // If smaller, add one.
+  Packet2f mask = pcmp_lt(tmp, a);
+  mask = pand(mask, cst_1);
+  return padd(tmp, mask);
+}
+
+#endif
+
+/**
+ * Computes the integer square root
+ * @remarks The calculation is performed using an algorithm which iterates through each binary digit of the result
+ *   and tests whether setting that digit to 1 would cause the square of the value to be greater than the argument
+ *   value. The algorithm is described in detail here: http://ww1.microchip.com/downloads/en/AppNotes/91040a.pdf .
+ */
+template<> EIGEN_STRONG_INLINE Packet4uc psqrt(const Packet4uc& a) {
+  uint8x8_t x = vreinterpret_u8_u32(vdup_n_u32(a));
+  uint8x8_t res = vdup_n_u8(0);
+  uint8x8_t add = vdup_n_u8(0x8);
+  for (int i = 0; i < 4; i++)
+  {
+    const uint8x8_t temp = vorr_u8(res, add);
+    res = vbsl_u8(vcge_u8(x, vmul_u8(temp, temp)), temp, res);
+    add = vshr_n_u8(add, 1);
+  }
+  return vget_lane_u32(vreinterpret_u32_u8(res), 0);
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet8uc psqrt(const Packet8uc& a) {
+  uint8x8_t res = vdup_n_u8(0);
+  uint8x8_t add = vdup_n_u8(0x8);
+  for (int i = 0; i < 4; i++)
+  {
+    const uint8x8_t temp = vorr_u8(res, add);
+    res = vbsl_u8(vcge_u8(a, vmul_u8(temp, temp)), temp, res);
+    add = vshr_n_u8(add, 1);
+  }
+  return res;
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet16uc psqrt(const Packet16uc& a) {
+  uint8x16_t res = vdupq_n_u8(0);
+  uint8x16_t add = vdupq_n_u8(0x8);
+  for (int i = 0; i < 4; i++)
+  {
+    const uint8x16_t temp = vorrq_u8(res, add);
+    res = vbslq_u8(vcgeq_u8(a, vmulq_u8(temp, temp)), temp, res);
+    add = vshrq_n_u8(add, 1);
+  }
+  return res;
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet4us psqrt(const Packet4us& a) {
+  uint16x4_t res = vdup_n_u16(0);
+  uint16x4_t add = vdup_n_u16(0x80);
+  for (int i = 0; i < 8; i++)
+  {
+    const uint16x4_t temp = vorr_u16(res, add);
+    res = vbsl_u16(vcge_u16(a, vmul_u16(temp, temp)), temp, res);
+    add = vshr_n_u16(add, 1);
+  }
+  return res;
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet8us psqrt(const Packet8us& a) {
+  uint16x8_t res = vdupq_n_u16(0);
+  uint16x8_t add = vdupq_n_u16(0x80);
+  for (int i = 0; i < 8; i++)
+  {
+    const uint16x8_t temp = vorrq_u16(res, add);
+    res = vbslq_u16(vcgeq_u16(a, vmulq_u16(temp, temp)), temp, res);
+    add = vshrq_n_u16(add, 1);
+  }
+  return res;
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet2ui psqrt(const Packet2ui& a) {
+  uint32x2_t res = vdup_n_u32(0);
+  uint32x2_t add = vdup_n_u32(0x8000);
+  for (int i = 0; i < 16; i++)
+  {
+    const uint32x2_t temp = vorr_u32(res, add);
+    res = vbsl_u32(vcge_u32(a, vmul_u32(temp, temp)), temp, res);
+    add = vshr_n_u32(add, 1);
+  }
+  return res;
+}
+/// @copydoc Eigen::internal::psqrt(const Packet4uc& a)
+template<> EIGEN_STRONG_INLINE Packet4ui psqrt(const Packet4ui& a) {
+  uint32x4_t res = vdupq_n_u32(0);
+  uint32x4_t add = vdupq_n_u32(0x8000);
+  for (int i = 0; i < 16; i++)
+  {
+    const uint32x4_t temp = vorrq_u32(res, add);
+    res = vbslq_u32(vcgeq_u32(a, vmulq_u32(temp, temp)), temp, res);
+    add = vshrq_n_u32(add, 1);
+  }
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f prsqrt(const Packet4f& a) {
+  // Compute approximate reciprocal sqrt.
+  Packet4f x = vrsqrteq_f32(a);
+  // Do Newton iterations for 1/sqrt(x).
+  x = vmulq_f32(vrsqrtsq_f32(vmulq_f32(a, x), x), x);
+  x = vmulq_f32(vrsqrtsq_f32(vmulq_f32(a, x), x), x);
+  const Packet4f infinity = pset1<Packet4f>(NumTraits<float>::infinity());
+  return pselect(pcmp_eq(a, pzero(a)), infinity, x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2f prsqrt(const Packet2f& a) {
+  // Compute approximate reciprocal sqrt.
+  Packet2f x = vrsqrte_f32(a);
+  // Do Newton iterations for 1/sqrt(x).
+  x = vmul_f32(vrsqrts_f32(vmul_f32(a, x), x), x);
+  x = vmul_f32(vrsqrts_f32(vmul_f32(a, x), x), x);
+  const Packet2f infinity = pset1<Packet2f>(NumTraits<float>::infinity());
+  return pselect(pcmp_eq(a, pzero(a)), infinity, x);
+}
+
+// Unfortunately vsqrt_f32 is only available for A64.
+#if EIGEN_ARCH_ARM64
+template<> EIGEN_STRONG_INLINE Packet4f psqrt(const Packet4f& _x){return vsqrtq_f32(_x);}
+template<> EIGEN_STRONG_INLINE Packet2f psqrt(const Packet2f& _x){return vsqrt_f32(_x); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f psqrt(const Packet4f& a) {
+  const Packet4f infinity = pset1<Packet4f>(NumTraits<float>::infinity());
+  const Packet4f is_zero_or_inf = por(pcmp_eq(a, pzero(a)), pcmp_eq(a, infinity));
+  return pselect(is_zero_or_inf, a, pmul(a, prsqrt(a)));
+}
+template<> EIGEN_STRONG_INLINE Packet2f psqrt(const Packet2f& a) {
+  const Packet2f infinity = pset1<Packet2f>(NumTraits<float>::infinity());
+  const Packet2f is_zero_or_inf = por(pcmp_eq(a, pzero(a)), pcmp_eq(a, infinity));
+  return pselect(is_zero_or_inf, a, pmul(a, prsqrt(a)));
+}
+#endif
+
+//---------- bfloat16 ----------
+// TODO: Add support for native armv8.6-a bfloat16_t
+
+// TODO: Guard if we have native bfloat16 support
+typedef eigen_packet_wrapper<uint16x4_t, 19> Packet4bf;
+
+template<> struct is_arithmetic<Packet4bf> { enum { value = true }; };
+
+template<> struct packet_traits<bfloat16> : default_packet_traits
+{
+  typedef Packet4bf type;
+  typedef Packet4bf half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+
+    HasCmp       = 1,
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+    HasDiv       = 1,
+    HasFloor     = 1,
+    HasCeil      = 1,
+    HasRint      = 1,
+
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = EIGEN_FAST_MATH,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 0,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf  = EIGEN_FAST_MATH,
+    HasBessel = 0,  // Issues with accuracy.
+    HasNdtri = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet4bf>
+{
+  typedef bfloat16 type;
+  typedef Packet4bf half;
+  enum
+  {
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+namespace detail {  
+template<>
+EIGEN_ALWAYS_INLINE void zip_in_place<Packet4bf>(Packet4bf& p1, Packet4bf& p2) {
+  const uint16x4x2_t tmp = vzip_u16(p1, p2);
+  p1 = tmp.val[0];
+  p2 = tmp.val[1];
+}
+} // namespace detail
+
+EIGEN_STRONG_INLINE Packet4bf F32ToBf16(const Packet4f& p)
+{
+  // See the scalar implemention in BFloat16.h for a comprehensible explanation
+  // of this fast rounding algorithm
+  Packet4ui input = reinterpret_cast<Packet4ui>(p);
+
+  // lsb = (input >> 16) & 1
+  Packet4ui lsb =  vandq_u32(vshrq_n_u32(input, 16), vdupq_n_u32(1));
+
+  // rounding_bias = 0x7fff + lsb
+  Packet4ui rounding_bias = vaddq_u32(lsb, vdupq_n_u32(0x7fff));
+
+  // input += rounding_bias
+  input = vaddq_u32(input, rounding_bias);
+
+  // input = input >> 16
+  input = vshrq_n_u32(input, 16);
+
+  // Replace float-nans by bfloat16-nans, that is 0x7fc0
+  const Packet4ui bf16_nan = vdupq_n_u32(0x7fc0);
+  const Packet4ui mask = vceqq_f32(p, p);
+  input = vbslq_u32(mask, input, bf16_nan);
+
+  // output = static_cast<uint16_t>(input)
+  return vmovn_u32(input);
+}
+
+EIGEN_STRONG_INLINE Packet4f Bf16ToF32(const Packet4bf& p)
+{
+  return reinterpret_cast<Packet4f>(vshlq_n_u32(vmovl_u16(p), 16));
+}
+
+EIGEN_STRONG_INLINE Packet4bf F32MaskToBf16Mask(const Packet4f& p) {
+  return vmovn_u32(vreinterpretq_u32_f32(p));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pset1<Packet4bf>(const bfloat16& from) {
+  return pset1<Packet4us>(from.value);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 pfirst<Packet4bf>(const Packet4bf& from) {
+  return bfloat16_impl::raw_uint16_to_bfloat16(static_cast<uint16_t>(pfirst<Packet4us>(from)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pload<Packet4bf>(const bfloat16* from)
+{
+  return pload<Packet4us>(reinterpret_cast<const uint16_t*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf ploadu<Packet4bf>(const bfloat16* from)
+{
+  return ploadu<Packet4us>(reinterpret_cast<const uint16_t*>(from));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<bfloat16>(bfloat16* to, const Packet4bf& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE vst1_u16(reinterpret_cast<uint16_t*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<bfloat16>(bfloat16* to, const Packet4bf& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE vst1_u16(reinterpret_cast<uint16_t*>(to), from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf ploaddup<Packet4bf>(const bfloat16* from)
+{
+  return ploaddup<Packet4us>(reinterpret_cast<const uint16_t*>(from));
+}
+
+template <> EIGEN_STRONG_INLINE Packet4bf pabs(const Packet4bf& a) {
+  return F32ToBf16(pabs<Packet4f>(Bf16ToF32(a)));
+}
+
+template <> EIGEN_STRONG_INLINE Packet4bf pmin<PropagateNumbers, Packet4bf>(const Packet4bf &a,
+                                                                            const Packet4bf &b)
+{
+  return F32ToBf16(pmin<PropagateNumbers, Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+template <> EIGEN_STRONG_INLINE Packet4bf pmin<PropagateNaN, Packet4bf>(const Packet4bf &a,
+                                                                        const Packet4bf &b)
+{
+  return F32ToBf16(pmin<PropagateNaN, Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <> EIGEN_STRONG_INLINE Packet4bf pmin<Packet4bf>(const Packet4bf &a,
+                                                          const Packet4bf &b)
+{
+  return F32ToBf16(pmin<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <> EIGEN_STRONG_INLINE Packet4bf pmax<PropagateNumbers, Packet4bf>(const Packet4bf &a,
+                                                                            const Packet4bf &b)
+{
+  return F32ToBf16(pmax<PropagateNumbers, Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+template <> EIGEN_STRONG_INLINE Packet4bf pmax<PropagateNaN, Packet4bf>(const Packet4bf &a,
+                                                                        const Packet4bf &b)
+{
+  return F32ToBf16(pmax<PropagateNaN, Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template <> EIGEN_STRONG_INLINE Packet4bf pmax<Packet4bf>(const Packet4bf &a,
+                                                          const Packet4bf &b)
+{
+  return F32ToBf16(pmax<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf plset<Packet4bf>(const bfloat16& a)
+{
+  return F32ToBf16(plset<Packet4f>(static_cast<float>(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf por(const Packet4bf& a,const Packet4bf& b) {
+  return por<Packet4us>(a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pxor(const Packet4bf& a,const Packet4bf& b) {
+  return pxor<Packet4us>(a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pand(const Packet4bf& a,const Packet4bf& b) {
+  return pand<Packet4us>(a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pandnot(const Packet4bf& a,const Packet4bf& b) {
+  return pandnot<Packet4us>(a, b);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4bf pselect(const Packet4bf& mask, const Packet4bf& a,
+                                                      const Packet4bf& b)
+{
+  return pselect<Packet4us>(mask, a, b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf print<Packet4bf>(const Packet4bf& a)
+{
+  return F32ToBf16(print<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pfloor<Packet4bf>(const Packet4bf& a)
+{
+  return F32ToBf16(pfloor<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pceil<Packet4bf>(const Packet4bf& a)
+{
+  return F32ToBf16(pceil<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pconj(const Packet4bf& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4bf padd<Packet4bf>(const Packet4bf& a, const Packet4bf& b) {
+  return F32ToBf16(padd<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf psub<Packet4bf>(const Packet4bf& a, const Packet4bf& b) {
+  return F32ToBf16(psub<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pmul<Packet4bf>(const Packet4bf& a, const Packet4bf& b) {
+  return F32ToBf16(pmul<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pdiv<Packet4bf>(const Packet4bf& a, const Packet4bf& b) {
+  return F32ToBf16(pdiv<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<>
+EIGEN_STRONG_INLINE Packet4bf pgather<bfloat16, Packet4bf>(const bfloat16* from, Index stride)
+{
+  return pgather<uint16_t, Packet4us>(reinterpret_cast<const uint16_t*>(from), stride);
+}
+
+template<>
+EIGEN_STRONG_INLINE void pscatter<bfloat16, Packet4bf>(bfloat16* to, const Packet4bf& from, Index stride)
+{
+  pscatter<uint16_t, Packet4us>(reinterpret_cast<uint16_t*>(to), from, stride);
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux<Packet4bf>(const Packet4bf& a)
+{
+  return static_cast<bfloat16>(predux<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_max<Packet4bf>(const Packet4bf& a)
+{
+  return static_cast<bfloat16>(predux_max<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_min<Packet4bf>(const Packet4bf& a)
+{
+  return static_cast<bfloat16>(predux_min<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE bfloat16 predux_mul<Packet4bf>(const Packet4bf& a)
+{
+  return static_cast<bfloat16>(predux_mul<Packet4f>(Bf16ToF32(a)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf preverse<Packet4bf>(const Packet4bf& a)
+{
+  return preverse<Packet4us>(a);
+}
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4bf, 4>& kernel)
+{
+  detail::ptranspose_impl(kernel);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pabsdiff<Packet4bf>(const Packet4bf& a, const Packet4bf& b)
+{
+  return F32ToBf16(pabsdiff<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pcmp_eq<Packet4bf>(const Packet4bf& a, const Packet4bf& b)
+{
+  return F32MaskToBf16Mask(pcmp_eq<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pcmp_lt<Packet4bf>(const Packet4bf& a, const Packet4bf& b)
+{
+  return F32MaskToBf16Mask(pcmp_lt<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pcmp_lt_or_nan<Packet4bf>(const Packet4bf& a, const Packet4bf& b)
+{
+  return F32MaskToBf16Mask(pcmp_lt_or_nan<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pcmp_le<Packet4bf>(const Packet4bf& a, const Packet4bf& b)
+{
+  return F32MaskToBf16Mask(pcmp_le<Packet4f>(Bf16ToF32(a), Bf16ToF32(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4bf pnegate<Packet4bf>(const Packet4bf& a)
+{
+  return pxor<Packet4us>(a, pset1<Packet4us>(static_cast<uint16_t>(0x8000)));
+}
+
+//---------- double ----------
+
+// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
+// Confirmed at least with __apple_build_version__ = 6000054.
+#ifdef __apple_build_version__
+// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
+// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
+// major toolchain updates.
+#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
+#else
+#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
+#endif
+
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// Bug 907: workaround missing declarations of the following two functions in the ADK
+// Defining these functions as templates ensures that if these intrinsics are
+// already defined in arm_neon.h, then our workaround doesn't cause a conflict
+// and has lower priority in overload resolution.
+template <typename T> uint64x2_t vreinterpretq_u64_f64(T a) { return (uint64x2_t) a; }
+
+template <typename T> float64x2_t vreinterpretq_f64_u64(T a) { return (float64x2_t) a; }
+
+typedef float64x2_t Packet2d;
+typedef float64x1_t Packet1d;
+
+// fuctionally equivalent to _mm_shuffle_pd in SSE (i.e. shuffle(m, n, mask) equals _mm_shuffle_pd(m,n,mask))
+// Currently used in LU/arch/InverseSize4.h to enable a shared implementation
+// for fast inversion of matrices of size 4.
+EIGEN_STRONG_INLINE Packet2d shuffle(const Packet2d& m, const Packet2d& n, int mask)
+{
+  const double* a = reinterpret_cast<const double*>(&m);
+  const double* b = reinterpret_cast<const double*>(&n);
+  Packet2d res = {*(a + (mask & 1)), *(b + ((mask >> 1) & 1))};
+  return res;
+}
+
+EIGEN_STRONG_INLINE Packet2d vec2d_swizzle2(const Packet2d& a, const Packet2d& b, int mask)
+{
+  return shuffle(a, b, mask);
+}
+EIGEN_STRONG_INLINE Packet2d vec2d_unpacklo(const Packet2d& a,const Packet2d& b)
+{
+  return shuffle(a, b, 0);
+}
+EIGEN_STRONG_INLINE Packet2d vec2d_unpackhi(const Packet2d& a,const Packet2d& b)
+{
+  return shuffle(a, b, 3);
+}
+#define vec2d_duplane(a, p) \
+  vdupq_laneq_f64(a, p)
+
+template<> struct packet_traits<double>  : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum
+  {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasCmp       = 1,
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 1,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 1,
+    HasArg       = 0,
+    HasAbs2      = 1,
+    HasAbsDiff   = 1,
+    HasMin       = 1,
+    HasMax       = 1,
+    HasConj      = 1,
+    HasSetLinear = 0,
+    HasBlend     = 0,
+
+    HasDiv   = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1,
+
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh = 0,
+    HasErf  = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2d>
+{
+  typedef double type;
+  typedef Packet2d half;
+  typedef Packet2l integer_packet;
+  enum
+  {
+    size = 2,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) { return vdupq_n_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
+{
+  const double c[] = {0.0,1.0};
+  return vaddq_f64(pset1<Packet2d>(a), vld1q_f64(c));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& , const Packet2d& );
+template<> EIGEN_STRONG_INLINE Packet2d paddsub<Packet2d>(const Packet2d& a, const Packet2d& b){
+  const Packet2d mask = {numext::bit_cast<double>(0x8000000000000000ull),0.0};
+  return padd(a, pxor(mask, b));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
+
+#ifdef __ARM_FEATURE_FMA
+// See bug 936. See above comment about FMA for float.
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c)
+{ return vfmaq_f64(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c)
+{ return vmlaq_f64(c,a,b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
+
+#ifdef __ARM_FEATURE_NUMERIC_MAXMIN
+// numeric max and min are only available if ARM_FEATURE_NUMERIC_MAXMIN is defined (which can only be the case for Armv8 systems).
+template<> EIGEN_STRONG_INLINE Packet2d pmin<PropagateNumbers, Packet2d>(const Packet2d& a, const Packet2d& b) { return vminnmq_f64(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<PropagateNumbers, Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxnmq_f64(a, b); }
+
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<PropagateNaN, Packet2d>(const Packet2d& a, const Packet2d& b) { return pmin<Packet2d>(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
+
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<PropagateNaN, Packet2d>(const Packet2d& a, const Packet2d& b) { return pmax<Packet2d>(a, b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b))); }
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b))); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b))); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b))); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_le(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vcleq_f64(a,b)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vcltq_f64(a,b)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt_or_nan(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u32(vmvnq_u32(vreinterpretq_u32_u64(vcgeq_f64(a,b)))); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_eq(const Packet2d& a, const Packet2d& b)
+{ return vreinterpretq_f64_u64(vceqq_f64(a,b)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double* from) { return vld1q_dup_f64(from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from)
+{ EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to,from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from)
+{ EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to,from); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  Packet2d res = pset1<Packet2d>(0.0);
+  res = vld1q_lane_f64(from + 0*stride, res, 0);
+  res = vld1q_lane_f64(from + 1*stride, res, 1);
+  return res;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  vst1q_lane_f64(to + stride*0, from, 0);
+  vst1q_lane_f64(to + stride*1, from, 1);
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a,0); }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{ return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
+
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+// workaround ICE, see bug 907
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{ return (vget_low_f64(a) + vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{ return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
+#endif
+
+// Other reduction functions:
+// mul
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{ return (vget_low_f64(a) * vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{ return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
+#endif
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{ return vgetq_lane_f64(vpminq_f64(a,a), 0); }
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{ return vgetq_lane_f64(vpmaxq_f64(a,a), 0); }
+
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet2d, 2>& kernel)
+{
+  const float64x2_t tmp1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
+  const float64x2_t tmp2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
+
+  kernel.packet[0] = tmp1;
+  kernel.packet[1] = tmp2;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet2d pselect( const Packet2d& mask, const Packet2d& a, const Packet2d& b)
+{ return vbslq_f64(vreinterpretq_u64_f64(mask), a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d print<Packet2d>(const Packet2d& a)
+{ return vrndnq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a)
+{ return vrndmq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a)
+{ return vrndpq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pldexp<Packet2d>(const Packet2d& a, const Packet2d& exponent)
+{ return pldexp_generic(a, exponent); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pfrexp<Packet2d>(const Packet2d& a, Packet2d& exponent)
+{ return pfrexp_generic(a,exponent); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1frombits<Packet2d>(uint64_t from)
+{ return vreinterpretq_f64_u64(vdupq_n_u64(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d prsqrt(const Packet2d& a) {
+  // Compute approximate reciprocal sqrt.
+  Packet2d x = vrsqrteq_f64(a);
+  // Do Newton iterations for 1/sqrt(x).
+  x = vmulq_f64(vrsqrtsq_f64(vmulq_f64(a, x), x), x);
+  x = vmulq_f64(vrsqrtsq_f64(vmulq_f64(a, x), x), x);
+  x = vmulq_f64(vrsqrtsq_f64(vmulq_f64(a, x), x), x);
+  const Packet2d infinity = pset1<Packet2d>(NumTraits<double>::infinity());
+  return pselect(pcmp_eq(a, pzero(a)), infinity, x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d psqrt(const Packet2d& _x){ return vsqrtq_f64(_x); }
+
+// Do we have an fp16 types and supporting Neon intrinsics?
+#if EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC
+typedef float16x4_t Packet4hf;
+typedef float16x8_t Packet8hf;
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet8hf type;
+  typedef Packet4hf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size = 4,
-    HasHalfPacket=0, // Packet2f intrinsics not implemented yet
-   
-    HasDiv  = 1,
-    // FIXME check the Has*
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
-    HasSqrt = 0
+    size = 8,
+    HasHalfPacket = 1,
+
+    HasCmp = 1,
+    HasCast = 1,
+    HasAdd = 1,
+    HasSub = 1,
+    HasShift = 1,
+    HasMul = 1,
+    HasNegate = 1,
+    HasAbs = 1,
+    HasArg = 0,
+    HasAbs2 = 1,
+    HasAbsDiff = 0,
+    HasMin = 1,
+    HasMax = 1,
+    HasConj = 1,
+    HasSetLinear = 0,
+    HasBlend = 0,
+    HasInsert = 1,
+    HasReduxp = 1,
+    HasDiv = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasRint = 1,
+    HasSin = 0,
+    HasCos = 0,
+    HasLog = 0,
+    HasExp = 0,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasErf = EIGEN_FAST_MATH,
+    HasBessel = 0,  // Issues with accuracy.
+    HasNdtri = 0
   };
 };
-template<> struct packet_traits<int32_t>    : default_packet_traits
-{
-  typedef Packet4i type;
-  typedef Packet4i half; // Packet2i intrinsics not implemented yet
+
+template <>
+struct unpacket_traits<Packet4hf> {
+  typedef Eigen::half type;
+  typedef Packet4hf half;
   enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size=4,
-    HasHalfPacket=0 // Packet2i intrinsics not implemented yet
-    // FIXME check the Has*
+    size = 4,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
   };
 };
 
-#if EIGEN_GNUC_AT_MOST(4,4) && !EIGEN_COMP_LLVM
-// 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 float32x2_t vld1_dup_f32 (const float* x) { return ::vld1_dup_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, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet4i> { typedef int32_t type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int32_t&    from)   { return vdupq_n_s32(from); }
+template <>
+struct unpacket_traits<Packet8hf> {
+  typedef Eigen::half type;
+  typedef Packet4hf half;
+  enum {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
-{
-  const float f[] = {0, 1, 2, 3};
-  Packet4f countdown = vld1q_f32(f);
-  return vaddq_f32(pset1<Packet4f>(a), countdown);
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf predux_half_dowto4<Packet8hf>(const Packet8hf& a) {
+  return vadd_f16(vget_low_f16(a), vget_high_f16(a));
 }
-template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int32_t& a)
-{
-  const int32_t i[] = {0, 1, 2, 3};
-  Packet4i countdown = vld1q_s32(i);
-  return vaddq_s32(pset1<Packet4i>(a), countdown);
+
+template <>
+EIGEN_STRONG_INLINE Packet8hf pset1<Packet8hf>(const Eigen::half& from) {
+  return vdupq_n_f16(from.x);
 }
 
-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 Packet4hf pset1<Packet4hf>(const Eigen::half& from) {
+  return vdup_n_f16(from.x);
+}
 
-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 Packet8hf plset<Packet8hf>(const Eigen::half& a) {
+  const float16_t f[] = {0, 1, 2, 3, 4, 5, 6, 7};
+  Packet8hf countdown = vld1q_f16(f);
+  return vaddq_f16(pset1<Packet8hf>(a), countdown);
+}
 
-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 Packet4hf plset<Packet4hf>(const Eigen::half& a) {
+  const float16_t f[] = {0, 1, 2, 3};
+  Packet4hf countdown = vld1_f16(f);
+  return vadd_f16(pset1<Packet4hf>(a), countdown);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template <>
+EIGEN_STRONG_INLINE Packet8hf padd<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vaddq_f16(a, b);
+}
 
-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 Packet4hf padd<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vadd_f16(a, b);
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-#if EIGEN_ARCH_ARM64
-  return vdivq_f32(a,b);
-#else
-  Packet4f inv, restep, div;
+template <>
+EIGEN_STRONG_INLINE Packet8hf psub<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vsubq_f16(a, b);
+}
 
-  // 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);
+template <>
+EIGEN_STRONG_INLINE Packet4hf psub<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vsub_f16(a, 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);
+template <>
+EIGEN_STRONG_INLINE Packet8hf pnegate(const Packet8hf& a) {
+  return vnegq_f16(a);
+}
 
-  // Finally, multiply a by 1/b and get the wanted result of the division.
-  div = vmulq_f32(a, inv);
+template <>
+EIGEN_STRONG_INLINE Packet4hf pnegate(const Packet4hf& a) {
+  return vneg_f16(a);
+}
 
-  return div;
-#endif
+template <>
+EIGEN_STRONG_INLINE Packet8hf pconj(const Packet8hf& a) {
+  return a;
 }
 
-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);
+template <>
+EIGEN_STRONG_INLINE Packet4hf pconj(const Packet4hf& a) {
+  return a;
 }
 
-// Clang/ARM wrongly advertises __ARM_FEATURE_FMA even when it's not available,
-// then implements a slow software scalar fallback calling fmaf()!
-// Filed LLVM bug:
-//     https://llvm.org/bugs/show_bug.cgi?id=27216
-#if (defined __ARM_FEATURE_FMA) && !(EIGEN_COMP_CLANG && EIGEN_ARCH_ARM)
-// See bug 936.
-// FMA is available on VFPv4 i.e. when compiling with -mfpu=neon-vfpv4.
-// FMA is a true fused multiply-add i.e. only 1 rounding at the end, no intermediate rounding.
-// MLA is not fused i.e. does 2 roundings.
-// In addition to giving better accuracy, FMA also gives better performance here on a Krait (Nexus 4):
-// MLA: 10 GFlop/s ; FMA: 12 GFlops/s.
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vfmaq_f32(c,a,b); }
-#else
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
-#if EIGEN_COMP_CLANG && EIGEN_ARCH_ARM
-  // Clang/ARM will replace VMLA by VMUL+VADD at least for some values of -mcpu,
-  // at least -mcpu=cortex-a8 and -mcpu=cortex-a7. Since the former is the default on
-  // -march=armv7-a, that is a very common case.
-  // See e.g. this thread:
-  //     http://lists.llvm.org/pipermail/llvm-dev/2013-December/068806.html
-  // Filed LLVM bug:
-  //     https://llvm.org/bugs/show_bug.cgi?id=27219
-  Packet4f r = c;
-  asm volatile(
-    "vmla.f32 %q[r], %q[a], %q[b]"
-    : [r] "+w" (r)
-    : [a] "w" (a),
-      [b] "w" (b)
-    : );
-  return r;
-#else
-  return vmlaq_f32(c,a,b);
-#endif
+template <>
+EIGEN_STRONG_INLINE Packet8hf pmul<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vmulq_f16(a, b);
 }
-#endif
 
-// No FMA instruction for int, so use MLA unconditionally.
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return vmlaq_s32(c,a,b); }
+template <>
+EIGEN_STRONG_INLINE Packet4hf pmul<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vmul_f16(a, b);
+}
 
-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 Packet8hf pdiv<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vdivq_f16(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); }
+template <>
+EIGEN_STRONG_INLINE Packet4hf pdiv<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vdiv_f16(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 Packet8hf pmadd(const Packet8hf& a, const Packet8hf& b, const Packet8hf& c) {
+  return vfmaq_f16(c, a, 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 Packet4hf pmadd(const Packet4hf& a, const Packet4hf& b, const Packet4hf& c) {
+  return vfma_f16(c, a, 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 Packet8hf pmin<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vminq_f16(a, 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 Packet4hf pmin<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vmin_f16(a, 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 int32_t*  from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_s32(from); }
+#ifdef __ARM_FEATURE_NUMERIC_MAXMIN
+// numeric max and min are only available if ARM_FEATURE_NUMERIC_MAXMIN is defined (which can only be the case for Armv8 systems).
+template<> EIGEN_STRONG_INLINE Packet4hf pmin<PropagateNumbers, Packet4hf>(const Packet4hf& a, const Packet4hf& b) { return vminnm_f16(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8hf pmin<PropagateNumbers, Packet8hf>(const Packet8hf& a, const Packet8hf& b) { return vminnmq_f16(a, b); }
+#endif
 
-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 int32_t* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_s32(from); }
+template<> EIGEN_STRONG_INLINE Packet4hf pmin<PropagateNaN, Packet4hf>(const Packet4hf& a, const Packet4hf& b) { return pmin<Packet4hf>(a, b); }
 
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
-{
-  float32x2_t lo, hi;
-  lo = vld1_dup_f32(from);
-  hi = vld1_dup_f32(from+1);
-  return vcombine_f32(lo, hi);
+template<> EIGEN_STRONG_INLINE Packet8hf pmin<PropagateNaN, Packet8hf>(const Packet8hf& a, const Packet8hf& b) { return pmin<Packet8hf>(a, b); }
+
+template <>
+EIGEN_STRONG_INLINE Packet8hf pmax<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vmaxq_f16(a, b);
 }
-template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int32_t* from)
-{
-  int32x2_t lo, hi;
-  lo = vld1_dup_s32(from);
-  hi = vld1_dup_s32(from+1);
-  return vcombine_s32(lo, hi);
+
+template <>
+EIGEN_STRONG_INLINE Packet4hf pmax<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vmax_f16(a, b);
 }
 
-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<int32_t>(int32_t*  to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_s32(to, from); }
+#ifdef __ARM_FEATURE_NUMERIC_MAXMIN
+// numeric max and min are only available if ARM_FEATURE_NUMERIC_MAXMIN is defined (which can only be the case for Armv8 systems).
+template<> EIGEN_STRONG_INLINE Packet4hf pmax<PropagateNumbers, Packet4hf>(const Packet4hf& a, const Packet4hf& b) { return vmaxnm_f16(a, b); }
+template<> EIGEN_STRONG_INLINE Packet8hf pmax<PropagateNumbers, Packet8hf>(const Packet8hf& a, const Packet8hf& b) { return vmaxnmq_f16(a, b); }
+#endif
 
-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<int32_t>(int32_t* to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
+template<> EIGEN_STRONG_INLINE Packet4hf pmax<PropagateNaN, Packet4hf>(const Packet4hf& a, const Packet4hf& b) { return pmax<Packet4hf>(a, b); }
 
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
-  Packet4f res = pset1<Packet4f>(0.f);
-  res = vsetq_lane_f32(from[0*stride], res, 0);
-  res = vsetq_lane_f32(from[1*stride], res, 1);
-  res = vsetq_lane_f32(from[2*stride], res, 2);
-  res = vsetq_lane_f32(from[3*stride], res, 3);
-  return res;
-}
-template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int32_t, Packet4i>(const int32_t* from, Index stride)
-{
-  Packet4i res = pset1<Packet4i>(0);
-  res = vsetq_lane_s32(from[0*stride], res, 0);
-  res = vsetq_lane_s32(from[1*stride], res, 1);
-  res = vsetq_lane_s32(from[2*stride], res, 2);
-  res = vsetq_lane_s32(from[3*stride], res, 3);
-  return res;
-}
+template<> EIGEN_STRONG_INLINE Packet8hf pmax<PropagateNaN, Packet8hf>(const Packet8hf& a, const Packet8hf& b) { return pmax<Packet8hf>(a, b); }
 
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  to[stride*0] = vgetq_lane_f32(from, 0);
-  to[stride*1] = vgetq_lane_f32(from, 1);
-  to[stride*2] = vgetq_lane_f32(from, 2);
-  to[stride*3] = vgetq_lane_f32(from, 3);
-}
-template<> EIGEN_DEVICE_FUNC inline void pscatter<int32_t, Packet4i>(int32_t* to, const Packet4i& from, Index stride)
-{
-  to[stride*0] = vgetq_lane_s32(from, 0);
-  to[stride*1] = vgetq_lane_s32(from, 1);
-  to[stride*2] = vgetq_lane_s32(from, 2);
-  to[stride*3] = vgetq_lane_s32(from, 3);
-}
+#define EIGEN_MAKE_ARM_FP16_CMP_8(name)                                               \
+  template <>                                                                         \
+  EIGEN_STRONG_INLINE Packet8hf pcmp_##name(const Packet8hf& a, const Packet8hf& b) { \
+    return vreinterpretq_f16_u16(vc##name##q_f16(a, b));                              \
+  }
 
-template<> EIGEN_STRONG_INLINE void prefetch<float>  (const float*    addr) { EIGEN_ARM_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<int32_t>(const int32_t*  addr) { EIGEN_ARM_PREFETCH(addr); }
+#define EIGEN_MAKE_ARM_FP16_CMP_4(name)                                               \
+  template <>                                                                         \
+  EIGEN_STRONG_INLINE Packet4hf pcmp_##name(const Packet4hf& a, const Packet4hf& b) { \
+    return vreinterpret_f16_u16(vc##name##_f16(a, b));                                \
+  }
 
-// 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 int32_t pfirst<Packet4i>(const Packet4i& a) { int32_t EIGEN_ALIGN16 x[4]; vst1q_s32(x, a); return x[0]; }
+EIGEN_MAKE_ARM_FP16_CMP_8(eq)
+EIGEN_MAKE_ARM_FP16_CMP_8(lt)
+EIGEN_MAKE_ARM_FP16_CMP_8(le)
+
+EIGEN_MAKE_ARM_FP16_CMP_4(eq)
+EIGEN_MAKE_ARM_FP16_CMP_4(lt)
+EIGEN_MAKE_ARM_FP16_CMP_4(le)
 
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) {
-  float32x2_t a_lo, a_hi;
-  Packet4f a_r64;
+#undef EIGEN_MAKE_ARM_FP16_CMP_8
+#undef EIGEN_MAKE_ARM_FP16_CMP_4
 
-  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 Packet8hf pcmp_lt_or_nan<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vreinterpretq_f16_u16(vmvnq_u16(vcgeq_f16(a, b)));
 }
-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 Packet4hf pcmp_lt_or_nan<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vreinterpret_f16_u16(vmvn_u16(vcge_f16(a, b)));
 }
 
-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 Packet8hf print<Packet8hf>(const Packet8hf& a)
+{ return vrndnq_f16(a); }
 
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, sum;
+template <>
+EIGEN_STRONG_INLINE Packet4hf print<Packet4hf>(const Packet4hf& a)
+{ return vrndn_f16(a); }
 
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  sum = vpadd_f32(a_lo, a_hi);
-  sum = vpadd_f32(sum, sum);
-  return vget_lane_f32(sum, 0);
-}
+template <>
+EIGEN_STRONG_INLINE Packet8hf pfloor<Packet8hf>(const Packet8hf& a)
+{ return vrndmq_f16(a); }
 
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  float32x4x2_t vtrn1, vtrn2, res1, res2;
-  Packet4f sum1, sum2, sum;
+template <>
+EIGEN_STRONG_INLINE Packet4hf pfloor<Packet4hf>(const Packet4hf& a)
+{ return vrndm_f16(a); }
 
-  // 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]);
+template <>
+EIGEN_STRONG_INLINE Packet8hf pceil<Packet8hf>(const Packet8hf& a)
+{ return vrndpq_f16(a); }
 
-  // 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);
+template <>
+EIGEN_STRONG_INLINE Packet4hf pceil<Packet4hf>(const Packet4hf& a)
+{ return vrndp_f16(a); }
 
-  return sum;
+template <>
+EIGEN_STRONG_INLINE Packet8hf psqrt<Packet8hf>(const Packet8hf& a) {
+  return vsqrtq_f16(a);
 }
 
-template<> EIGEN_STRONG_INLINE int32_t predux<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, sum;
+template <>
+EIGEN_STRONG_INLINE Packet4hf psqrt<Packet4hf>(const Packet4hf& a) {
+  return vsqrt_f16(a);
+}
 
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  sum = vpadd_s32(a_lo, a_hi);
-  sum = vpadd_s32(sum, sum);
-  return vget_lane_s32(sum, 0);
+template <>
+EIGEN_STRONG_INLINE Packet8hf pand<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vreinterpretq_f16_u16(vandq_u16(vreinterpretq_u16_f16(a), vreinterpretq_u16_f16(b)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
-{
-  int32x4x2_t vtrn1, vtrn2, res1, res2;
-  Packet4i sum1, sum2, sum;
+template <>
+EIGEN_STRONG_INLINE Packet4hf pand<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vreinterpret_f16_u16(vand_u16(vreinterpret_u16_f16(a), vreinterpret_u16_f16(b)));
+}
 
-  // 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]);
+template <>
+EIGEN_STRONG_INLINE Packet8hf por<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vreinterpretq_f16_u16(vorrq_u16(vreinterpretq_u16_f16(a), vreinterpretq_u16_f16(b)));
+}
 
-  // 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);
+template <>
+EIGEN_STRONG_INLINE Packet4hf por<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vreinterpret_f16_u16(vorr_u16(vreinterpret_u16_f16(a), vreinterpret_u16_f16(b)));
+}
 
-  return sum;
+template <>
+EIGEN_STRONG_INLINE Packet8hf pxor<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vreinterpretq_f16_u16(veorq_u16(vreinterpretq_u16_f16(a), vreinterpretq_u16_f16(b)));
 }
 
-// Other reduction functions:
-// mul
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, prod;
+template <>
+EIGEN_STRONG_INLINE Packet4hf pxor<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vreinterpret_f16_u16(veor_u16(vreinterpret_u16_f16(a), vreinterpret_u16_f16(b)));
+}
 
-  // 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));
+template <>
+EIGEN_STRONG_INLINE Packet8hf pandnot<Packet8hf>(const Packet8hf& a, const Packet8hf& b) {
+  return vreinterpretq_f16_u16(vbicq_u16(vreinterpretq_u16_f16(a), vreinterpretq_u16_f16(b)));
+}
 
-  return vget_lane_f32(prod, 0);
+template <>
+EIGEN_STRONG_INLINE Packet4hf pandnot<Packet4hf>(const Packet4hf& a, const Packet4hf& b) {
+  return vreinterpret_f16_u16(vbic_u16(vreinterpret_u16_f16(a), vreinterpret_u16_f16(b)));
 }
-template<> EIGEN_STRONG_INLINE int32_t predux_mul<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, prod;
 
-  // 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));
+template <>
+EIGEN_STRONG_INLINE Packet8hf pload<Packet8hf>(const Eigen::half* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f16(reinterpret_cast<const float16_t*>(from));
+}
 
-  return vget_lane_s32(prod, 0);
+template <>
+EIGEN_STRONG_INLINE Packet4hf pload<Packet4hf>(const Eigen::half* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return vld1_f16(reinterpret_cast<const float16_t*>(from));
 }
 
-// min
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, min;
+template <>
+EIGEN_STRONG_INLINE Packet8hf ploadu<Packet8hf>(const Eigen::half* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f16(reinterpret_cast<const float16_t*>(from));
+}
 
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  min = vpmin_f32(a_lo, a_hi);
-  min = vpmin_f32(min, min);
+template <>
+EIGEN_STRONG_INLINE Packet4hf ploadu<Packet4hf>(const Eigen::half* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return vld1_f16(reinterpret_cast<const float16_t*>(from));
+}
 
-  return vget_lane_f32(min, 0);
+template <>
+EIGEN_STRONG_INLINE Packet8hf ploaddup<Packet8hf>(const Eigen::half* from) {
+  Packet8hf packet;
+  packet[0] = from[0].x;
+  packet[1] = from[0].x;
+  packet[2] = from[1].x;
+  packet[3] = from[1].x;
+  packet[4] = from[2].x;
+  packet[5] = from[2].x;
+  packet[6] = from[3].x;
+  packet[7] = from[3].x;
+  return packet;
 }
 
-template<> EIGEN_STRONG_INLINE int32_t predux_min<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, min;
+template <>
+EIGEN_STRONG_INLINE Packet4hf ploaddup<Packet4hf>(const Eigen::half* from) {
+  float16x4_t packet;
+  float16_t* tmp;
+  tmp = (float16_t*)&packet;
+  tmp[0] = from[0].x;
+  tmp[1] = from[0].x;
+  tmp[2] = from[1].x;
+  tmp[3] = from[1].x;
+  return packet;
+}
 
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  min = vpmin_s32(a_lo, a_hi);
-  min = vpmin_s32(min, min);
-  
-  return vget_lane_s32(min, 0);
+template <>
+EIGEN_STRONG_INLINE Packet8hf ploadquad<Packet8hf>(const Eigen::half* from) {
+  Packet4hf lo, hi;
+  lo = vld1_dup_f16(reinterpret_cast<const float16_t*>(from));
+  hi = vld1_dup_f16(reinterpret_cast<const float16_t*>(from+1));
+  return vcombine_f16(lo, hi);
 }
 
-// max
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  float32x2_t a_lo, a_hi, max;
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8hf pinsertfirst(const Packet8hf& a, Eigen::half b) { return vsetq_lane_f16(b.x, a, 0); }
 
-  a_lo = vget_low_f32(a);
-  a_hi = vget_high_f32(a);
-  max = vpmax_f32(a_lo, a_hi);
-  max = vpmax_f32(max, max);
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf pinsertfirst(const Packet4hf& a, Eigen::half b) { return vset_lane_f16(b.x, a, 0); }
 
-  return vget_lane_f32(max, 0);
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8hf pselect(const Packet8hf& mask, const Packet8hf& a, const Packet8hf& b) {
+  return vbslq_f16(vreinterpretq_u16_f16(mask), a, b);
 }
 
-template<> EIGEN_STRONG_INLINE int32_t predux_max<Packet4i>(const Packet4i& a)
-{
-  int32x2_t a_lo, a_hi, max;
-
-  a_lo = vget_low_s32(a);
-  a_hi = vget_high_s32(a);
-  max = vpmax_s32(a_lo, a_hi);
-  max = vpmax_s32(max, max);
-
-  return vget_lane_s32(max, 0);
-}
-
-// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
-// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
-#define PALIGN_NEON(Offset,Type,Command) \
-template<>\
-struct palign_impl<Offset,Type>\
-{\
-    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
-    {\
-        if (Offset!=0)\
-            first = Command(first, second, Offset);\
-    }\
-};\
-
-PALIGN_NEON(0,Packet4f,vextq_f32)
-PALIGN_NEON(1,Packet4f,vextq_f32)
-PALIGN_NEON(2,Packet4f,vextq_f32)
-PALIGN_NEON(3,Packet4f,vextq_f32)
-PALIGN_NEON(0,Packet4i,vextq_s32)
-PALIGN_NEON(1,Packet4i,vextq_s32)
-PALIGN_NEON(2,Packet4i,vextq_s32)
-PALIGN_NEON(3,Packet4i,vextq_s32)
-
-#undef PALIGN_NEON
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4f,4>& kernel) {
-  float32x4x2_t tmp1 = vzipq_f32(kernel.packet[0], kernel.packet[1]);
-  float32x4x2_t tmp2 = vzipq_f32(kernel.packet[2], kernel.packet[3]);
-
-  kernel.packet[0] = vcombine_f32(vget_low_f32(tmp1.val[0]), vget_low_f32(tmp2.val[0]));
-  kernel.packet[1] = vcombine_f32(vget_high_f32(tmp1.val[0]), vget_high_f32(tmp2.val[0]));
-  kernel.packet[2] = vcombine_f32(vget_low_f32(tmp1.val[1]), vget_low_f32(tmp2.val[1]));
-  kernel.packet[3] = vcombine_f32(vget_high_f32(tmp1.val[1]), vget_high_f32(tmp2.val[1]));
-}
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet4i,4>& kernel) {
-  int32x4x2_t tmp1 = vzipq_s32(kernel.packet[0], kernel.packet[1]);
-  int32x4x2_t tmp2 = vzipq_s32(kernel.packet[2], kernel.packet[3]);
-  kernel.packet[0] = vcombine_s32(vget_low_s32(tmp1.val[0]), vget_low_s32(tmp2.val[0]));
-  kernel.packet[1] = vcombine_s32(vget_high_s32(tmp1.val[0]), vget_high_s32(tmp2.val[0]));
-  kernel.packet[2] = vcombine_s32(vget_low_s32(tmp1.val[1]), vget_low_s32(tmp2.val[1]));
-  kernel.packet[3] = vcombine_s32(vget_high_s32(tmp1.val[1]), vget_high_s32(tmp2.val[1]));
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf pselect(const Packet4hf& mask, const Packet4hf& a, const Packet4hf& b) {
+  return vbsl_f16(vreinterpret_u16_f16(mask), a, b);
 }
 
-//---------- double ----------
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8hf pinsertlast(const Packet8hf& a, Eigen::half b) { return vsetq_lane_f16(b.x, a, 7); }
 
-// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
-// Confirmed at least with __apple_build_version__ = 6000054.
-#ifdef __apple_build_version__
-// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
-// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
-// major toolchain updates.
-#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
-#else
-#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
-#endif
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf pinsertlast(const Packet4hf& a, Eigen::half b) { return vset_lane_f16(b.x, a, 3); }
 
-#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+template <>
+EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8hf& from) {
+  EIGEN_DEBUG_ALIGNED_STORE vst1q_f16(reinterpret_cast<float16_t*>(to), from);
+}
 
-// Bug 907: workaround missing declarations of the following two functions in the ADK
-// Defining these functions as templates ensures that if these intrinsics are
-// already defined in arm_neon.h, then our workaround doesn't cause a conflict
-// and has lower priority in overload resolution.
-template <typename T>
-uint64x2_t vreinterpretq_u64_f64(T a)
-{
-  return (uint64x2_t) a;
+template <>
+EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4hf& from) {
+  EIGEN_DEBUG_ALIGNED_STORE vst1_f16(reinterpret_cast<float16_t*>(to), from);
 }
 
-template <typename T>
-float64x2_t vreinterpretq_f64_u64(T a)
-{
-  return (float64x2_t) a;
+template <>
+EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8hf& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE vst1q_f16(reinterpret_cast<float16_t*>(to), from);
 }
 
-typedef float64x2_t Packet2d;
-typedef float64x1_t Packet1d;
+template <>
+EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4hf& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE vst1_f16(reinterpret_cast<float16_t*>(to), from);
+}
 
-template<> struct packet_traits<double>  : default_packet_traits
-{
-  typedef Packet2d type;
-  typedef Packet2d half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 2,
-    HasHalfPacket=0,
-   
-    HasDiv  = 1,
-    // FIXME check the Has*
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 0,
-    HasSqrt = 0
-  };
-};
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet8hf pgather<Eigen::half, Packet8hf>(const Eigen::half* from, Index stride) {
+  Packet8hf res = pset1<Packet8hf>(Eigen::half(0.f));
+  res = vsetq_lane_f16(from[0 * stride].x, res, 0);
+  res = vsetq_lane_f16(from[1 * stride].x, res, 1);
+  res = vsetq_lane_f16(from[2 * stride].x, res, 2);
+  res = vsetq_lane_f16(from[3 * stride].x, res, 3);
+  res = vsetq_lane_f16(from[4 * stride].x, res, 4);
+  res = vsetq_lane_f16(from[5 * stride].x, res, 5);
+  res = vsetq_lane_f16(from[6 * stride].x, res, 6);
+  res = vsetq_lane_f16(from[7 * stride].x, res, 7);
+  return res;
+}
 
-template<> struct unpacket_traits<Packet2d> { typedef double  type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet4hf pgather<Eigen::half, Packet4hf>(const Eigen::half* from, Index stride) {
+  Packet4hf res = pset1<Packet4hf>(Eigen::half(0.f));
+  res = vset_lane_f16(from[0 * stride].x, res, 0);
+  res = vset_lane_f16(from[1 * stride].x, res, 1);
+  res = vset_lane_f16(from[2 * stride].x, res, 2);
+  res = vset_lane_f16(from[3 * stride].x, res, 3);
+  return res;
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) { return vdupq_n_f64(from); }
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8hf>(Eigen::half* to, const Packet8hf& from, Index stride) {
+  to[stride * 0].x = vgetq_lane_f16(from, 0);
+  to[stride * 1].x = vgetq_lane_f16(from, 1);
+  to[stride * 2].x = vgetq_lane_f16(from, 2);
+  to[stride * 3].x = vgetq_lane_f16(from, 3);
+  to[stride * 4].x = vgetq_lane_f16(from, 4);
+  to[stride * 5].x = vgetq_lane_f16(from, 5);
+  to[stride * 6].x = vgetq_lane_f16(from, 6);
+  to[stride * 7].x = vgetq_lane_f16(from, 7);
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
-{
-  const double countdown_raw[] = {0.0,1.0};
-  const Packet2d countdown = vld1q_f64(countdown_raw);
-  return vaddq_f64(pset1<Packet2d>(a), countdown);
+template <>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4hf>(Eigen::half* to, const Packet4hf& from, Index stride) {
+  to[stride * 0].x = vget_lane_f16(from, 0);
+  to[stride * 1].x = vget_lane_f16(from, 1);
+  to[stride * 2].x = vget_lane_f16(from, 2);
+  to[stride * 3].x = vget_lane_f16(from, 3);
 }
-template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
 
-template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
+template <>
+EIGEN_STRONG_INLINE void prefetch<Eigen::half>(const Eigen::half* addr) {
+  EIGEN_ARM_PREFETCH(addr);
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
+template <>
+EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8hf>(const Packet8hf& a) {
+  float16_t x[8];
+  vst1q_f16(x, a);
+  Eigen::half h;
+  h.x = x[0];
+  return h;
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+template <>
+EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4hf>(const Packet4hf& a) {
+  float16_t x[4];
+  vst1_f16(x, a);
+  Eigen::half h;
+  h.x = x[0];
+  return h;
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8hf preverse(const Packet8hf& a) {
+  float16x4_t a_lo, a_hi;
+  Packet8hf a_r64;
 
-template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
+  a_r64 = vrev64q_f16(a);
+  a_lo = vget_low_f16(a_r64);
+  a_hi = vget_high_f16(a_r64);
+  return vcombine_f16(a_hi, a_lo);
+}
 
-#ifdef __ARM_FEATURE_FMA
-// See bug 936. See above comment about FMA for float.
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vfmaq_f64(c,a,b); }
-#else
-template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vmlaq_f64(c,a,b); }
-#endif
+template <>
+EIGEN_STRONG_INLINE Packet4hf preverse<Packet4hf>(const Packet4hf& a) {
+  return vrev64_f16(a);
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
+template <>
+EIGEN_STRONG_INLINE Packet8hf pabs<Packet8hf>(const Packet8hf& a) {
+  return vabsq_f16(a);
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
+template <>
+EIGEN_STRONG_INLINE Packet4hf pabs<Packet4hf>(const Packet4hf& a) {
+  return vabs_f16(a);
+}
 
-// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
-template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux<Packet8hf>(const Packet8hf& a) {
+  float16x4_t a_lo, a_hi, sum;
+
+  a_lo = vget_low_f16(a);
+  a_hi = vget_high_f16(a);
+  sum = vpadd_f16(a_lo, a_hi);
+  sum = vpadd_f16(sum, sum);
+  sum = vpadd_f16(sum, sum);
+
+  Eigen::half h;
+  h.x = vget_lane_f16(sum, 0);
+  return h;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux<Packet4hf>(const Packet4hf& a) {
+  float16x4_t sum;
+
+  sum = vpadd_f16(a, a);
+  sum = vpadd_f16(sum, sum);
+  Eigen::half h;
+  h.x = vget_lane_f16(sum, 0);
+  return h;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8hf>(const Packet8hf& a) {
+  float16x4_t a_lo, a_hi, prod;
+
+  a_lo = vget_low_f16(a);
+  a_hi = vget_high_f16(a);
+  prod = vmul_f16(a_lo, a_hi);
+  prod = vmul_f16(prod, vrev64_f16(prod));
+
+  Eigen::half h;
+  h.x = vmulh_f16(vget_lane_f16(prod, 0), vget_lane_f16(prod, 1));
+  return h;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
-{
-  return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet4hf>(const Packet4hf& a) {
+  float16x4_t prod;
+  prod = vmul_f16(a, vrev64_f16(a));
+  Eigen::half h;
+  h.x = vmulh_f16(vget_lane_f16(prod, 0), vget_lane_f16(prod, 1));
+  return h;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8hf>(const Packet8hf& a) {
+  float16x4_t a_lo, a_hi, min;
 
-template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
+  a_lo = vget_low_f16(a);
+  a_hi = vget_high_f16(a);
+  min = vpmin_f16(a_lo, a_hi);
+  min = vpmin_f16(min, min);
+  min = vpmin_f16(min, min);
 
-template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
-{
-  return vld1q_dup_f64(from);
+  Eigen::half h;
+  h.x = vget_lane_f16(min, 0);
+  return h;
 }
-template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from); }
 
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to, from); }
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_min<Packet4hf>(const Packet4hf& a) {
+  Packet4hf tmp;
+  tmp = vpmin_f16(a, a);
+  tmp = vpmin_f16(tmp, tmp);
+  Eigen::half h;
+  h.x = vget_lane_f16(tmp, 0);
+  return h;
+}
 
-template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
-{
-  Packet2d res = pset1<Packet2d>(0.0);
-  res = vsetq_lane_f64(from[0*stride], res, 0);
-  res = vsetq_lane_f64(from[1*stride], res, 1);
-  return res;
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8hf>(const Packet8hf& a) {
+  float16x4_t a_lo, a_hi, max;
+
+  a_lo = vget_low_f16(a);
+  a_hi = vget_high_f16(a);
+  max = vpmax_f16(a_lo, a_hi);
+  max = vpmax_f16(max, max);
+  max = vpmax_f16(max, max);
+
+  Eigen::half h;
+  h.x = vget_lane_f16(max, 0);
+  return h;
+}
+
+template <>
+EIGEN_STRONG_INLINE Eigen::half predux_max<Packet4hf>(const Packet4hf& a) {
+  Packet4hf tmp;
+  tmp = vpmax_f16(a, a);
+  tmp = vpmax_f16(tmp, tmp);
+  Eigen::half h;
+  h.x = vget_lane_f16(tmp, 0);
+  return h;
 }
-template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8hf, 4>& kernel)
 {
-  to[stride*0] = vgetq_lane_f64(from, 0);
-  to[stride*1] = vgetq_lane_f64(from, 1);
+  const float16x8x2_t zip16_1 = vzipq_f16(kernel.packet[0], kernel.packet[1]);
+  const float16x8x2_t zip16_2 = vzipq_f16(kernel.packet[2], kernel.packet[3]);
+
+  const float32x4x2_t zip32_1 = vzipq_f32(vreinterpretq_f32_f16(zip16_1.val[0]), vreinterpretq_f32_f16(zip16_2.val[0]));
+  const float32x4x2_t zip32_2 = vzipq_f32(vreinterpretq_f32_f16(zip16_1.val[1]), vreinterpretq_f32_f16(zip16_2.val[1]));
+
+  kernel.packet[0] = vreinterpretq_f16_f32(zip32_1.val[0]);
+  kernel.packet[1] = vreinterpretq_f16_f32(zip32_1.val[1]);
+  kernel.packet[2] = vreinterpretq_f16_f32(zip32_2.val[0]);
+  kernel.packet[3] = vreinterpretq_f16_f32(zip32_2.val[1]);
 }
-template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
 
-// FIXME only store the 2 first elements ?
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a, 0); }
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet4hf, 4>& kernel) {
+  EIGEN_ALIGN16 float16x4x4_t tmp_x4;
+  float16_t* tmp = (float16_t*)&kernel;
+  tmp_x4 = vld4_f16(tmp);
 
-template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) { return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
+  kernel.packet[0] = tmp_x4.val[0];
+  kernel.packet[1] = tmp_x4.val[1];
+  kernel.packet[2] = tmp_x4.val[2];
+  kernel.packet[3] = tmp_x4.val[3];
+}
 
-template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet8hf, 8>& kernel) {
+  float16x8x2_t T_1[4];
 
-#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
-// workaround ICE, see bug 907
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) + vget_high_f64(a))[0]; }
-#else
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
-#endif
+  T_1[0] = vuzpq_f16(kernel.packet[0], kernel.packet[1]);
+  T_1[1] = vuzpq_f16(kernel.packet[2], kernel.packet[3]);
+  T_1[2] = vuzpq_f16(kernel.packet[4], kernel.packet[5]);
+  T_1[3] = vuzpq_f16(kernel.packet[6], kernel.packet[7]);
 
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  float64x2_t trn1, trn2;
+  float16x8x2_t T_2[4];
+  T_2[0] = vuzpq_f16(T_1[0].val[0], T_1[1].val[0]);
+  T_2[1] = vuzpq_f16(T_1[0].val[1], T_1[1].val[1]);
+  T_2[2] = vuzpq_f16(T_1[2].val[0], T_1[3].val[0]);
+  T_2[3] = vuzpq_f16(T_1[2].val[1], T_1[3].val[1]);
 
-  // NEON zip performs interleaving of the supplied vectors.
-  // We perform two interleaves in a row to acquire the transposed vector
-  trn1 = vzip1q_f64(vecs[0], vecs[1]);
-  trn2 = vzip2q_f64(vecs[0], vecs[1]);
+  float16x8x2_t T_3[4];
+  T_3[0] = vuzpq_f16(T_2[0].val[0], T_2[2].val[0]);
+  T_3[1] = vuzpq_f16(T_2[0].val[1], T_2[2].val[1]);
+  T_3[2] = vuzpq_f16(T_2[1].val[0], T_2[3].val[0]);
+  T_3[3] = vuzpq_f16(T_2[1].val[1], T_2[3].val[1]);
 
-  // Do the addition of the resulting vectors
-  return vaddq_f64(trn1, trn2);
+  kernel.packet[0] = T_3[0].val[0];
+  kernel.packet[1] = T_3[2].val[0];
+  kernel.packet[2] = T_3[1].val[0];
+  kernel.packet[3] = T_3[3].val[0];
+  kernel.packet[4] = T_3[0].val[1];
+  kernel.packet[5] = T_3[2].val[1];
+  kernel.packet[6] = T_3[1].val[1];
+  kernel.packet[7] = T_3[3].val[1];
 }
-// Other reduction functions:
-// mul
-#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) * vget_high_f64(a))[0]; }
-#else
-template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
-#endif
-
-// min
-template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpminq_f64(a, a), 0); }
+#endif // end EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC
 
-// max
-template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpmaxq_f64(a, a), 0); }
-
-// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
-// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
-#define PALIGN_NEON(Offset,Type,Command) \
-template<>\
-struct palign_impl<Offset,Type>\
-{\
-    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
-    {\
-        if (Offset!=0)\
-            first = Command(first, second, Offset);\
-    }\
-};\
-
-PALIGN_NEON(0,Packet2d,vextq_f64)
-PALIGN_NEON(1,Packet2d,vextq_f64)
-#undef PALIGN_NEON
-
-EIGEN_DEVICE_FUNC inline void
-ptranspose(PacketBlock<Packet2d,2>& kernel) {
-  float64x2_t trn1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
-  float64x2_t trn2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
-
-  kernel.packet[0] = trn1;
-  kernel.packet[1] = trn2;
-}
-#endif // EIGEN_ARCH_ARM64 
+#endif // EIGEN_ARCH_ARM64
 
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/TypeCasting.h
new file mode 100644
index 0000000000..54f97336e0
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/NEON/TypeCasting.h
@@ -0,0 +1,1419 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2018 Rasmus Munk Larsen <rmlarsen@google.com>
+// Copyright (C) 2020 Antonio Sanchez <cantonios@google.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_NEON_H
+#define EIGEN_TYPE_CASTING_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+//==============================================================================
+// pcast, SrcType = float
+//==============================================================================
+template <>
+struct type_casting_traits<float, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet4f, Packet4f>(const Packet4f& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet2f, Packet2f>(const Packet2f& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<float, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+struct type_casting_traits<float, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+// If float64 exists, first convert to that to keep as much precision as possible.
+#if EIGEN_ARCH_ARM64
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet4f, Packet2l>(const Packet4f& a) {
+  // Discard second half of input.
+  return vcvtq_s64_f64(vcvt_f64_f32(vget_low_f32(a)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet4f, Packet2ul>(const Packet4f& a) {
+  // Discard second half of input.
+  return vcvtq_u64_f64(vcvt_f64_f32(vget_low_f32(a)));
+}
+#else
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet4f, Packet2l>(const Packet4f& a) {
+  // Discard second half of input.
+  return vmovl_s32(vget_low_s32(vcvtq_s32_f32(a)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet4f, Packet2ul>(const Packet4f& a) {
+  // Discard second half of input.
+  return vmovl_u32(vget_low_u32(vcvtq_u32_f32(a)));
+}
+#endif  // EIGEN_ARCH_ARM64
+
+template <>
+struct type_casting_traits<float, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+  return vcvtq_s32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet2f, Packet2i>(const Packet2f& a) {
+  return vcvt_s32_f32(a);
+}
+
+template <>
+struct type_casting_traits<float, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet4f, Packet4ui>(const Packet4f& a) {
+  return vcvtq_u32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet2f, Packet2ui>(const Packet2f& a) {
+  return vcvt_u32_f32(a);
+}
+
+template <>
+struct type_casting_traits<float, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet4f, Packet8s>(const Packet4f& a, const Packet4f& b) {
+  return vcombine_s16(vmovn_s32(vcvtq_s32_f32(a)), vmovn_s32(vcvtq_s32_f32(b)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet2f, Packet4s>(const Packet2f& a, const Packet2f& b) {
+  return vmovn_s32(vcombine_s32(vcvt_s32_f32(a), vcvt_s32_f32(b)));
+}
+
+template <>
+struct type_casting_traits<float, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet4f, Packet8us>(const Packet4f& a, const Packet4f& b) {
+  return vcombine_u16(vmovn_u32(vcvtq_u32_f32(a)), vmovn_u32(vcvtq_u32_f32(b)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet2f, Packet4us>(const Packet2f& a, const Packet2f& b) {
+  return vmovn_u32(vcombine_u32(vcvt_u32_f32(a), vcvt_u32_f32(b)));
+}
+
+template <>
+struct type_casting_traits<float, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet4f, Packet16c>(const Packet4f& a, const Packet4f& b, const Packet4f& c,
+                                                         const Packet4f& d) {
+  const int16x8_t ab_s16 = pcast<Packet4f, Packet8s>(a, b);
+  const int16x8_t cd_s16 = pcast<Packet4f, Packet8s>(c, d);
+  return vcombine_s8(vmovn_s16(ab_s16), vmovn_s16(cd_s16));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet2f, Packet8c>(const Packet2f& a, const Packet2f& b, const Packet2f& c,
+                                                       const Packet2f& d) {
+  const int16x4_t ab_s16 = pcast<Packet2f, Packet4s>(a, b);
+  const int16x4_t cd_s16 = pcast<Packet2f, Packet4s>(c, d);
+  return vmovn_s16(vcombine_s16(ab_s16, cd_s16));
+}
+
+template <>
+struct type_casting_traits<float, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet4f, Packet16uc>(const Packet4f& a, const Packet4f& b, const Packet4f& c,
+                                                           const Packet4f& d) {
+  const uint16x8_t ab_u16 = pcast<Packet4f, Packet8us>(a, b);
+  const uint16x8_t cd_u16 = pcast<Packet4f, Packet8us>(c, d);
+  return vcombine_u8(vmovn_u16(ab_u16), vmovn_u16(cd_u16));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet2f, Packet8uc>(const Packet2f& a, const Packet2f& b, const Packet2f& c,
+                                                         const Packet2f& d) {
+  const uint16x4_t ab_u16 = pcast<Packet2f, Packet4us>(a, b);
+  const uint16x4_t cd_u16 = pcast<Packet2f, Packet4us>(c, d);
+  return vmovn_u16(vcombine_u16(ab_u16, cd_u16));
+}
+
+//==============================================================================
+// pcast, SrcType = int8_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::int8_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet16c, Packet4f>(const Packet16c& a) {
+  // Discard all but first 4 bytes.
+  return vcvtq_f32_s32(vmovl_s16(vget_low_s16(vmovl_s8(vget_low_s8(a)))));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet8c, Packet2f>(const Packet8c& a) {
+  // Discard all but first 2 bytes.
+  return vcvt_f32_s32(vget_low_s32(vmovl_s16(vget_low_s16(vmovl_s8(a)))));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet16c, Packet2l>(const Packet16c& a) {
+  // Discard all but first two bytes.
+  return vmovl_s32(vget_low_s32(vmovl_s16(vget_low_s16(vmovl_s8(vget_low_s8(a))))));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet16c, Packet2ul>(const Packet16c& a) {
+  return vreinterpretq_u64_s64(pcast<Packet16c, Packet2l>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet16c, Packet4i>(const Packet16c& a) {
+  // Discard all but first 4 bytes.
+  return vmovl_s16(vget_low_s16(vmovl_s8(vget_low_s8(a))));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet8c, Packet2i>(const Packet8c& a) {
+  // Discard all but first 2 bytes.
+  return vget_low_s32(vmovl_s16(vget_low_s16(vmovl_s8(a))));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet16c, Packet4ui>(const Packet16c& a) {
+  return vreinterpretq_u32_s32(pcast<Packet16c, Packet4i>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet8c, Packet2ui>(const Packet8c& a) {
+  return vreinterpret_u32_s32(pcast<Packet8c, Packet2i>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet16c, Packet8s>(const Packet16c& a) {
+  // Discard second half of input.
+  return vmovl_s8(vget_low_s8(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet8c, Packet4s>(const Packet8c& a) {
+  // Discard second half of input.
+  return vget_low_s16(vmovl_s8(a));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet16c, Packet8us>(const Packet16c& a) {
+  return vreinterpretq_u16_s16(pcast<Packet16c, Packet8s>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet8c, Packet4us>(const Packet8c& a) {
+  return vreinterpret_u16_s16(pcast<Packet8c, Packet4s>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet16c, Packet16c>(const Packet16c& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet8c, Packet8c>(const Packet8c& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet4c pcast<Packet4c, Packet4c>(const Packet4c& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet16c, Packet16uc>(const Packet16c& a) {
+  return vreinterpretq_u8_s8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet8c, Packet8uc>(const Packet8c& a) {
+  return vreinterpret_u8_s8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4uc pcast<Packet4c, Packet4uc>(const Packet4c& a) {
+  return static_cast<Packet4uc>(a);
+}
+
+//==============================================================================
+// pcast, SrcType = uint8_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::uint8_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet16uc, Packet4f>(const Packet16uc& a) {
+  // Discard all but first 4 bytes.
+  return vcvtq_f32_u32(vmovl_u16(vget_low_u16(vmovl_u8(vget_low_u8(a)))));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet8uc, Packet2f>(const Packet8uc& a) {
+  // Discard all but first 2 bytes.
+  return vcvt_f32_u32(vget_low_u32(vmovl_u16(vget_low_u16(vmovl_u8(a)))));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet16uc, Packet2ul>(const Packet16uc& a) {
+  // Discard all but first two bytes.
+  return vmovl_u32(vget_low_u32(vmovl_u16(vget_low_u16(vmovl_u8(vget_low_u8(a))))));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet16uc, Packet2l>(const Packet16uc& a) {
+  return vreinterpretq_s64_u64(pcast<Packet16uc, Packet2ul>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet16uc, Packet4ui>(const Packet16uc& a) {
+  // Discard all but first 4 bytes.
+  return vmovl_u16(vget_low_u16(vmovl_u8(vget_low_u8(a))));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet8uc, Packet2ui>(const Packet8uc& a) {
+  // Discard all but first 2 bytes.
+  return vget_low_u32(vmovl_u16(vget_low_u16(vmovl_u8(a))));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet16uc, Packet4i>(const Packet16uc& a) {
+  return vreinterpretq_s32_u32(pcast<Packet16uc, Packet4ui>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet8uc, Packet2i>(const Packet8uc& a) {
+  return vreinterpret_s32_u32(pcast<Packet8uc, Packet2ui>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet16uc, Packet8us>(const Packet16uc& a) {
+  // Discard second half of input.
+  return vmovl_u8(vget_low_u8(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet8uc, Packet4us>(const Packet8uc& a) {
+  // Discard second half of input.
+  return vget_low_u16(vmovl_u8(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet16uc, Packet8s>(const Packet16uc& a) {
+  return vreinterpretq_s16_u16(pcast<Packet16uc, Packet8us>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet8uc, Packet4s>(const Packet8uc& a) {
+  return vreinterpret_s16_u16(pcast<Packet8uc, Packet4us>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet16uc, Packet16uc>(const Packet16uc& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet8uc, Packet8uc>(const Packet8uc& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet4uc pcast<Packet4uc, Packet4uc>(const Packet4uc& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet16uc, Packet16c>(const Packet16uc& a) {
+  return vreinterpretq_s8_u8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet8uc, Packet8c>(const Packet8uc& a) {
+  return vreinterpret_s8_u8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4c pcast<Packet4uc, Packet4c>(const Packet4uc& a) {
+  return static_cast<Packet4c>(a);
+}
+
+//==============================================================================
+// pcast, SrcType = int16_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::int16_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet8s, Packet4f>(const Packet8s& a) {
+  // Discard second half of input.
+  return vcvtq_f32_s32(vmovl_s16(vget_low_s16(a)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet4s, Packet2f>(const Packet4s& a) {
+  // Discard second half of input.
+  return vcvt_f32_s32(vget_low_s32(vmovl_s16(a)));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet8s, Packet2l>(const Packet8s& a) {
+  // Discard all but first two values.
+  return vmovl_s32(vget_low_s32(vmovl_s16(vget_low_s16(a))));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet8s, Packet2ul>(const Packet8s& a) {
+  return vreinterpretq_u64_s64(pcast<Packet8s, Packet2l>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet8s, Packet4i>(const Packet8s& a) {
+  // Discard second half of input.
+  return vmovl_s16(vget_low_s16(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet4s, Packet2i>(const Packet4s& a) {
+  // Discard second half of input.
+  return vget_low_s32(vmovl_s16(a));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet8s, Packet4ui>(const Packet8s& a) {
+  return vreinterpretq_u32_s32(pcast<Packet8s, Packet4i>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet4s, Packet2ui>(const Packet4s& a) {
+  return vreinterpret_u32_s32(pcast<Packet4s, Packet2i>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet8s, Packet8s>(const Packet8s& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet4s, Packet4s>(const Packet4s& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet8s, Packet8us>(const Packet8s& a) {
+  return vreinterpretq_u16_s16(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet4s, Packet4us>(const Packet4s& a) {
+  return vreinterpret_u16_s16(a);
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet8s, Packet16c>(const Packet8s& a, const Packet8s& b) {
+  return vcombine_s8(vmovn_s16(a), vmovn_s16(b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet4s, Packet8c>(const Packet4s& a, const Packet4s& b) {
+  return vmovn_s16(vcombine_s16(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet8s, Packet16uc>(const Packet8s& a, const Packet8s& b) {
+  return vcombine_u8(vmovn_u16(vreinterpretq_u16_s16(a)), vmovn_u16(vreinterpretq_u16_s16(b)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet4s, Packet8uc>(const Packet4s& a, const Packet4s& b) {
+  return vmovn_u16(vcombine_u16(vreinterpret_u16_s16(a), vreinterpret_u16_s16(b)));
+}
+
+//==============================================================================
+// pcast, SrcType = uint16_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::uint16_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet8us, Packet4f>(const Packet8us& a) {
+  // Discard second half of input.
+  return vcvtq_f32_u32(vmovl_u16(vget_low_u16(a)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet4us, Packet2f>(const Packet4us& a) {
+  // Discard second half of input.
+  return vcvt_f32_u32(vget_low_u32(vmovl_u16(a)));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet8us, Packet2ul>(const Packet8us& a) {
+  // Discard all but first two values.
+  return vmovl_u32(vget_low_u32(vmovl_u16(vget_low_u16(a))));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet8us, Packet2l>(const Packet8us& a) {
+  return vreinterpretq_s64_u64(pcast<Packet8us, Packet2ul>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet8us, Packet4ui>(const Packet8us& a) {
+  // Discard second half of input.
+  return vmovl_u16(vget_low_u16(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet4us, Packet2ui>(const Packet4us& a) {
+  // Discard second half of input.
+  return vget_low_u32(vmovl_u16(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet8us, Packet4i>(const Packet8us& a) {
+  return vreinterpretq_s32_u32(pcast<Packet8us, Packet4ui>(a));
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet4us, Packet2i>(const Packet4us& a) {
+  return vreinterpret_s32_u32(pcast<Packet4us, Packet2ui>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet8us, Packet8us>(const Packet8us& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet4us, Packet4us>(const Packet4us& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet8us, Packet8s>(const Packet8us& a) {
+  return vreinterpretq_s16_u16(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet4us, Packet4s>(const Packet4us& a) {
+  return vreinterpret_s16_u16(a);
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet8us, Packet16uc>(const Packet8us& a, const Packet8us& b) {
+  return vcombine_u8(vmovn_u16(a), vmovn_u16(b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet4us, Packet8uc>(const Packet4us& a, const Packet4us& b) {
+  return vmovn_u16(vcombine_u16(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet8us, Packet16c>(const Packet8us& a, const Packet8us& b) {
+  return vreinterpretq_s8_u8(pcast<Packet8us, Packet16uc>(a, b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet4us, Packet8c>(const Packet4us& a, const Packet4us& b) {
+  return vreinterpret_s8_u8(pcast<Packet4us, Packet8uc>(a, b));
+}
+
+//==============================================================================
+// pcast, SrcType = int32_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::int32_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+  return vcvtq_f32_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet2i, Packet2f>(const Packet2i& a) {
+  return vcvt_f32_s32(a);
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet4i, Packet2l>(const Packet4i& a) {
+  // Discard second half of input.
+  return vmovl_s32(vget_low_s32(a));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet4i, Packet2ul>(const Packet4i& a) {
+  return vreinterpretq_u64_s64(pcast<Packet4i, Packet2l>(a));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet4i, Packet4i>(const Packet4i& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet2i, Packet2i>(const Packet2i& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet4i, Packet4ui>(const Packet4i& a) {
+  return vreinterpretq_u32_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet2i, Packet2ui>(const Packet2i& a) {
+  return vreinterpret_u32_s32(a);
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet4i, Packet8s>(const Packet4i& a, const Packet4i& b) {
+  return vcombine_s16(vmovn_s32(a), vmovn_s32(b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet2i, Packet4s>(const Packet2i& a, const Packet2i& b) {
+  return vmovn_s32(vcombine_s32(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet4i, Packet8us>(const Packet4i& a, const Packet4i& b) {
+  return vcombine_u16(vmovn_u32(vreinterpretq_u32_s32(a)), vmovn_u32(vreinterpretq_u32_s32(b)));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet2i, Packet4us>(const Packet2i& a, const Packet2i& b) {
+  return vmovn_u32(vreinterpretq_u32_s32(vcombine_s32(a, b)));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet4i, Packet16c>(const Packet4i& a, const Packet4i& b, const Packet4i& c,
+                                                         const Packet4i& d) {
+  const int16x8_t ab_s16 = pcast<Packet4i, Packet8s>(a, b);
+  const int16x8_t cd_s16 = pcast<Packet4i, Packet8s>(c, d);
+  return vcombine_s8(vmovn_s16(ab_s16), vmovn_s16(cd_s16));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet2i, Packet8c>(const Packet2i& a, const Packet2i& b, const Packet2i& c,
+                                                       const Packet2i& d) {
+  const int16x4_t ab_s16 = vmovn_s32(vcombine_s32(a, b));
+  const int16x4_t cd_s16 = vmovn_s32(vcombine_s32(c, d));
+  return vmovn_s16(vcombine_s16(ab_s16, cd_s16));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet4i, Packet16uc>(const Packet4i& a, const Packet4i& b, const Packet4i& c,
+                                                           const Packet4i& d) {
+  const uint16x8_t ab_u16 = pcast<Packet4i, Packet8us>(a, b);
+  const uint16x8_t cd_u16 = pcast<Packet4i, Packet8us>(c, d);
+  return vcombine_u8(vmovn_u16(ab_u16), vmovn_u16(cd_u16));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet2i, Packet8uc>(const Packet2i& a, const Packet2i& b, const Packet2i& c,
+                                                         const Packet2i& d) {
+  const uint16x4_t ab_u16 = pcast<Packet2i, Packet4us>(a, b);
+  const uint16x4_t cd_u16 = pcast<Packet2i, Packet4us>(c, d);
+  return vmovn_u16(vcombine_u16(ab_u16, cd_u16));
+}
+
+//==============================================================================
+// pcast, SrcType = uint32_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::uint32_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet4ui, Packet4f>(const Packet4ui& a) {
+  return vcvtq_f32_u32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f pcast<Packet2ui, Packet2f>(const Packet2ui& a) {
+  return vcvt_f32_u32(a);
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet4ui, Packet2ul>(const Packet4ui& a) {
+  // Discard second half of input.
+  return vmovl_u32(vget_low_u32(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet4ui, Packet2l>(const Packet4ui& a) {
+  return vreinterpretq_s64_u64(pcast<Packet4ui, Packet2ul>(a));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet4ui, Packet4ui>(const Packet4ui& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui pcast<Packet2ui, Packet2ui>(const Packet2ui& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet4ui, Packet4i>(const Packet4ui& a) {
+  return vreinterpretq_s32_u32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i pcast<Packet2ui, Packet2i>(const Packet2ui& a) {
+  return vreinterpret_s32_u32(a);
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet4ui, Packet8us>(const Packet4ui& a, const Packet4ui& b) {
+  return vcombine_u16(vmovn_u32(a), vmovn_u32(b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4us pcast<Packet2ui, Packet4us>(const Packet2ui& a, const Packet2ui& b) {
+  return vmovn_u32(vcombine_u32(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet4ui, Packet8s>(const Packet4ui& a, const Packet4ui& b) {
+  return vreinterpretq_s16_u16(pcast<Packet4ui, Packet8us>(a, b));
+}
+template <>
+EIGEN_STRONG_INLINE Packet4s pcast<Packet2ui, Packet4s>(const Packet2ui& a, const Packet2ui& b) {
+  return vreinterpret_s16_u16(pcast<Packet2ui, Packet4us>(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet4ui, Packet16uc>(const Packet4ui& a, const Packet4ui& b, const Packet4ui& c,
+                                                            const Packet4ui& d) {
+  const uint16x8_t ab_u16 = vcombine_u16(vmovn_u32(a), vmovn_u32(b));
+  const uint16x8_t cd_u16 = vcombine_u16(vmovn_u32(c), vmovn_u32(d));
+  return vcombine_u8(vmovn_u16(ab_u16), vmovn_u16(cd_u16));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc pcast<Packet2ui, Packet8uc>(const Packet2ui& a, const Packet2ui& b, const Packet2ui& c,
+                                                          const Packet2ui& d) {
+  const uint16x4_t ab_u16 = vmovn_u32(vcombine_u32(a, b));
+  const uint16x4_t cd_u16 = vmovn_u32(vcombine_u32(c, d));
+  return vmovn_u16(vcombine_u16(ab_u16, cd_u16));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet4ui, Packet16c>(const Packet4ui& a, const Packet4ui& b, const Packet4ui& c,
+                                                          const Packet4ui& d) {
+  return vreinterpretq_s8_u8(pcast<Packet4ui, Packet16uc>(a, b, c, d));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c pcast<Packet2ui, Packet8c>(const Packet2ui& a, const Packet2ui& b, const Packet2ui& c,
+                                                        const Packet2ui& d) {
+  return vreinterpret_s8_u8(pcast<Packet2ui, Packet8uc>(a, b, c, d));
+}
+
+//==============================================================================
+// pcast, SrcType = int64_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::int64_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet2l, Packet4f>(const Packet2l& a, const Packet2l& b) {
+  return vcvtq_f32_s32(vcombine_s32(vmovn_s64(a), vmovn_s64(b)));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet2l, Packet2l>(const Packet2l& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet2l, Packet2ul>(const Packet2l& a) {
+  return vreinterpretq_u64_s64(a);
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet2l, Packet4i>(const Packet2l& a, const Packet2l& b) {
+  return vcombine_s32(vmovn_s64(a), vmovn_s64(b));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet2l, Packet4ui>(const Packet2l& a, const Packet2l& b) {
+  return vcombine_u32(vmovn_u64(vreinterpretq_u64_s64(a)), vmovn_u64(vreinterpretq_u64_s64(b)));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet2l, Packet8s>(const Packet2l& a, const Packet2l& b, const Packet2l& c,
+                                                       const Packet2l& d) {
+  const int32x4_t ab_s32 = pcast<Packet2l, Packet4i>(a, b);
+  const int32x4_t cd_s32 = pcast<Packet2l, Packet4i>(c, d);
+  return vcombine_s16(vmovn_s32(ab_s32), vmovn_s32(cd_s32));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet2l, Packet8us>(const Packet2l& a, const Packet2l& b, const Packet2l& c,
+                                                         const Packet2l& d) {
+  const uint32x4_t ab_u32 = pcast<Packet2l, Packet4ui>(a, b);
+  const uint32x4_t cd_u32 = pcast<Packet2l, Packet4ui>(c, d);
+  return vcombine_u16(vmovn_u32(ab_u32), vmovn_u32(cd_u32));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet2l, Packet16c>(const Packet2l& a, const Packet2l& b, const Packet2l& c,
+                                                         const Packet2l& d, const Packet2l& e, const Packet2l& f,
+                                                         const Packet2l& g, const Packet2l& h) {
+  const int16x8_t abcd_s16 = pcast<Packet2l, Packet8s>(a, b, c, d);
+  const int16x8_t efgh_s16 = pcast<Packet2l, Packet8s>(e, f, g, h);
+  return vcombine_s8(vmovn_s16(abcd_s16), vmovn_s16(efgh_s16));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet2l, Packet16uc>(const Packet2l& a, const Packet2l& b, const Packet2l& c,
+                                                           const Packet2l& d, const Packet2l& e, const Packet2l& f,
+                                                           const Packet2l& g, const Packet2l& h) {
+  const uint16x8_t abcd_u16 = pcast<Packet2l, Packet8us>(a, b, c, d);
+  const uint16x8_t efgh_u16 = pcast<Packet2l, Packet8us>(e, f, g, h);
+  return vcombine_u8(vmovn_u16(abcd_u16), vmovn_u16(efgh_u16));
+}
+
+//==============================================================================
+// pcast, SrcType = uint64_t
+//==============================================================================
+template <>
+struct type_casting_traits<numext::uint64_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet2ul, Packet4f>(const Packet2ul& a, const Packet2ul& b) {
+  return vcvtq_f32_u32(vcombine_u32(vmovn_u64(a), vmovn_u64(b)));
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet2ul, Packet2ul>(const Packet2ul& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet2ul, Packet2l>(const Packet2ul& a) {
+  return vreinterpretq_s64_u64(a);
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet2ul, Packet4ui>(const Packet2ul& a, const Packet2ul& b) {
+  return vcombine_u32(vmovn_u64(a), vmovn_u64(b));
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet2ul, Packet4i>(const Packet2ul& a, const Packet2ul& b) {
+  return vreinterpretq_s32_u32(pcast<Packet2ul, Packet4ui>(a, b));
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet2ul, Packet8us>(const Packet2ul& a, const Packet2ul& b, const Packet2ul& c,
+                                                          const Packet2ul& d) {
+  const uint16x4_t ab_u16 = vmovn_u32(vcombine_u32(vmovn_u64(a), vmovn_u64(b)));
+  const uint16x4_t cd_u16 = vmovn_u32(vcombine_u32(vmovn_u64(c), vmovn_u64(d)));
+  return vcombine_u16(ab_u16, cd_u16);
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet2ul, Packet8s>(const Packet2ul& a, const Packet2ul& b, const Packet2ul& c,
+                                                        const Packet2ul& d) {
+  return vreinterpretq_s16_u16(pcast<Packet2ul, Packet8us>(a, b, c, d));
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet2ul, Packet16uc>(const Packet2ul& a, const Packet2ul& b, const Packet2ul& c,
+                                                            const Packet2ul& d, const Packet2ul& e, const Packet2ul& f,
+                                                            const Packet2ul& g, const Packet2ul& h) {
+  const uint16x8_t abcd_u16 = pcast<Packet2ul, Packet8us>(a, b, c, d);
+  const uint16x8_t efgh_u16 = pcast<Packet2ul, Packet8us>(e, f, g, h);
+  return vcombine_u8(vmovn_u16(abcd_u16), vmovn_u16(efgh_u16));
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet2ul, Packet16c>(const Packet2ul& a, const Packet2ul& b, const Packet2ul& c,
+                                                          const Packet2ul& d, const Packet2ul& e, const Packet2ul& f,
+                                                          const Packet2ul& g, const Packet2ul& h) {
+  return vreinterpretq_s8_u8(pcast<Packet2ul, Packet16uc>(a, b, c, d, e, f, g, h));
+}
+
+//==============================================================================
+// preinterpret
+//==============================================================================
+template <>
+EIGEN_STRONG_INLINE Packet2f preinterpret<Packet2f, Packet2i>(const Packet2i& a) {
+  return vreinterpret_f32_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2f preinterpret<Packet2f, Packet2ui>(const Packet2ui& a) {
+  return vreinterpret_f32_u32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4f preinterpret<Packet4f, Packet4i>(const Packet4i& a) {
+  return vreinterpretq_f32_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4f preinterpret<Packet4f, Packet4ui>(const Packet4ui& a) {
+  return vreinterpretq_f32_u32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4c preinterpret<Packet4c, Packet4uc>(const Packet4uc& a) {
+  return static_cast<Packet4c>(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8c preinterpret<Packet8c, Packet8uc>(const Packet8uc& a) {
+  return vreinterpret_s8_u8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16c preinterpret<Packet16c, Packet16uc>(const Packet16uc& a) {
+  return vreinterpretq_s8_u8(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4uc preinterpret<Packet4uc, Packet4c>(const Packet4c& a) {
+  return static_cast<Packet4uc>(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8uc preinterpret<Packet8uc, Packet8c>(const Packet8c& a) {
+  return vreinterpret_u8_s8(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16uc preinterpret<Packet16uc, Packet16c>(const Packet16c& a) {
+  return vreinterpretq_u8_s8(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4s preinterpret<Packet4s, Packet4us>(const Packet4us& a) {
+  return vreinterpret_s16_u16(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8s preinterpret<Packet8s, Packet8us>(const Packet8us& a) {
+  return vreinterpretq_s16_u16(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet4us preinterpret<Packet4us, Packet4s>(const Packet4s& a) {
+  return vreinterpret_u16_s16(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8us preinterpret<Packet8us, Packet8s>(const Packet8s& a) {
+  return vreinterpretq_u16_s16(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2i preinterpret<Packet2i, Packet2f>(const Packet2f& a) {
+  return vreinterpret_s32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2i preinterpret<Packet2i, Packet2ui>(const Packet2ui& a) {
+  return vreinterpret_s32_u32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i, Packet4f>(const Packet4f& a) {
+  return vreinterpretq_s32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i, Packet4ui>(const Packet4ui& a) {
+  return vreinterpretq_s32_u32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2ui preinterpret<Packet2ui, Packet2f>(const Packet2f& a) {
+  return vreinterpret_u32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ui preinterpret<Packet2ui, Packet2i>(const Packet2i& a) {
+  return vreinterpret_u32_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4ui preinterpret<Packet4ui, Packet4f>(const Packet4f& a) {
+  return vreinterpretq_u32_f32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4ui preinterpret<Packet4ui, Packet4i>(const Packet4i& a) {
+  return vreinterpretq_u32_s32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2l preinterpret<Packet2l, Packet2ul>(const Packet2ul& a) {
+  return vreinterpretq_s64_u64(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ul preinterpret<Packet2ul, Packet2l>(const Packet2l& a) {
+  return vreinterpretq_u64_s64(a);
+}
+
+#if EIGEN_ARCH_ARM64
+
+//==============================================================================
+// pcast/preinterpret, Double
+//==============================================================================
+
+template <>
+struct type_casting_traits<double, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet2d, Packet2d>(const Packet2d& a) {
+  return a;
+}
+
+template <>
+struct type_casting_traits<double, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
+  return vcombine_f32(vcvt_f32_f64(a), vcvt_f32_f64(b));
+}
+
+template <>
+struct type_casting_traits<double, numext::int64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2l pcast<Packet2d, Packet2l>(const Packet2d& a) {
+  return vcvtq_s64_f64(a);
+}
+
+template <>
+struct type_casting_traits<double, numext::uint64_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2ul pcast<Packet2d, Packet2ul>(const Packet2d& a) {
+  return vcvtq_u64_f64(a);
+}
+
+template <>
+struct type_casting_traits<double, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4i pcast<Packet2d, Packet4i>(const Packet2d& a, const Packet2d& b) {
+  return vcombine_s32(vmovn_s64(vcvtq_s64_f64(a)), vmovn_s64(vcvtq_s64_f64(b)));
+}
+
+template <>
+struct type_casting_traits<double, numext::uint32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet4ui pcast<Packet2d, Packet4ui>(const Packet2d& a, const Packet2d& b) {
+  return vcombine_u32(vmovn_u64(vcvtq_u64_f64(a)), vmovn_u64(vcvtq_u64_f64(b)));
+}
+
+template <>
+struct type_casting_traits<double, numext::int16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8s pcast<Packet2d, Packet8s>(const Packet2d& a, const Packet2d& b, const Packet2d& c,
+                                                       const Packet2d& d) {
+  const int32x4_t ab_s32 = pcast<Packet2d, Packet4i>(a, b);
+  const int32x4_t cd_s32 = pcast<Packet2d, Packet4i>(c, d);
+  return vcombine_s16(vmovn_s32(ab_s32), vmovn_s32(cd_s32));
+}
+
+template <>
+struct type_casting_traits<double, numext::uint16_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 4, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet8us pcast<Packet2d, Packet8us>(const Packet2d& a, const Packet2d& b, const Packet2d& c,
+                                                         const Packet2d& d) {
+  const uint32x4_t ab_u32 = pcast<Packet2d, Packet4ui>(a, b);
+  const uint32x4_t cd_u32 = pcast<Packet2d, Packet4ui>(c, d);
+  return vcombine_u16(vmovn_u32(ab_u32), vmovn_u32(cd_u32));
+}
+
+template <>
+struct type_casting_traits<double, numext::int8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16c pcast<Packet2d, Packet16c>(const Packet2d& a, const Packet2d& b, const Packet2d& c,
+                                                         const Packet2d& d, const Packet2d& e, const Packet2d& f,
+                                                         const Packet2d& g, const Packet2d& h) {
+  const int16x8_t abcd_s16 = pcast<Packet2d, Packet8s>(a, b, c, d);
+  const int16x8_t efgh_s16 = pcast<Packet2d, Packet8s>(e, f, g, h);
+  return vcombine_s8(vmovn_s16(abcd_s16), vmovn_s16(efgh_s16));
+}
+
+template <>
+struct type_casting_traits<double, numext::uint8_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 8, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet16uc pcast<Packet2d, Packet16uc>(const Packet2d& a, const Packet2d& b, const Packet2d& c,
+                                                           const Packet2d& d, const Packet2d& e, const Packet2d& f,
+                                                           const Packet2d& g, const Packet2d& h) {
+  const uint16x8_t abcd_u16 = pcast<Packet2d, Packet8us>(a, b, c, d);
+  const uint16x8_t efgh_u16 = pcast<Packet2d, Packet8us>(e, f, g, h);
+  return vcombine_u8(vmovn_u16(abcd_u16), vmovn_u16(efgh_u16));
+}
+
+template <>
+struct type_casting_traits<float, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
+  // Discard second-half of input.
+  return vcvt_f64_f32(vget_low_f32(a));
+}
+
+template <>
+struct type_casting_traits<numext::int8_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet16c, Packet2d>(const Packet16c& a) {
+  // Discard all but first two values.
+  return vcvt_f64_f32(pcast<Packet8c, Packet2f>(vget_low_s8(a)));
+}
+
+template <>
+struct type_casting_traits<numext::uint8_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 8 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet16uc, Packet2d>(const Packet16uc& a) {
+  // Discard all but first two values.
+  return vcvt_f64_f32(pcast<Packet8uc, Packet2f>(vget_low_u8(a)));
+}
+
+template <>
+struct type_casting_traits<numext::int16_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet8s, Packet2d>(const Packet8s& a) {
+  // Discard all but first two values.
+  return vcvt_f64_f32(pcast<Packet4s, Packet2f>(vget_low_s16(a)));
+}
+
+template <>
+struct type_casting_traits<numext::uint16_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 4 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet8us, Packet2d>(const Packet8us& a) {
+  // Discard all but first two values.
+  return vcvt_f64_f32(pcast<Packet4us, Packet2f>(vget_low_u16(a)));
+}
+
+template <>
+struct type_casting_traits<numext::int32_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet4i, Packet2d>(const Packet4i& a) {
+  // Discard second half of input.
+  return vcvtq_f64_s64(vmovl_s32(vget_low_s32(a)));
+}
+
+template <>
+struct type_casting_traits<numext::uint32_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet4ui, Packet2d>(const Packet4ui& a) {
+  // Discard second half of input.
+  return vcvtq_f64_u64(vmovl_u32(vget_low_u32(a)));
+}
+
+template <>
+struct type_casting_traits<numext::int64_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet2l, Packet2d>(const Packet2l& a) {
+  return vcvtq_f64_s64(a);
+}
+
+template <>
+struct type_casting_traits<numext::uint64_t, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+template <>
+EIGEN_STRONG_INLINE Packet2d pcast<Packet2ul, Packet2d>(const Packet2ul& a) {
+  return vcvtq_f64_u64(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet2d preinterpret<Packet2d, Packet2l>(const Packet2l& a) {
+  return vreinterpretq_f64_s64(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2d preinterpret<Packet2d, Packet2ul>(const Packet2ul& a) {
+  return vreinterpretq_f64_u64(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2l preinterpret<Packet2l, Packet2d>(const Packet2d& a) {
+  return vreinterpretq_s64_f64(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2ul preinterpret<Packet2ul, Packet2d>(const Packet2d& a) {
+  return vreinterpretq_u64_f64(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet2d preinterpret<Packet2d, Packet4i>(const Packet4i& a) {
+  return vreinterpretq_f64_s32(a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i, Packet2d>(const Packet2d& a) {
+  return vreinterpretq_s32_f64(a);
+}
+
+#endif  // EIGEN_ARCH_ARM64
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_TYPE_CASTING_NEON_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/Complex.h
index 23e717f28f..215bfd7bb6 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/Complex.h
@@ -19,7 +19,7 @@ struct Packet2cf
 {
   EIGEN_STRONG_INLINE Packet2cf() {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const __m128& a) : v(a) {}
-  __m128  v;
+  Packet4f v;
 };
 
 // Use the packet_traits defined in AVX/PacketMath.h instead if we're going
@@ -40,20 +40,33 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasMul    = 1,
     HasDiv    = 1,
     HasNegate = 1,
+    HasSqrt   = 1,
     HasAbs    = 0,
     HasAbs2   = 0,
     HasMin    = 0,
     HasMax    = 0,
     HasSetLinear = 0,
-    HasBlend = 1
+    HasBlend  = 1
   };
 };
 #endif
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+template<> struct unpacket_traits<Packet2cf> {
+  typedef std::complex<float> type;
+  typedef Packet2cf half;
+  typedef Packet4f as_real;
+  enum {
+    size=2,
+    alignment=Aligned16,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
 
 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));
@@ -82,30 +95,20 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
   #endif
 }
 
+template<> EIGEN_STRONG_INLINE Packet2cf ptrue  <Packet2cf>(const Packet2cf& a) { return Packet2cf(ptrue(Packet4f(a.v))); }
 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 pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_andnot_ps(b.v,a.v)); }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>(&numext::real_ref(*from))); }
 template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>(&numext::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), reinterpret_cast<const __m64*>(&from));
-#elif EIGEN_GNUC_AT_LEAST(4,6)
-  // Suppress annoying "may be used uninitialized in this function" warning with gcc >= 4.6
-  #pragma GCC diagnostic push
-  #pragma GCC diagnostic ignored "-Wuninitialized"
-  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
-  #pragma GCC diagnostic pop
-#else
-  res.v = _mm_loadl_pi(res.v, (const __m64*)&from);
-#endif
-  return Packet2cf(_mm_movelh_ps(res.v,res.v));
+  const float re = std::real(from);
+  const float im = std::imag(from);
+  return Packet2cf(_mm_set_ps(im, re, im, re));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
@@ -128,7 +131,7 @@ template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf
                                      _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 3)));
 }
 
-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 void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
 {
@@ -152,97 +155,26 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packe
   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>
-{
-  static EIGEN_STRONG_INLINE 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 pcplxflip/* <Packet2cf> */(const Packet2cf& x)
 {
-  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
-  }
-};
+  return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
+}
 
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
 
 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);
+  Packet2cf res = pmul(a, pconj(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)))));
+  return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,vec4f_swizzle1(s, 1, 0, 3, 2))));
 }
 
-EIGEN_STRONG_INLINE Packet2cf pcplxflip/* <Packet2cf> */(const Packet2cf& x)
-{
-  return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
-}
 
 
 //---------- double ----------
@@ -250,7 +182,7 @@ struct Packet1cd
 {
   EIGEN_STRONG_INLINE Packet1cd() {}
   EIGEN_STRONG_INLINE explicit Packet1cd(const __m128d& a) : v(a) {}
-  __m128d  v;
+  Packet2d v;
 };
 
 // Use the packet_traits defined in AVX/PacketMath.h instead if we're going
@@ -271,6 +203,7 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
     HasMul    = 1,
     HasDiv    = 1,
     HasNegate = 1,
+    HasSqrt   = 1,
     HasAbs    = 0,
     HasAbs2   = 0,
     HasMin    = 0,
@@ -280,7 +213,18 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 };
 #endif
 
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+template<> struct unpacket_traits<Packet1cd> {
+  typedef std::complex<double> type;
+  typedef Packet1cd half;
+  typedef Packet2d as_real;
+  enum {
+    size=1,
+    alignment=Aligned16,
+    vectorizable=true,
+    masked_load_available=false,
+    masked_store_available=false
+  };
+};
 
 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)); }
@@ -305,10 +249,11 @@ template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, con
   #endif
 }
 
+template<> EIGEN_STRONG_INLINE Packet1cd ptrue  <Packet1cd>(const Packet1cd& a) { return Packet1cd(ptrue(Packet2d(a.v))); }
 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)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_andnot_pd(b.v,a.v)); }
 
 // FIXME force unaligned load, this is a temporary fix
 template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from)
@@ -324,7 +269,7 @@ template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<
 template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, Packet2d(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, Packet2d(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 void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
 
 template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
 {
@@ -340,86 +285,17 @@ template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Pack
   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>
-{
-  static EIGEN_STRONG_INLINE 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
-  }
-};
-
 EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
 
 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);
+  Packet1cd res = pmul(a,pconj(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))));
 }
@@ -439,33 +315,32 @@ ptranspose(PacketBlock<Packet2cf,2>& kernel) {
   kernel.packet[1].v = tmp;
 }
 
-template<>  EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
-  __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
-  return Packet2cf(_mm_castpd_ps(result));
+template<> EIGEN_STRONG_INLINE Packet2cf pcmp_eq(const Packet2cf& a, const Packet2cf& b)
+{
+  __m128 eq = _mm_cmpeq_ps(a.v, b.v);
+  return Packet2cf(pand<Packet4f>(eq, vec4f_swizzle1(eq, 1, 0, 3, 2)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pinsertfirst(const Packet2cf& a, std::complex<float> b)
+template<> EIGEN_STRONG_INLINE Packet1cd pcmp_eq(const Packet1cd& a, const Packet1cd& b)
 {
-  return Packet2cf(_mm_loadl_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+  __m128d eq = _mm_cmpeq_pd(a.v, b.v);
+  return Packet1cd(pand<Packet2d>(eq, vec2d_swizzle1(eq, 1, 0)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet1cd pinsertfirst(const Packet1cd&, std::complex<double> b)
-{
-  return pset1<Packet1cd>(b);
+template<>  EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
+  return Packet2cf(_mm_castpd_ps(result));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pinsertlast(const Packet2cf& a, std::complex<float> b)
-{
-  return Packet2cf(_mm_loadh_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+template<> EIGEN_STRONG_INLINE Packet1cd psqrt<Packet1cd>(const Packet1cd& a) {
+  return psqrt_complex<Packet1cd>(a);
 }
 
-template<> EIGEN_STRONG_INLINE Packet1cd pinsertlast(const Packet1cd&, std::complex<double> b)
-{
-  return pset1<Packet1cd>(b);
+template<> EIGEN_STRONG_INLINE Packet2cf psqrt<Packet2cf>(const Packet2cf& a) {
+  return psqrt_complex<Packet2cf>(a);
 }
 
 } // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_COMPLEX_SSE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/MathFunctions.h
index 7b5f948e11..8736d0d6b5 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -8,7 +8,7 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-/* The sin, cos, exp, and log functions of this file come from
+/* The sin and cos and functions of this file come from
  * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
  */
 
@@ -20,426 +20,57 @@ namespace Eigen {
 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);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000);//-1.f/0.f);
-
-  /* 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_cmpnge_ps(x, _mm_setzero_ps()); // not greater equal is true if x is NaN
-  Packet4f iszero_mask = _mm_cmpeq_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(Packet4f(_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 = pand(x, mask);
-  x = psub(x, p4f_1);
-  e = psub(e, pand(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);
-  // negative arg will be NAN, 0 will be -INF
-  return _mm_or_ps(_mm_andnot_ps(iszero_mask, _mm_or_ps(x, invalid_mask)),
-                   _mm_and_ps(iszero_mask, p4f_minus_inf));
+Packet4f plog<Packet4f>(const Packet4f& _x) {
+  return plog_float(_x);
 }
 
 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,  88.3762626647950f);
-  _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, fx;
-  Packet4i emm0;
+Packet2d plog<Packet2d>(const Packet2d& _x) {
+  return plog_double(_x);
+}
 
-  // clamp x
-  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog2<Packet4f>(const Packet4f& _x) {
+  return plog2_float(_x);
+}
 
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d plog2<Packet2d>(const Packet2d& _x) {
+  return plog2_double(_x);
+}
 
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  fx = _mm_floor_ps(fx);
-#else
-  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);
-#endif
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog1p<Packet4f>(const Packet4f& _x) {
+  return generic_plog1p(_x);
+}
 
-  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 pmax(pmul(y, Packet4f(_mm_castsi128_ps(emm0))), _x);
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexpm1<Packet4f>(const Packet4f& _x) {
+  return generic_expm1(_x);
 }
+
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet2d pexp<Packet2d>(const Packet2d& _x)
+Packet4f pexp<Packet4f>(const Packet4f& _x)
 {
-  Packet2d x = _x;
-
-  _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
-  _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
-  _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
-
-  _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
-  _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
-
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
-  _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
-  static const __m128i p4i_1023_0 = _mm_setr_epi32(1023, 1023, 0, 0);
-
-  Packet2d tmp, fx;
-  Packet4i emm0;
-
-  // clamp x
-  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
-  /* express exp(x) as exp(g + n*log(2)) */
-  fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
-
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  fx = _mm_floor_pd(fx);
-#else
-  emm0 = _mm_cvttpd_epi32(fx);
-  tmp  = _mm_cvtepi32_pd(emm0);
-  /* if greater, substract 1 */
-  Packet2d mask = _mm_cmpgt_pd(tmp, fx);
-  mask = _mm_and_pd(mask, p2d_1);
-  fx = psub(tmp, mask);
-#endif
-
-  tmp = pmul(fx, p2d_cephes_exp_C1);
-  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
-  x = psub(x, tmp);
-  x = psub(x, z);
-
-  Packet2d x2 = pmul(x,x);
-
-  Packet2d px = p2d_cephes_exp_p0;
-  px = pmadd(px, x2, p2d_cephes_exp_p1);
-  px = pmadd(px, x2, p2d_cephes_exp_p2);
-  px = pmul (px, x);
-
-  Packet2d qx = p2d_cephes_exp_q0;
-  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
-  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
-
-  x = pdiv(px,psub(qx,px));
-  x = pmadd(p2d_2,x,p2d_1);
-
-  // build 2^n
-  emm0 = _mm_cvttpd_epi32(fx);
-  emm0 = _mm_add_epi32(emm0, p4i_1023_0);
-  emm0 = _mm_slli_epi32(emm0, 20);
-  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(1,2,0,3));
-  return pmax(pmul(x, Packet2d(_mm_castsi128_pd(emm0))), _x);
+  return pexp_float(_x);
 }
 
-/* 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
+Packet2d pexp<Packet2d>(const Packet2d& x)
+{
+  return pexp_double(x);
+}
 
 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, 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);
+  return psin_float(_x);
 }
 
-/* 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, 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);
+  return pcos_float(_x);
 }
 
 #if EIGEN_FAST_MATH
@@ -455,17 +86,17 @@ Packet4f pcos<Packet4f>(const Packet4f& _x)
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f psqrt<Packet4f>(const Packet4f& _x)
 {
-  Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
-  Packet4f denormal_mask = _mm_and_ps(
-      _mm_cmpge_ps(_x, _mm_setzero_ps()),
-      _mm_cmplt_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())));
+  Packet4f minus_half_x = pmul(_x, pset1<Packet4f>(-0.5f));
+  Packet4f denormal_mask = pandnot(
+      pcmp_lt(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())),
+      pcmp_lt(_x, pzero(_x)));
 
   // Compute approximate reciprocal sqrt.
   Packet4f x = _mm_rsqrt_ps(_x);
   // Do a single step of Newton's iteration.
-  x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
+  x = pmul(x, pmadd(minus_half_x, pmul(x,x), pset1<Packet4f>(1.5f)));
   // Flush results for denormals to zero.
-  return _mm_andnot_ps(denormal_mask, pmul(_x,x));
+  return pandnot(pmul(_x,x), denormal_mask);
 }
 
 #else
@@ -478,41 +109,48 @@ Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
 
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet16b psqrt<Packet16b>(const Packet16b& x) { return x; }
+
 #if EIGEN_FAST_MATH
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f prsqrt<Packet4f>(const Packet4f& _x) {
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(nan, 0x7fc00000);
   _EIGEN_DECLARE_CONST_Packet4f(one_point_five, 1.5f);
   _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5f);
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000u);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000u);
 
   Packet4f neg_half = pmul(_x, p4f_minus_half);
 
-  // select only the inverse sqrt of positive normal inputs (denormals are
-  // flushed to zero and cause infs as well).
-  Packet4f le_zero_mask = _mm_cmple_ps(_x, p4f_flt_min);
-  Packet4f x = _mm_andnot_ps(le_zero_mask, _mm_rsqrt_ps(_x));
-
-  // Fill in NaNs and Infs for the negative/zero entries.
-  Packet4f neg_mask = _mm_cmplt_ps(_x, _mm_setzero_ps());
-  Packet4f zero_mask = _mm_andnot_ps(neg_mask, le_zero_mask);
-  Packet4f infs_and_nans = _mm_or_ps(_mm_and_ps(neg_mask, p4f_nan),
-                                     _mm_and_ps(zero_mask, p4f_inf));
-
-  // Do a single step of Newton's iteration.
-  x = pmul(x, pmadd(neg_half, pmul(x, x), p4f_one_point_five));
-
-  // Insert NaNs and Infs in all the right places.
-  return _mm_or_ps(x, infs_and_nans);
+  // Identity infinite, zero, negative and denormal arguments.
+  Packet4f lt_min_mask = _mm_cmplt_ps(_x, p4f_flt_min);
+  Packet4f inf_mask = _mm_cmpeq_ps(_x, p4f_inf);
+  Packet4f not_normal_finite_mask = _mm_or_ps(lt_min_mask, inf_mask);
+
+  // Compute an approximate result using the rsqrt intrinsic.
+  Packet4f y_approx = _mm_rsqrt_ps(_x);
+
+  // Do a single step of Newton-Raphson iteration to improve the approximation.
+  // This uses the formula y_{n+1} = y_n * (1.5 - y_n * (0.5 * x) * y_n).
+  // It is essential to evaluate the inner term like this because forming
+  // y_n^2 may over- or underflow.
+  Packet4f y_newton = pmul(
+      y_approx, pmadd(y_approx, pmul(neg_half, y_approx), p4f_one_point_five));
+
+  // Select the result of the Newton-Raphson step for positive normal arguments.
+  // For other arguments, choose the output of the intrinsic. This will
+  // return rsqrt(+inf) = 0, rsqrt(x) = NaN if x < 0, and rsqrt(x) = +inf if
+  // x is zero or a positive denormalized float (equivalent to flushing positive
+  // denormalized inputs to zero).
+  return pselect<Packet4f>(not_normal_finite_mask, y_approx, y_newton);
 }
 
 #else
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f prsqrt<Packet4f>(const Packet4f& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_ps since it only provides an approximation.
+  // Unfortunately we can't use the much faster mm_rsqrt_ps since it only provides an approximation.
   return _mm_div_ps(pset1<Packet4f>(1.0f), _mm_sqrt_ps(x));
 }
 
@@ -520,7 +158,6 @@ Packet4f prsqrt<Packet4f>(const Packet4f& x) {
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet2d prsqrt<Packet2d>(const Packet2d& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
   return _mm_div_pd(pset1<Packet2d>(1.0), _mm_sqrt_pd(x));
 }
 
@@ -548,7 +185,7 @@ double sqrt(const double &x)
 {
 #if EIGEN_COMP_GNUC_STRICT
   // This works around a GCC bug generating poor code for _mm_sqrt_pd
-  // See https://bitbucket.org/eigen/eigen/commits/14f468dba4d350d7c19c9b93072e19f7b3df563b
+  // See https://gitlab.com/libeigen/eigen/commit/8dca9f97e38970
   return internal::pfirst(internal::Packet2d(__builtin_ia32_sqrtsd(_mm_set_sd(x))));
 #else
   return internal::pfirst(internal::Packet2d(_mm_sqrt_pd(_mm_set_sd(x))));
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/PacketMath.h
old mode 100644
new mode 100755
index d3b74aca43..40b41a7650
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -18,63 +18,93 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
 #endif
 
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#if !defined(EIGEN_VECTORIZE_AVX) && !defined(EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS)
+// 32 bits =>  8 registers
+// 64 bits => 16 registers
 #define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
 #endif
 
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 #ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD 1
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
 #endif
 
-#if (defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW || EIGEN_COMP_LCC_E2K) && (__GXX_ABI_VERSION < 1004)
+#if ((defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW || EIGEN_COMP_LCC) && (__GXX_ABI_VERSION < 1004)) || EIGEN_OS_QNX
 // With GCC's default ABI version, a __m128 or __m256 are the same types and therefore we cannot
 // have overloads for both types without linking error.
 // One solution is to increase ABI version using -fabi-version=4 (or greater).
 // Otherwise, we workaround this inconvenience by wrapping 128bit types into the following helper
 // structure:
-template<typename T>
-struct eigen_packet_wrapper
-{
-  EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
-  EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
-  EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
-    m_val = v;
-    return *this;
-  }
-
-  T m_val;
-};
 typedef eigen_packet_wrapper<__m128>  Packet4f;
-typedef eigen_packet_wrapper<__m128i> Packet4i;
 typedef eigen_packet_wrapper<__m128d> Packet2d;
 #else
 typedef __m128  Packet4f;
-typedef __m128i Packet4i;
 typedef __m128d Packet2d;
 #endif
 
+typedef eigen_packet_wrapper<__m128i, 0> Packet4i;
+typedef eigen_packet_wrapper<__m128i, 1> Packet16b;
+
 template<> struct is_arithmetic<__m128>  { enum { value = true }; };
 template<> struct is_arithmetic<__m128i> { enum { value = true }; };
 template<> struct is_arithmetic<__m128d> { enum { value = true }; };
+template<> struct is_arithmetic<Packet4i>  { enum { value = true }; };
+template<> struct is_arithmetic<Packet16b>  { enum { value = true }; };
+
+template<int p, int q, int r, int s>
+struct shuffle_mask{
+ enum { mask = (s)<<6|(r)<<4|(q)<<2|(p) };
+};
 
+// TODO: change the implementation of all swizzle* ops from macro to template,
 #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)))))
+  Packet4f(_mm_castsi128_ps(_mm_shuffle_epi32( _mm_castps_si128(v), (shuffle_mask<p,q,r,s>::mask))))
 
 #define vec4i_swizzle1(v,p,q,r,s) \
-  (_mm_shuffle_epi32( v, ((s)<<6|(r)<<4|(q)<<2|(p))))
+  Packet4i(_mm_shuffle_epi32( v, (shuffle_mask<p,q,r,s>::mask)))
 
 #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)))))
+  Packet2d(_mm_castsi128_pd(_mm_shuffle_epi32( _mm_castpd_si128(v), (shuffle_mask<2*p,2*p+1,2*q,2*q+1>::mask))))
 
 #define vec4f_swizzle2(a,b,p,q,r,s) \
-  (_mm_shuffle_ps( (a), (b), ((s)<<6|(r)<<4|(q)<<2|(p))))
+  Packet4f(_mm_shuffle_ps( (a), (b), (shuffle_mask<p,q,r,s>::mask)))
 
 #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))))))
+  Packet4i(_mm_castps_si128( (_mm_shuffle_ps( _mm_castsi128_ps(a), _mm_castsi128_ps(b), (shuffle_mask<p,q,r,s>::mask)))))
+
+EIGEN_STRONG_INLINE Packet4f vec4f_movelh(const Packet4f& a, const Packet4f& b)
+{
+  return Packet4f(_mm_movelh_ps(a,b));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_movehl(const Packet4f& a, const Packet4f& b)
+{
+  return Packet4f(_mm_movehl_ps(a,b));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_unpacklo(const Packet4f& a, const Packet4f& b)
+{
+  return Packet4f(_mm_unpacklo_ps(a,b));
+}
+EIGEN_STRONG_INLINE Packet4f vec4f_unpackhi(const Packet4f& a, const Packet4f& b)
+{
+  return Packet4f(_mm_unpackhi_ps(a,b));
+}
+#define vec4f_duplane(a,p) \
+  vec4f_swizzle2(a,a,p,p,p,p)
+
+#define vec2d_swizzle2(a,b,mask) \
+  Packet2d(_mm_shuffle_pd(a,b,mask))
+
+EIGEN_STRONG_INLINE Packet2d vec2d_unpacklo(const Packet2d& a, const Packet2d& b)
+{
+  return Packet2d(_mm_unpacklo_pd(a,b));
+}
+EIGEN_STRONG_INLINE Packet2d vec2d_unpackhi(const Packet2d& a, const Packet2d& b)
+{
+  return Packet2d(_mm_unpackhi_pd(a,b));
+}
+#define vec2d_duplane(a,p) \
+  vec2d_swizzle2(a,a,(p<<1)|p)
 
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   const Packet4f p4f_##NAME = pset1<Packet4f>(X)
@@ -83,7 +113,7 @@ template<> struct is_arithmetic<__m128d> { enum { value = true }; };
   const Packet2d p2d_##NAME = pset1<Packet2d>(X)
 
 #define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  const Packet4f p4f_##NAME = _mm_castsi128_ps(pset1<Packet4i>(X))
+  const Packet4f p4f_##NAME = pset1frombits<Packet4f>(X)
 
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
@@ -92,36 +122,41 @@ template<> struct is_arithmetic<__m128d> { enum { value = true }; };
 // Use the packet_traits defined in AVX/PacketMath.h instead if we're going
 // to leverage AVX instructions.
 #ifndef EIGEN_VECTORIZE_AVX
-template<> struct packet_traits<float>  : default_packet_traits
-{
+template <>
+struct packet_traits<float> : default_packet_traits {
   typedef Packet4f type;
   typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4,
+    size = 4,
     HasHalfPacket = 0,
 
-    HasDiv  = 1,
-    HasSin  = EIGEN_FAST_MATH,
-    HasCos  = EIGEN_FAST_MATH,
-    HasLog  = 1,
-    HasExp  = 1,
+    HasCmp  = 1,
+    HasDiv = 1,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasLog1p = 1,
+    HasExpm1 = 1,
+    HasNdtri = 1,
+    HasExp = 1,
+    HasBessel = 1,
     HasSqrt = 1,
     HasRsqrt = 1,
-    HasTanh  = EIGEN_FAST_MATH,
-    HasBlend = 1
-
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH,
+    HasBlend = 1,
+    HasCeil = 1,
+    HasFloor = 1,
 #ifdef EIGEN_VECTORIZE_SSE4_1
-    ,
     HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
 #endif
+    HasRint = 1
   };
 };
-template<> struct packet_traits<double> : default_packet_traits
-{
+template <>
+struct packet_traits<double> : default_packet_traits {
   typedef Packet2d type;
   typedef Packet2d half;
   enum {
@@ -130,18 +165,19 @@ template<> struct packet_traits<double> : default_packet_traits
     size=2,
     HasHalfPacket = 0,
 
+    HasCmp  = 1,
     HasDiv  = 1,
+    HasLog  = 1,
     HasExp  = 1,
     HasSqrt = 1,
     HasRsqrt = 1,
-    HasBlend = 1
-
+    HasBlend = 1,
+    HasFloor = 1,
+    HasCeil = 1,
 #ifdef EIGEN_VECTORIZE_SSE4_1
-    ,
     HasRound = 1,
-    HasFloor = 1,
-    HasCeil = 1
 #endif
+    HasRint = 1
   };
 };
 #endif
@@ -154,13 +190,56 @@ template<> struct packet_traits<int>    : default_packet_traits
     AlignedOnScalar = 1,
     size=4,
 
+    HasShift = 1,
     HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+template<> struct packet_traits<bool> : default_packet_traits
+{
+  typedef Packet16b type;
+  typedef Packet16b half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    HasHalfPacket = 0,
+    size=16,
+
+    HasAdd       = 1,
+    HasSub       = 1,
+    HasShift     = 0,
+    HasMul       = 1,
+    HasNegate    = 1,
+    HasAbs       = 0,
+    HasAbs2      = 0,
+    HasMin       = 0,
+    HasMax       = 0,
+    HasConj      = 0,
+    HasSqrt      = 1
+  };
+};
+
+template<> struct unpacket_traits<Packet4f> {
+  typedef float     type;
+  typedef Packet4f  half;
+  typedef Packet4i  integer_packet;
+  enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet2d> {
+  typedef double    type;
+  typedef Packet2d  half;
+  enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet4i> {
+  typedef int       type;
+  typedef Packet4i  half;
+  enum {size=4, alignment=Aligned16, vectorizable=false, masked_load_available=false, masked_store_available=false};
+};
+template<> struct unpacket_traits<Packet16b> {
+  typedef bool       type;
+  typedef Packet16b  half;
+  enum {size=16, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+};
 
 #ifndef EIGEN_VECTORIZE_AVX
 template<> struct scalar_div_cost<float,true> { enum { value = 7 }; };
@@ -179,6 +258,18 @@ template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { re
 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); }
 #endif
+template<> EIGEN_STRONG_INLINE Packet16b pset1<Packet16b>(const bool&    from) { return _mm_set1_epi8(static_cast<char>(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1frombits<Packet4f>(unsigned int from) { return _mm_castsi128_ps(pset1<Packet4i>(from)); }
+template<> EIGEN_STRONG_INLINE Packet2d pset1frombits<Packet2d>(uint64_t from) { return _mm_castsi128_pd(_mm_set1_epi64x(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f peven_mask(const Packet4f& /*a*/) { return _mm_castsi128_ps(_mm_set_epi32(0, -1, 0, -1)); }
+template<> EIGEN_STRONG_INLINE Packet4i peven_mask(const Packet4i& /*a*/) { return _mm_set_epi32(0, -1, 0, -1); }
+template<> EIGEN_STRONG_INLINE Packet2d peven_mask(const Packet2d& /*a*/) { return _mm_castsi128_pd(_mm_set_epi32(0, 0, -1, -1)); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pzero(const Packet4f& /*a*/) { return _mm_setzero_ps(); }
+template<> EIGEN_STRONG_INLINE Packet2d pzero(const Packet2d& /*a*/) { return _mm_setzero_pd(); }
+template<> EIGEN_STRONG_INLINE Packet4i pzero(const Packet4i& /*a*/) { return _mm_setzero_si128(); }
 
 // GCC generates a shufps instruction for _mm_set1_ps/_mm_load1_ps instead of the more efficient pshufd instruction.
 // However, using inrinsics for pset1 makes gcc to generate crappy code in some cases (see bug 203)
@@ -199,9 +290,34 @@ template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const
 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 Packet16b padd<Packet16b>(const Packet16b& a, const Packet16b& b) { return _mm_or_si128(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 Packet16b psub<Packet16b>(const Packet16b& a, const Packet16b& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b);
+template<> EIGEN_STRONG_INLINE Packet4f paddsub<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+#ifdef EIGEN_VECTORIZE_SSE3
+  return _mm_addsub_ps(a,b);
+#else
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x80000000,0x0,0x80000000,0x0));
+  return padd(a, pxor(mask, b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& , const Packet2d& );
+template<> EIGEN_STRONG_INLINE Packet2d paddsub<Packet2d>(const Packet2d& a, const Packet2d& b) 
+{
+#ifdef EIGEN_VECTORIZE_SSE3  
+  return _mm_addsub_pd(a,b); 
+#else
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x80000000,0x0,0x0)); 
+  return padd(a, pxor(mask, b));
+#endif
+}
 
 template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
 {
@@ -218,6 +334,11 @@ template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
   return psub(Packet4i(_mm_setr_epi32(0,0,0,0)), a);
 }
 
+template<> EIGEN_STRONG_INLINE Packet16b pnegate(const Packet16b& a)
+{
+  return psub(pset1<Packet16b>(false), a);
+}
+
 template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
 template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
 template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
@@ -240,24 +361,101 @@ template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const
 #endif
 }
 
+template<> EIGEN_STRONG_INLINE Packet16b pmul<Packet16b>(const Packet16b& a, const Packet16b& b) { return _mm_and_si128(a,b); }
+
 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); }
 
 // 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); }
-#ifdef __FMA__
+#ifdef EIGEN_VECTORIZE_FMA
 template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return _mm_fmadd_ps(a,b,c); }
 template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return _mm_fmadd_pd(a,b,c); }
 #endif
 
+#ifdef EIGEN_VECTORIZE_SSE4_1
+template<> EIGEN_DEVICE_FUNC inline Packet4f pselect(const Packet4f& mask, const Packet4f& a, const Packet4f& b) {
+  return _mm_blendv_ps(b,a,mask);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4i pselect(const Packet4i& mask, const Packet4i& a, const Packet4i& b) {
+  return _mm_castps_si128(_mm_blendv_ps(_mm_castsi128_ps(b),_mm_castsi128_ps(a),_mm_castsi128_ps(mask)));
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pselect(const Packet2d& mask, const Packet2d& a, const Packet2d& b) {  return _mm_blendv_pd(b,a,mask); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet16b pselect(const Packet16b& mask, const Packet16b& a, const Packet16b& b) {
+  return _mm_blendv_epi8(b,a,mask);
+}
+#else
+template<> EIGEN_DEVICE_FUNC inline Packet16b pselect(const Packet16b& mask, const Packet16b& a, const Packet16b& b) {
+  Packet16b a_part = _mm_and_si128(mask, a);
+  Packet16b b_part = _mm_andnot_si128(mask, b);
+  return _mm_or_si128(a_part, b_part);
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4i ptrue<Packet4i>(const Packet4i& a) { return _mm_cmpeq_epi32(a, a); }
+template<> EIGEN_STRONG_INLINE Packet16b ptrue<Packet16b>(const Packet16b& a) { return _mm_cmpeq_epi8(a, a); }
+template<> EIGEN_STRONG_INLINE Packet4f
+ptrue<Packet4f>(const Packet4f& a) {
+  Packet4i b = _mm_castps_si128(a);
+  return _mm_castsi128_ps(_mm_cmpeq_epi32(b, b));
+}
+template<> EIGEN_STRONG_INLINE Packet2d
+ptrue<Packet2d>(const Packet2d& a) {
+  Packet4i b = _mm_castpd_si128(a);
+  return _mm_castsi128_pd(_mm_cmpeq_epi32(b, 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 Packet16b pand<Packet16b>(const Packet16b& a, const Packet16b& 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 Packet16b por<Packet16b>(const Packet16b& a, const Packet16b& 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 Packet16b pxor<Packet16b>(const Packet16b& a, const Packet16b& b) { return _mm_xor_si128(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_andnot_ps(b,a); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_andnot_pd(b,a); }
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_andnot_si128(b,a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_le(const Packet4f& a, const Packet4f& b) { return _mm_cmple_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt(const Packet4f& a, const Packet4f& b) { return _mm_cmplt_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_lt_or_nan(const Packet4f& a, const Packet4f& b) { return _mm_cmpnge_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f pcmp_eq(const Packet4f& a, const Packet4f& b) { return _mm_cmpeq_ps(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_le(const Packet2d& a, const Packet2d& b) { return _mm_cmple_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt(const Packet2d& a, const Packet2d& b) { return _mm_cmplt_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_lt_or_nan(const Packet2d& a, const Packet2d& b) { return _mm_cmpnge_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet2d pcmp_eq(const Packet2d& a, const Packet2d& b) { return _mm_cmpeq_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_lt(const Packet4i& a, const Packet4i& b) { return _mm_cmplt_epi32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_eq(const Packet4i& a, const Packet4i& b) { return _mm_cmpeq_epi32(a,b); }
+template<> EIGEN_STRONG_INLINE Packet16b pcmp_eq(const Packet16b& a, const Packet16b& b) { return _mm_cmpeq_epi8(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4i pcmp_le(const Packet4i& a, const Packet4i& b) { return por(pcmp_lt(a,b), pcmp_eq(a,b)); }
+
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) {
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_LCC_E2K)
+#if EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC < 63
   // There appears to be a bug in GCC, by which the optimizer may
   // flip the argument order in calls to _mm_min_ps, so we have to
   // resort to inline ASM here. This is supposed to be fixed in gcc6.3,
   // see also: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  #ifdef EIGEN_VECTORIZE_AVX
+  Packet4f res;
+  asm("vminps %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  #else
   Packet4f res = b;
   asm("minps %[a], %[res]" : [res] "+x" (res) : [a] "x" (a));
+  #endif
   return res;
 #else
   // Arguments are reversed to match NaN propagation behavior of std::min.
@@ -265,13 +463,18 @@ template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const
 #endif
 }
 template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) {
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_LCC_E2K)
+#if EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC < 63
   // There appears to be a bug in GCC, by which the optimizer may
   // flip the argument order in calls to _mm_min_pd, so we have to
   // resort to inline ASM here. This is supposed to be fixed in gcc6.3,
   // see also: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  #ifdef EIGEN_VECTORIZE_AVX
+  Packet2d res;
+  asm("vminpd %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  #else
   Packet2d res = b;
   asm("minpd %[a], %[res]" : [res] "+x" (res) : [a] "x" (a));
+  #endif
   return res;
 #else
   // Arguments are reversed to match NaN propagation behavior of std::min.
@@ -289,14 +492,20 @@ template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const
 #endif
 }
 
+
 template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) {
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_LCC_E2K)
+#if EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC < 63
   // There appears to be a bug in GCC, by which the optimizer may
   // flip the argument order in calls to _mm_max_ps, so we have to
   // resort to inline ASM here. This is supposed to be fixed in gcc6.3,
   // see also: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  #ifdef EIGEN_VECTORIZE_AVX
+  Packet4f res;
+  asm("vmaxps %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  #else
   Packet4f res = b;
   asm("maxps %[a], %[res]" : [res] "+x" (res) : [a] "x" (a));
+  #endif
   return res;
 #else
   // Arguments are reversed to match NaN propagation behavior of std::max.
@@ -304,13 +513,18 @@ template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const
 #endif
 }
 template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) {
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_LCC_E2K)
+#if EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC < 63
   // There appears to be a bug in GCC, by which the optimizer may
   // flip the argument order in calls to _mm_max_pd, so we have to
   // resort to inline ASM here. This is supposed to be fixed in gcc6.3,
   // see also: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  #ifdef EIGEN_VECTORIZE_AVX
+  Packet2d res;
+  asm("vmaxpd %[a], %[b], %[res]" : [res] "=x" (res) : [a] "x" (a), [b] "x" (b));
+  #else
   Packet2d res = b;
   asm("maxpd %[a], %[res]" : [res] "+x" (res) : [a] "x" (a));
+  #endif
   return res;
 #else
   // Arguments are reversed to match NaN propagation behavior of std::max.
@@ -328,36 +542,180 @@ template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const
 #endif
 }
 
+template <typename Packet, typename Op>
+EIGEN_STRONG_INLINE Packet pminmax_propagate_numbers(const Packet& a, const Packet& b, Op op) {
+  // In this implementation, we take advantage of the fact that pmin/pmax for SSE
+  // always return a if either a or b is NaN.
+  Packet not_nan_mask_a = pcmp_eq(a, a);
+  Packet m = op(a, b);
+  return pselect<Packet>(not_nan_mask_a, m, b);
+}
+
+template <typename Packet, typename Op>
+EIGEN_STRONG_INLINE Packet pminmax_propagate_nan(const Packet& a, const Packet& b, Op op) {
+  // In this implementation, we take advantage of the fact that pmin/pmax for SSE
+  // always return a if either a or b is NaN.
+  Packet not_nan_mask_a = pcmp_eq(a, a);
+  Packet m = op(b, a);
+  return pselect<Packet>(not_nan_mask_a, m, a);
+}
+
+// Add specializations for min/max with prescribed NaN progation.
+template<>
+EIGEN_STRONG_INLINE Packet4f pmin<PropagateNumbers, Packet4f>(const Packet4f& a, const Packet4f& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet4f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet2d pmin<PropagateNumbers, Packet2d>(const Packet2d& a, const Packet2d& b) {
+  return pminmax_propagate_numbers(a, b, pmin<Packet2d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4f pmax<PropagateNumbers, Packet4f>(const Packet4f& a, const Packet4f& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet4f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet2d pmax<PropagateNumbers, Packet2d>(const Packet2d& a, const Packet2d& b) {
+  return pminmax_propagate_numbers(a, b, pmax<Packet2d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4f pmin<PropagateNaN, Packet4f>(const Packet4f& a, const Packet4f& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet4f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet2d pmin<PropagateNaN, Packet2d>(const Packet2d& a, const Packet2d& b) {
+  return pminmax_propagate_nan(a, b, pmin<Packet2d>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet4f pmax<PropagateNaN, Packet4f>(const Packet4f& a, const Packet4f& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet4f>);
+}
+template<>
+EIGEN_STRONG_INLINE Packet2d pmax<PropagateNaN, Packet2d>(const Packet2d& a, const Packet2d& b) {
+  return pminmax_propagate_nan(a, b, pmax<Packet2d>);
+}
+
+template<int N> EIGEN_STRONG_INLINE Packet4i parithmetic_shift_right(const Packet4i& a) { return _mm_srai_epi32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_right   (const Packet4i& a) { return _mm_srli_epi32(a,N); }
+template<int N> EIGEN_STRONG_INLINE Packet4i plogical_shift_left    (const Packet4i& a) { return _mm_slli_epi32(a,N); }
+
+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
+}
+
 #ifdef EIGEN_VECTORIZE_SSE4_1
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, 0); }
-template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, 0); }
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
+{
+  // Unfortunatly _mm_round_ps doesn't have a rounding mode to implement numext::round.
+  const Packet4f mask = pset1frombits<Packet4f>(0x80000000u);
+  const Packet4f prev0dot5 = pset1frombits<Packet4f>(0x3EFFFFFFu);
+  return _mm_round_ps(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a)
+{
+  const Packet2d mask = _mm_castsi128_pd(_mm_set_epi64x(0x8000000000000000ull, 0x8000000000000000ull));
+  const Packet2d prev0dot5 = _mm_castsi128_pd(_mm_set_epi64x(0x3FDFFFFFFFFFFFFFull, 0x3FDFFFFFFFFFFFFFull));
+  return _mm_round_pd(padd(por(pand(a, mask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f print<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet2d print<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) { return _mm_ceil_ps(a); }
 template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) { return _mm_ceil_pd(a); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return _mm_floor_ps(a); }
 template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return _mm_floor_pd(a); }
-#endif
+#else
+template<> EIGEN_STRONG_INLINE Packet4f print(const Packet4f& a) {
+  // Adds and subtracts signum(a) * 2^23 to force rounding.
+  const Packet4f limit = pset1<Packet4f>(static_cast<float>(1<<23));
+  const Packet4f abs_a = pabs(a);
+  Packet4f r = padd(abs_a, limit);
+  // Don't compile-away addition and subtraction.
+  EIGEN_OPTIMIZATION_BARRIER(r);
+  r = psub(r, limit);
+  // If greater than limit, simply return a.  Otherwise, account for sign.
+  r = pselect(pcmp_lt(abs_a, limit),
+              pselect(pcmp_lt(a, pzero(a)), pnegate(r), r), a);
+  return r;
+}
 
-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 Packet2d print(const Packet2d& a) {
+  // Adds and subtracts signum(a) * 2^52 to force rounding.
+  const Packet2d limit = pset1<Packet2d>(static_cast<double>(1ull<<52));
+  const Packet2d abs_a = pabs(a);
+  Packet2d r = padd(abs_a, limit);
+  // Don't compile-away addition and subtraction.
+  EIGEN_OPTIMIZATION_BARRIER(r);
+  r = psub(r, limit);
+  // If greater than limit, simply return a.  Otherwise, account for sign.
+  r = pselect(pcmp_lt(abs_a, limit),
+              pselect(pcmp_lt(a, pzero(a)), pnegate(r), r), a);
+  return r;
+}
 
-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 pfloor<Packet4f>(const Packet4f& a)
+{
+  const Packet4f cst_1 = pset1<Packet4f>(1.0f);
+  Packet4f tmp  = print<Packet4f>(a);
+  // If greater, subtract one.
+  Packet4f mask = _mm_cmpgt_ps(tmp, a);
+  mask = pand(mask, cst_1);
+  return psub(tmp, mask);
+}
 
-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 Packet2d pfloor<Packet2d>(const Packet2d& a)
+{
+  const Packet2d cst_1 = pset1<Packet2d>(1.0);
+  Packet2d tmp  = print<Packet2d>(a);
+  // If greater, subtract one.
+  Packet2d mask = _mm_cmpgt_pd(tmp, a);
+  mask = pand(mask, cst_1);
+  return psub(tmp, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a)
+{
+  const Packet4f cst_1 = pset1<Packet4f>(1.0f);
+  Packet4f tmp  = print<Packet4f>(a);
+  // If smaller, add one.
+  Packet4f mask = _mm_cmplt_ps(tmp, a);
+  mask = pand(mask, cst_1);
+  return padd(tmp, mask);
+}
 
-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 Packet2d pceil<Packet2d>(const Packet2d& a)
+{
+  const Packet2d cst_1 = pset1<Packet2d>(1.0);
+  Packet2d tmp  = print<Packet2d>(a);
+  // If smaller, add one.
+  Packet2d mask = _mm_cmplt_pd(tmp, a);
+  mask = pand(mask, cst_1);
+  return padd(tmp, mask);
+}
+#endif
 
 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 __m128i*>(from)); }
+template<> EIGEN_STRONG_INLINE Packet16b pload<Packet16b>(const bool*     from) { EIGEN_DEBUG_ALIGNED_LOAD return  _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
 
 #if EIGEN_COMP_MSVC
   template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
@@ -392,6 +750,10 @@ template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
   EIGEN_DEBUG_UNALIGNED_LOAD
   return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
 }
+template<> EIGEN_STRONG_INLINE Packet16b ploadu<Packet16b>(const bool*     from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+}
 
 
 template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
@@ -407,13 +769,32 @@ template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
   return vec4i_swizzle1(tmp, 0, 0, 1, 1);
 }
 
+// Loads 8 bools from memory and returns the packet
+// {b0, b0, b1, b1, b2, b2, b3, b3, b4, b4, b5, b5, b6, b6, b7, b7}
+template<> EIGEN_STRONG_INLINE Packet16b ploaddup<Packet16b>(const bool*     from)
+{
+  __m128i tmp = _mm_castpd_si128(pload1<Packet2d>(reinterpret_cast<const double*>(from)));
+  return  _mm_unpacklo_epi8(tmp, tmp);
+}
+
+// Loads 4 bools from memory and returns the packet
+// {b0, b0  b0, b0, b1, b1, b1, b1, b2, b2, b2, b2, b3, b3, b3, b3}
+template<> EIGEN_STRONG_INLINE Packet16b
+ploadquad<Packet16b>(const bool* from) {
+  __m128i tmp = _mm_castps_si128(pload1<Packet4f>(reinterpret_cast<const float*>(from)));
+  tmp = _mm_unpacklo_epi8(tmp, tmp);
+  return  _mm_unpacklo_epi16(tmp, tmp);
+}
+
 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<__m128i*>(to), from); }
+template<> EIGEN_STRONG_INLINE void pstore<bool>(bool*     to, const Packet16b& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
 
 template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_pd(to, from); }
 template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_ps(to, from); }
 template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<bool>(bool*     to, const Packet16b& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
 
 template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
 {
@@ -426,7 +807,15 @@ template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const dou
 template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
 {
  return _mm_set_epi32(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
- }
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet16b pgather<bool, Packet16b>(const bool* from, Index stride)
+{
+  return _mm_set_epi8(from[15*stride], from[14*stride], from[13*stride], from[12*stride],
+                      from[11*stride], from[10*stride], from[9*stride], from[8*stride],
+                      from[7*stride], from[6*stride], from[5*stride], from[4*stride],
+                      from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
 
 template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
 {
@@ -447,6 +836,14 @@ template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const
   to[stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
   to[stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
 }
+template<> EIGEN_DEVICE_FUNC inline void pscatter<bool, Packet16b>(bool* to, const Packet16b& from, Index stride)
+{
+  to[4*stride*0] = _mm_cvtsi128_si32(from);
+  to[4*stride*1] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 1));
+  to[4*stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
+  to[4*stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
+}
+
 
 // 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)
@@ -461,10 +858,16 @@ template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double&
   pstore(to, Packet2d(vec2d_swizzle1(pa,0,0)));
 }
 
+#if EIGEN_COMP_PGI && EIGEN_COMP_PGI < 1900
+typedef const void * SsePrefetchPtrType;
+#else
+typedef const char * SsePrefetchPtrType;
+#endif
+
 #ifndef EIGEN_VECTORIZE_AVX
-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); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((SsePrefetchPtrType)(addr), _MM_HINT_T0); }
 #endif
 
 #if EIGEN_COMP_MSVC_STRICT && EIGEN_OS_WIN64
@@ -483,32 +886,62 @@ template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { retu
 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 bool   pfirst<Packet16b>(const Packet16b& a) { int x = _mm_cvtsi128_si32(a); return static_cast<bool>(x & 1); }
 
-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 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 Packet16b preverse(const Packet16b& a) {
+#ifdef EIGEN_VECTORIZE_SSSE3
+  __m128i mask = _mm_set_epi8(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15);
+  return _mm_shuffle_epi8(a, mask);
+#else
+  Packet16b tmp = _mm_shuffle_epi32(a, _MM_SHUFFLE(0, 1, 2, 3));
+  tmp = _mm_shufflehi_epi16(_mm_shufflelo_epi16(tmp, _MM_SHUFFLE(2, 3, 0, 1)), _MM_SHUFFLE(2, 3, 0, 1));
+  return _mm_or_si128(_mm_slli_epi16(tmp, 8), _mm_srli_epi16(tmp, 8));
+#endif
+}
 
-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 Packet4f pfrexp<Packet4f>(const Packet4f& a, Packet4f& exponent) {
+  return pfrexp_generic(a,exponent);
 }
-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);
+
+// Extract exponent without existence of Packet2l.
+template<>
+EIGEN_STRONG_INLINE  
+Packet2d pfrexp_generic_get_biased_exponent(const Packet2d& a) {
+  const Packet2d cst_exp_mask  = pset1frombits<Packet2d>(static_cast<uint64_t>(0x7ff0000000000000ull));
+  __m128i a_expo = _mm_srli_epi64(_mm_castpd_si128(pand(a, cst_exp_mask)), 52);
+  return _mm_cvtepi32_pd(vec4i_swizzle1(a_expo, 0, 2, 1, 3));
 }
-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
+
+template<> EIGEN_STRONG_INLINE Packet2d pfrexp<Packet2d>(const Packet2d& a, Packet2d& exponent) {
+  return pfrexp_generic(a, exponent);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pldexp<Packet4f>(const Packet4f& a, const Packet4f& exponent) {
+  return pldexp_generic(a,exponent);
+}
+
+// We specialize pldexp here, since the generic implementation uses Packet2l, which is not well
+// supported by SSE, and has more range than is needed for exponents.
+template<> EIGEN_STRONG_INLINE Packet2d pldexp<Packet2d>(const Packet2d& a, const Packet2d& exponent) {
+  // Clamp exponent to [-2099, 2099]
+  const Packet2d max_exponent = pset1<Packet2d>(2099.0);
+  const Packet2d e = pmin(pmax(exponent, pnegate(max_exponent)), max_exponent);
+  
+  // Convert e to integer and swizzle to low-order bits.
+  const Packet4i ei = vec4i_swizzle1(_mm_cvtpd_epi32(e), 0, 3, 1, 3);
+  
+  // Split 2^e into four factors and multiply:
+  const Packet4i bias = _mm_set_epi32(0, 1023, 0, 1023);
+  Packet4i b = parithmetic_shift_right<2>(ei);  // floor(e/4)
+  Packet2d c = _mm_castsi128_pd(_mm_slli_epi64(padd(b, bias), 52));  // 2^b
+  Packet2d out = pmul(pmul(pmul(a, c), c), c); // a * 2^(3b)
+  b = psub(psub(psub(ei, b), b), b);  // e - 3b
+  c = _mm_castsi128_pd(_mm_slli_epi64(padd(b, bias), 52));  // 2^(e - 3b)
+  out = pmul(out, c);  // a * 2^e
+  return out;
 }
 
 // with AVX, the default implementations based on pload1 are faster
@@ -551,38 +984,6 @@ EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
   vecs[0] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x00));
 }
 
-#ifdef EIGEN_VECTORIZE_SSE3
-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]);
-}
-
-#else
-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 float predux<Packet4f>(const Packet4f& a)
 {
   // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
@@ -608,38 +1009,28 @@ template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
 }
 
 #ifdef EIGEN_VECTORIZE_SSSE3
-template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(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 int predux<Packet4i>(const Packet4i& a)
 {
   Packet4i tmp0 = _mm_hadd_epi32(a,a);
   return pfirst<Packet4i>(_mm_hadd_epi32(tmp0,tmp0));
 }
+
 #else
 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<Packet4i>(_mm_shuffle_epi32(tmp, 1));
 }
+#endif
 
-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);
+template<> EIGEN_STRONG_INLINE bool predux<Packet16b>(const Packet16b& a) {
+  Packet4i tmp = _mm_or_si128(a, _mm_unpackhi_epi64(a,a));
+  return (pfirst(tmp) != 0) || (pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1)) != 0);
 }
-#endif
+
 // Other reduction functions:
 
+
 // mul
 template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 {
@@ -657,7 +1048,13 @@ template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
   // 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]);;
+  return  (aux[0] * aux[1]) * (aux[2] * aux[3]);
+}
+
+template<> EIGEN_STRONG_INLINE bool predux_mul<Packet16b>(const Packet16b& a) {
+  Packet4i tmp = _mm_and_si128(a, _mm_unpackhi_epi64(a,a));
+  return ((pfirst<Packet4i>(tmp) == 0x01010101) &&
+          (pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1)) == 0x01010101));
 }
 
 // min
@@ -712,113 +1109,16 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
 #endif // EIGEN_VECTORIZE_SSE4_1
 }
 
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_LCC_E2K)
-// 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)
+// not needed yet
+// template<> EIGEN_STRONG_INLINE bool predux_all(const Packet4f& x)
 // {
-//   Packet4i res = a;
-//   asm("palignr %[i], %[a], %[b] " : [b] "+x" (res) : [a] "x" (a), [i] "i" (i));
-//   return res;
+//   return _mm_movemask_ps(x) == 0xF;
 // }
-#endif
-
-#ifdef EIGEN_VECTORIZE_SSSE3
-// SSSE3 versions
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE 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>
-{
-  static EIGEN_STRONG_INLINE 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>
+template<> EIGEN_STRONG_INLINE bool predux_any(const Packet4f& x)
 {
-  static EIGEN_STRONG_INLINE 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>
-{
-  static EIGEN_STRONG_INLINE 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>
-{
-  static EIGEN_STRONG_INLINE 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>
-{
-  static EIGEN_STRONG_INLINE 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
+  return _mm_movemask_ps(x) != 0x0;
+}
 
 EIGEN_DEVICE_FUNC inline void
 ptranspose(PacketBlock<Packet4f,4>& kernel) {
@@ -845,6 +1145,100 @@ ptranspose(PacketBlock<Packet4i,4>& kernel) {
   kernel.packet[3] = _mm_unpackhi_epi64(T2, T3);
 }
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet16b,4>& kernel) {
+  __m128i T0 =  _mm_unpacklo_epi8(kernel.packet[0], kernel.packet[1]);
+  __m128i T1 =  _mm_unpackhi_epi8(kernel.packet[0], kernel.packet[1]);
+  __m128i T2 =  _mm_unpacklo_epi8(kernel.packet[2], kernel.packet[3]);
+  __m128i T3 =  _mm_unpackhi_epi8(kernel.packet[2], kernel.packet[3]);
+  kernel.packet[0] = _mm_unpacklo_epi16(T0, T2);
+  kernel.packet[1] = _mm_unpackhi_epi16(T0, T2);
+  kernel.packet[2] = _mm_unpacklo_epi16(T1, T3);
+  kernel.packet[3] = _mm_unpackhi_epi16(T1, T3);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet16b,16>& kernel) {
+  // If we number the elements in the input thus:
+  // kernel.packet[ 0] = {00, 01, 02, 03, 04, 05, 06, 07, 08, 09, 0a, 0b, 0c, 0d, 0e, 0f}
+  // kernel.packet[ 1] = {10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 1a, 1b, 1c, 1d, 1e, 1f}
+  // ...
+  // kernel.packet[15] = {f0, f1, f2, f3, f4, f5, f6, f7, f8, f9, fa, fb, fc, fd, fe, ff},
+  //
+  // the desired output is:
+  // kernel.packet[ 0] = {00, 10, 20, 30, 40, 50, 60, 70, 80, 90, a0, b0, c0, d0, e0, f0}
+  // kernel.packet[ 1] = {01, 11, 21, 31, 41, 51, 61, 71, 81, 91, a1, b1, c1, d1, e1, f1}
+  // ...
+  // kernel.packet[15] = {0f, 1f, 2f, 3f, 4f, 5f, 6f, 7f, 8f, 9f, af, bf, cf, df, ef, ff},
+  __m128i t0 =  _mm_unpacklo_epi8(kernel.packet[0], kernel.packet[1]); // 00 10 01 11 02 12 03 13 04 14 05 15 06 16 07 17
+  __m128i t1 =  _mm_unpackhi_epi8(kernel.packet[0], kernel.packet[1]); // 08 18 09 19 0a 1a 0b 1b 0c 1c 0d 1d 0e 1e 0f 1f
+  __m128i t2 =  _mm_unpacklo_epi8(kernel.packet[2], kernel.packet[3]); // 20 30 21 31 22 32 ...                     27 37
+  __m128i t3 =  _mm_unpackhi_epi8(kernel.packet[2], kernel.packet[3]); // 28 38 29 39 2a 3a ...                     2f 3f
+  __m128i t4 =  _mm_unpacklo_epi8(kernel.packet[4], kernel.packet[5]); // 40 50 41 51 42 52                         47 57
+  __m128i t5 =  _mm_unpackhi_epi8(kernel.packet[4], kernel.packet[5]); // 48 58 49 59 4a 5a
+  __m128i t6 =  _mm_unpacklo_epi8(kernel.packet[6], kernel.packet[7]);
+  __m128i t7 =  _mm_unpackhi_epi8(kernel.packet[6], kernel.packet[7]);
+  __m128i t8 =  _mm_unpacklo_epi8(kernel.packet[8], kernel.packet[9]);
+  __m128i t9 =  _mm_unpackhi_epi8(kernel.packet[8], kernel.packet[9]);
+  __m128i ta =  _mm_unpacklo_epi8(kernel.packet[10], kernel.packet[11]);
+  __m128i tb =  _mm_unpackhi_epi8(kernel.packet[10], kernel.packet[11]);
+  __m128i tc =  _mm_unpacklo_epi8(kernel.packet[12], kernel.packet[13]);
+  __m128i td =  _mm_unpackhi_epi8(kernel.packet[12], kernel.packet[13]);
+  __m128i te =  _mm_unpacklo_epi8(kernel.packet[14], kernel.packet[15]);
+  __m128i tf =  _mm_unpackhi_epi8(kernel.packet[14], kernel.packet[15]);
+
+  __m128i s0 =  _mm_unpacklo_epi16(t0, t2); // 00 10 20 30 01 11 21 31 02 12 22 32 03 13 23 33
+  __m128i s1 =  _mm_unpackhi_epi16(t0, t2); // 04 14 24 34
+  __m128i s2 =  _mm_unpacklo_epi16(t1, t3); // 08 18 28 38 ...
+  __m128i s3 =  _mm_unpackhi_epi16(t1, t3); // 0c 1c 2c 3c ...
+  __m128i s4 =  _mm_unpacklo_epi16(t4, t6); // 40 50 60 70 41 51 61 71 42 52 62 72 43 53 63 73
+  __m128i s5 =  _mm_unpackhi_epi16(t4, t6); // 44 54 64 74 ...
+  __m128i s6 =  _mm_unpacklo_epi16(t5, t7);
+  __m128i s7 =  _mm_unpackhi_epi16(t5, t7);
+  __m128i s8 =  _mm_unpacklo_epi16(t8, ta);
+  __m128i s9 =  _mm_unpackhi_epi16(t8, ta);
+  __m128i sa =  _mm_unpacklo_epi16(t9, tb);
+  __m128i sb =  _mm_unpackhi_epi16(t9, tb);
+  __m128i sc =  _mm_unpacklo_epi16(tc, te);
+  __m128i sd =  _mm_unpackhi_epi16(tc, te);
+  __m128i se =  _mm_unpacklo_epi16(td, tf);
+  __m128i sf =  _mm_unpackhi_epi16(td, tf);
+
+  __m128i u0 =  _mm_unpacklo_epi32(s0, s4); // 00 10 20 30 40 50 60 70 01 11 21 31 41 51 61 71
+  __m128i u1 =  _mm_unpackhi_epi32(s0, s4); // 02 12 22 32 42 52 62 72 03 13 23 33 43 53 63 73
+  __m128i u2 =  _mm_unpacklo_epi32(s1, s5);
+  __m128i u3 =  _mm_unpackhi_epi32(s1, s5);
+  __m128i u4 =  _mm_unpacklo_epi32(s2, s6);
+  __m128i u5 =  _mm_unpackhi_epi32(s2, s6);
+  __m128i u6 =  _mm_unpacklo_epi32(s3, s7);
+  __m128i u7 =  _mm_unpackhi_epi32(s3, s7);
+  __m128i u8 =  _mm_unpacklo_epi32(s8, sc);
+  __m128i u9 =  _mm_unpackhi_epi32(s8, sc);
+  __m128i ua =  _mm_unpacklo_epi32(s9, sd);
+  __m128i ub =  _mm_unpackhi_epi32(s9, sd);
+  __m128i uc =  _mm_unpacklo_epi32(sa, se);
+  __m128i ud =  _mm_unpackhi_epi32(sa, se);
+  __m128i ue =  _mm_unpacklo_epi32(sb, sf);
+  __m128i uf =  _mm_unpackhi_epi32(sb, sf);
+
+  kernel.packet[0]  = _mm_unpacklo_epi64(u0, u8);
+  kernel.packet[1]  = _mm_unpackhi_epi64(u0, u8);
+  kernel.packet[2]  = _mm_unpacklo_epi64(u1, u9);
+  kernel.packet[3]  = _mm_unpackhi_epi64(u1, u9);
+  kernel.packet[4]  = _mm_unpacklo_epi64(u2, ua);
+  kernel.packet[5]  = _mm_unpackhi_epi64(u2, ua);
+  kernel.packet[6]  = _mm_unpacklo_epi64(u3, ub);
+  kernel.packet[7]  = _mm_unpackhi_epi64(u3, ub);
+  kernel.packet[8]  = _mm_unpacklo_epi64(u4, uc);
+  kernel.packet[9]  = _mm_unpackhi_epi64(u4, uc);
+  kernel.packet[10] = _mm_unpacklo_epi64(u5, ud);
+  kernel.packet[11] = _mm_unpackhi_epi64(u5, ud);
+  kernel.packet[12] = _mm_unpacklo_epi64(u6, ue);
+  kernel.packet[13] = _mm_unpackhi_epi64(u6, ue);
+  kernel.packet[14] = _mm_unpacklo_epi64(u7, uf);
+  kernel.packet[15] = _mm_unpackhi_epi64(u7, uf);
+}
+
 template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
   const __m128i zero = _mm_setzero_si128();
   const __m128i select = _mm_set_epi32(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
@@ -876,56 +1270,236 @@ template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, cons
 #endif
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f pinsertfirst(const Packet4f& a, float b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_ps(a,pset1<Packet4f>(b),1);
-#else
-  return _mm_move_ss(a, _mm_load_ss(&b));
+// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
+#ifdef EIGEN_VECTORIZE_FMA
+template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
+  return ::fmaf(a,b,c);
+}
+template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
+  return ::fma(a,b,c);
+}
 #endif
+
+
+// Packet math for Eigen::half
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#if 0
+
+typedef struct {
+  __m64 x;
+} Packet4h;
+
+
+template<> struct is_arithmetic<Packet4h> { enum { value = true }; };
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet4h type;
+  // There is no half-size packet for Packet4h.
+  typedef Packet4h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet4h> { typedef Eigen::half type; enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet4h half; };
+
+template<> EIGEN_STRONG_INLINE Packet4h pset1<Packet4h>(const Eigen::half& from) {
+  Packet4h result;
+  result.x = _mm_set1_pi16(from.x);
+  return result;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pinsertfirst(const Packet2d& a, double b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_pd(a,pset1<Packet2d>(b),1);
-#else
-  return _mm_move_sd(a, _mm_load_sd(&b));
-#endif
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h>(const Packet4h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_cvtsi64_si32(from.x)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f pinsertlast(const Packet4f& a, float b)
-{
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_ps(a,pset1<Packet4f>(b),(1<<3));
-#else
-  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x0,0x0,0x0,0xFFFFFFFF));
-  return _mm_or_ps(_mm_andnot_ps(mask, a), _mm_and_ps(mask, pset1<Packet4f>(b)));
-#endif
+template<> EIGEN_STRONG_INLINE Packet4h pconj(const Packet4h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4h padd<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha + hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h psub<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha - hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha - hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha - hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha - hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pmul<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha * hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pdiv<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha / hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha / hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha / hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha / hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pload<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h ploadu<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pinsertlast(const Packet2d& a, double b)
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h
+ploadquad<Packet4h>(const Eigen::half* from) {
+  return pset1<Packet4h>(*from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pgather<Eigen::half, Packet4h>(const Eigen::half* from, Index stride)
 {
-#ifdef EIGEN_VECTORIZE_SSE4_1
-  return _mm_blend_pd(a,pset1<Packet2d>(b),(1<<1));
-#else
-  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x0,0xFFFFFFFF,0xFFFFFFFF));
-  return _mm_or_pd(_mm_andnot_pd(mask, a), _mm_and_pd(mask, pset1<Packet2d>(b)));
-#endif
+  Packet4h result;
+  result.x = _mm_set_pi16(from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
 }
 
-// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
-#ifdef __FMA__
-template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
-  return ::fmaf(a,b,c);
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h>(Eigen::half* to, const Packet4h& from, Index stride)
+{
+  __int64_t a = _mm_cvtm64_si64(from.x);
+  to[stride*0].x = static_cast<unsigned short>(a);
+  to[stride*1].x = static_cast<unsigned short>(a >> 16);
+  to[stride*2].x = static_cast<unsigned short>(a >> 32);
+  to[stride*3].x = static_cast<unsigned short>(a >> 48);
 }
-template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
-  return ::fma(a,b,c);
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet4h,4>& kernel) {
+  __m64 T0 = _mm_unpacklo_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T1 = _mm_unpacklo_pi16(kernel.packet[2].x, kernel.packet[3].x);
+  __m64 T2 = _mm_unpackhi_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T3 = _mm_unpackhi_pi16(kernel.packet[2].x, kernel.packet[3].x);
+
+  kernel.packet[0].x = _mm_unpacklo_pi32(T0, T1);
+  kernel.packet[1].x = _mm_unpackhi_pi32(T0, T1);
+  kernel.packet[2].x = _mm_unpacklo_pi32(T2, T3);
+  kernel.packet[3].x = _mm_unpackhi_pi32(T2, T3);
 }
+
 #endif
 
+
 } // end namespace internal
 
 } // end namespace Eigen
 
+#if EIGEN_COMP_PGI && EIGEN_COMP_PGI < 1900
+// PGI++ does not define the following intrinsics in C++ mode.
+static inline __m128  _mm_castpd_ps   (__m128d x) { return reinterpret_cast<__m128&>(x);  }
+static inline __m128i _mm_castpd_si128(__m128d x) { return reinterpret_cast<__m128i&>(x); }
+static inline __m128d _mm_castps_pd   (__m128  x) { return reinterpret_cast<__m128d&>(x); }
+static inline __m128i _mm_castps_si128(__m128  x) { return reinterpret_cast<__m128i&>(x); }
+static inline __m128  _mm_castsi128_ps(__m128i x) { return reinterpret_cast<__m128&>(x);  }
+static inline __m128d _mm_castsi128_pd(__m128i x) { return reinterpret_cast<__m128d&>(x); }
+#endif
+
 #endif // EIGEN_PACKET_MATH_SSE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/TypeCasting.h
index c848932306..d2a0037e01 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/TypeCasting.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SSE/TypeCasting.h
@@ -14,6 +14,7 @@ namespace Eigen {
 
 namespace internal {
 
+#ifndef EIGEN_VECTORIZE_AVX
 template <>
 struct type_casting_traits<float, int> {
   enum {
@@ -23,11 +24,6 @@ struct type_casting_traits<float, int> {
   };
 };
 
-template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
-  return _mm_cvttps_epi32(a);
-}
-
-
 template <>
 struct type_casting_traits<int, float> {
   enum {
@@ -37,11 +33,6 @@ struct type_casting_traits<int, float> {
   };
 };
 
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
-  return _mm_cvtepi32_ps(a);
-}
-
-
 template <>
 struct type_casting_traits<double, float> {
   enum {
@@ -51,10 +42,6 @@ struct type_casting_traits<double, float> {
   };
 };
 
-template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
-  return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
-}
-
 template <>
 struct type_casting_traits<float, double> {
   enum {
@@ -63,12 +50,90 @@ struct type_casting_traits<float, double> {
     TgtCoeffRatio = 2
   };
 };
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+  return _mm_cvttps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+  return _mm_cvtepi32_ps(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
+  return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
+}
 
 template<> EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
   // Simply discard the second half of the input
   return _mm_cvtps_pd(a);
 }
 
+template<> EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i,Packet4f>(const Packet4f& a) {
+  return _mm_castps_si128(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preinterpret<Packet4f,Packet4i>(const Packet4i& a) {
+  return _mm_castsi128_ps(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preinterpret<Packet2d,Packet4i>(const Packet4i& a) {
+  return _mm_castsi128_pd(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preinterpret<Packet4i,Packet2d>(const Packet2d& a) {
+  return _mm_castpd_si128(a);
+}
+
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#if 0
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4h, Packet4f>(const Packet4h& a) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  Eigen::half h = raw_uint16_to_half(static_cast<unsigned short>(a64));
+  float f1 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  float f2 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  float f3 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  float f4 = static_cast<float>(h);
+  return _mm_set_ps(f4, f3, f2, f1);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4h pcast<Packet4f, Packet4h>(const Packet4f& a) {
+  EIGEN_ALIGN16 float aux[4];
+  pstore(aux, a);
+  Eigen::half h0(aux[0]);
+  Eigen::half h1(aux[1]);
+  Eigen::half h2(aux[2]);
+  Eigen::half h3(aux[3]);
+
+  Packet4h result;
+  result.x = _mm_set_pi16(h3.x, h2.x, h1.x, h0.x);
+  return result;
+}
+
+#endif
 
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/MathFunctions.h
new file mode 100644
index 0000000000..b139ea2e4e
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/MathFunctions.h
@@ -0,0 +1,44 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2020, Arm Limited and Contributors
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATH_FUNCTIONS_SVE_H
+#define EIGEN_MATH_FUNCTIONS_SVE_H
+
+namespace Eigen {
+namespace internal {
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_UNUSED PacketXf pexp<PacketXf>(const PacketXf& x) {
+  return pexp_float(x);
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_UNUSED PacketXf plog<PacketXf>(const PacketXf& x) {
+  return plog_float(x);
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_UNUSED PacketXf psin<PacketXf>(const PacketXf& x) {
+  return psin_float(x);
+}
+
+template <>
+EIGEN_STRONG_INLINE EIGEN_UNUSED PacketXf pcos<PacketXf>(const PacketXf& x) {
+  return pcos_float(x);
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_STRONG_INLINE EIGEN_UNUSED PacketXf ptanh<PacketXf>(const PacketXf& x) {
+  return internal::generic_fast_tanh_float(x);
+}
+}  // end namespace internal
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_SVE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/PacketMath.h
new file mode 100644
index 0000000000..9060b372ff
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/PacketMath.h
@@ -0,0 +1,752 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2020, Arm Limited and Contributors
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_SVE_H
+#define EIGEN_PACKET_MATH_SVE_H
+
+namespace Eigen
+{
+namespace internal
+{
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
+
+template <typename Scalar, int SVEVectorLength>
+struct sve_packet_size_selector {
+  enum { size = SVEVectorLength / (sizeof(Scalar) * CHAR_BIT) };
+};
+
+/********************************* int32 **************************************/
+typedef svint32_t PacketXi __attribute__((arm_sve_vector_bits(EIGEN_ARM64_SVE_VL)));
+
+template <>
+struct packet_traits<numext::int32_t> : default_packet_traits {
+  typedef PacketXi type;
+  typedef PacketXi half;  // Half not implemented yet
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = sve_packet_size_selector<numext::int32_t, EIGEN_ARM64_SVE_VL>::size,
+    HasHalfPacket = 0,
+
+    HasAdd = 1,
+    HasSub = 1,
+    HasShift = 1,
+    HasMul = 1,
+    HasNegate = 1,
+    HasAbs = 1,
+    HasArg = 0,
+    HasAbs2 = 1,
+    HasMin = 1,
+    HasMax = 1,
+    HasConj = 1,
+    HasSetLinear = 0,
+    HasBlend = 0,
+    HasReduxp = 0  // Not implemented in SVE
+  };
+};
+
+template <>
+struct unpacket_traits<PacketXi> {
+  typedef numext::int32_t type;
+  typedef PacketXi half;  // Half not yet implemented
+  enum {
+    size = sve_packet_size_selector<numext::int32_t, EIGEN_ARM64_SVE_VL>::size,
+    alignment = Aligned64,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+template <>
+EIGEN_STRONG_INLINE void prefetch<numext::int32_t>(const numext::int32_t* addr)
+{
+  svprfw(svptrue_b32(), addr, SV_PLDL1KEEP);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pset1<PacketXi>(const numext::int32_t& from)
+{
+  return svdup_n_s32(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi plset<PacketXi>(const numext::int32_t& a)
+{
+  numext::int32_t c[packet_traits<numext::int32_t>::size];
+  for (int i = 0; i < packet_traits<numext::int32_t>::size; i++) c[i] = i;
+  return svadd_s32_z(svptrue_b32(), pset1<PacketXi>(a), svld1_s32(svptrue_b32(), c));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi padd<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svadd_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi psub<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svsub_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pnegate(const PacketXi& a)
+{
+  return svneg_s32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pconj(const PacketXi& a)
+{
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pmul<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svmul_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pdiv<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svdiv_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pmadd(const PacketXi& a, const PacketXi& b, const PacketXi& c)
+{
+  return svmla_s32_z(svptrue_b32(), c, a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pmin<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svmin_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pmax<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svmax_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pcmp_le<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svdup_n_s32_z(svcmplt_s32(svptrue_b32(), a, b), 0xffffffffu);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pcmp_lt<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svdup_n_s32_z(svcmplt_s32(svptrue_b32(), a, b), 0xffffffffu);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pcmp_eq<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svdup_n_s32_z(svcmpeq_s32(svptrue_b32(), a, b), 0xffffffffu);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi ptrue<PacketXi>(const PacketXi& /*a*/)
+{
+  return svdup_n_s32_z(svptrue_b32(), 0xffffffffu);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pzero<PacketXi>(const PacketXi& /*a*/)
+{
+  return svdup_n_s32_z(svptrue_b32(), 0);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pand<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svand_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi por<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svorr_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pxor<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return sveor_s32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pandnot<PacketXi>(const PacketXi& a, const PacketXi& b)
+{
+  return svbic_s32_z(svptrue_b32(), a, b);
+}
+
+template <int N>
+EIGEN_STRONG_INLINE PacketXi parithmetic_shift_right(PacketXi a)
+{
+  return svasrd_n_s32_z(svptrue_b32(), a, N);
+}
+
+template <int N>
+EIGEN_STRONG_INLINE PacketXi plogical_shift_right(PacketXi a)
+{
+  return svreinterpret_s32_u32(svlsr_u32_z(svptrue_b32(), svreinterpret_u32_s32(a), svdup_n_u32_z(svptrue_b32(), N)));
+}
+
+template <int N>
+EIGEN_STRONG_INLINE PacketXi plogical_shift_left(PacketXi a)
+{
+  return svlsl_s32_z(svptrue_b32(), a, svdup_n_u32_z(svptrue_b32(), N));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pload<PacketXi>(const numext::int32_t* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD return svld1_s32(svptrue_b32(), from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi ploadu<PacketXi>(const numext::int32_t* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD return svld1_s32(svptrue_b32(), from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi ploaddup<PacketXi>(const numext::int32_t* from)
+{
+  svuint32_t indices = svindex_u32(0, 1);  // index {base=0, base+step=1, base+step*2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a1, a1, a2, a2, ...}
+  return svld1_gather_u32index_s32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi ploadquad<PacketXi>(const numext::int32_t* from)
+{
+  svuint32_t indices = svindex_u32(0, 1);  // index {base=0, base+step=1, base+step*2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a1, a1, a2, a2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a0, a0, a1, a1, a1, a1, ...}
+  return svld1_gather_u32index_s32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<numext::int32_t>(numext::int32_t* to, const PacketXi& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE svst1_s32(svptrue_b32(), to, from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<numext::int32_t>(numext::int32_t* to, const PacketXi& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE svst1_s32(svptrue_b32(), to, from);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline PacketXi pgather<numext::int32_t, PacketXi>(const numext::int32_t* from, Index stride)
+{
+  // Indice format: {base=0, base+stride, base+stride*2, base+stride*3, ...}
+  svint32_t indices = svindex_s32(0, stride);
+  return svld1_gather_s32index_s32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<numext::int32_t, PacketXi>(numext::int32_t* to, const PacketXi& from, Index stride)
+{
+  // Indice format: {base=0, base+stride, base+stride*2, base+stride*3, ...}
+  svint32_t indices = svindex_s32(0, stride);
+  svst1_scatter_s32index_s32(svptrue_b32(), to, indices, from);
+}
+
+template <>
+EIGEN_STRONG_INLINE numext::int32_t pfirst<PacketXi>(const PacketXi& a)
+{
+  // svlasta returns the first element if all predicate bits are 0
+  return svlasta_s32(svpfalse_b(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi preverse(const PacketXi& a)
+{
+  return svrev_s32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pabs(const PacketXi& a)
+{
+  return svabs_s32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE numext::int32_t predux<PacketXi>(const PacketXi& a)
+{
+  return static_cast<numext::int32_t>(svaddv_s32(svptrue_b32(), a));
+}
+
+template <>
+EIGEN_STRONG_INLINE numext::int32_t predux_mul<PacketXi>(const PacketXi& a)
+{
+  EIGEN_STATIC_ASSERT((EIGEN_ARM64_SVE_VL % 128 == 0),
+                      EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT);
+
+  // Multiply the vector by its reverse
+  svint32_t prod = svmul_s32_z(svptrue_b32(), a, svrev_s32(a));
+  svint32_t half_prod;
+
+  // Extract the high half of the vector. Depending on the VL more reductions need to be done
+  if (EIGEN_ARM64_SVE_VL >= 2048) {
+    half_prod = svtbl_s32(prod, svindex_u32(32, 1));
+    prod = svmul_s32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 1024) {
+    half_prod = svtbl_s32(prod, svindex_u32(16, 1));
+    prod = svmul_s32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 512) {
+    half_prod = svtbl_s32(prod, svindex_u32(8, 1));
+    prod = svmul_s32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 256) {
+    half_prod = svtbl_s32(prod, svindex_u32(4, 1));
+    prod = svmul_s32_z(svptrue_b32(), prod, half_prod);
+  }
+  // Last reduction
+  half_prod = svtbl_s32(prod, svindex_u32(2, 1));
+  prod = svmul_s32_z(svptrue_b32(), prod, half_prod);
+
+  // The reduction is done to the first element.
+  return pfirst<PacketXi>(prod);
+}
+
+template <>
+EIGEN_STRONG_INLINE numext::int32_t predux_min<PacketXi>(const PacketXi& a)
+{
+  return svminv_s32(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE numext::int32_t predux_max<PacketXi>(const PacketXi& a)
+{
+  return svmaxv_s32(svptrue_b32(), a);
+}
+
+template <int N>
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<PacketXi, N>& kernel) {
+  int buffer[packet_traits<numext::int32_t>::size * N] = {0};
+  int i = 0;
+
+  PacketXi stride_index = svindex_s32(0, N);
+
+  for (i = 0; i < N; i++) {
+    svst1_scatter_s32index_s32(svptrue_b32(), buffer + i, stride_index, kernel.packet[i]);
+  }
+  for (i = 0; i < N; i++) {
+    kernel.packet[i] = svld1_s32(svptrue_b32(), buffer + i * packet_traits<numext::int32_t>::size);
+  }
+}
+
+/********************************* float32 ************************************/
+
+typedef svfloat32_t PacketXf __attribute__((arm_sve_vector_bits(EIGEN_ARM64_SVE_VL)));
+
+template <>
+struct packet_traits<float> : default_packet_traits {
+  typedef PacketXf type;
+  typedef PacketXf half;
+
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = sve_packet_size_selector<float, EIGEN_ARM64_SVE_VL>::size,
+    HasHalfPacket = 0,
+
+    HasAdd = 1,
+    HasSub = 1,
+    HasShift = 1,
+    HasMul = 1,
+    HasNegate = 1,
+    HasAbs = 1,
+    HasArg = 0,
+    HasAbs2 = 1,
+    HasMin = 1,
+    HasMax = 1,
+    HasConj = 1,
+    HasSetLinear = 0,
+    HasBlend = 0,
+    HasReduxp = 0,  // Not implemented in SVE
+
+    HasDiv = 1,
+    HasFloor = 1,
+
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasLog = 1,
+    HasExp = 1,
+    HasSqrt = 0,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = EIGEN_FAST_MATH
+  };
+};
+
+template <>
+struct unpacket_traits<PacketXf> {
+  typedef float type;
+  typedef PacketXf half;  // Half not yet implemented
+  typedef PacketXi integer_packet;
+
+  enum {
+    size = sve_packet_size_selector<float, EIGEN_ARM64_SVE_VL>::size,
+    alignment = Aligned64,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pset1<PacketXf>(const float& from)
+{
+  return svdup_n_f32(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pset1frombits<PacketXf>(numext::uint32_t from)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svptrue_b32(), from));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf plset<PacketXf>(const float& a)
+{
+  float c[packet_traits<float>::size];
+  for (int i = 0; i < packet_traits<float>::size; i++) c[i] = i;
+  return svadd_f32_z(svptrue_b32(), pset1<PacketXf>(a), svld1_f32(svptrue_b32(), c));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf padd<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svadd_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf psub<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svsub_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pnegate(const PacketXf& a)
+{
+  return svneg_f32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pconj(const PacketXf& a)
+{
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmul<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svmul_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pdiv<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svdiv_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmadd(const PacketXf& a, const PacketXf& b, const PacketXf& c)
+{
+  return svmla_f32_z(svptrue_b32(), c, a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmin<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svmin_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmin<PropagateNaN, PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return pmin<PacketXf>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmin<PropagateNumbers, PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svminnm_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmax<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svmax_f32_z(svptrue_b32(), a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmax<PropagateNaN, PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return pmax<PacketXf>(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pmax<PropagateNumbers, PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svmaxnm_f32_z(svptrue_b32(), a, b);
+}
+
+// Float comparisons in SVE return svbool (predicate). Use svdup to set active
+// lanes to 1 (0xffffffffu) and inactive lanes to 0.
+template <>
+EIGEN_STRONG_INLINE PacketXf pcmp_le<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svcmplt_f32(svptrue_b32(), a, b), 0xffffffffu));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pcmp_lt<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svcmplt_f32(svptrue_b32(), a, b), 0xffffffffu));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pcmp_eq<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svcmpeq_f32(svptrue_b32(), a, b), 0xffffffffu));
+}
+
+// Do a predicate inverse (svnot_b_z) on the predicate resulted from the
+// greater/equal comparison (svcmpge_f32). Then fill a float vector with the
+// active elements.
+template <>
+EIGEN_STRONG_INLINE PacketXf pcmp_lt_or_nan<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svnot_b_z(svptrue_b32(), svcmpge_f32(svptrue_b32(), a, b)), 0xffffffffu));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pfloor<PacketXf>(const PacketXf& a)
+{
+  return svrintm_f32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf ptrue<PacketXf>(const PacketXf& /*a*/)
+{
+  return svreinterpret_f32_u32(svdup_n_u32_z(svptrue_b32(), 0xffffffffu));
+}
+
+// Logical Operations are not supported for float, so reinterpret casts
+template <>
+EIGEN_STRONG_INLINE PacketXf pand<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svand_u32_z(svptrue_b32(), svreinterpret_u32_f32(a), svreinterpret_u32_f32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf por<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svorr_u32_z(svptrue_b32(), svreinterpret_u32_f32(a), svreinterpret_u32_f32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pxor<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(sveor_u32_z(svptrue_b32(), svreinterpret_u32_f32(a), svreinterpret_u32_f32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pandnot<PacketXf>(const PacketXf& a, const PacketXf& b)
+{
+  return svreinterpret_f32_u32(svbic_u32_z(svptrue_b32(), svreinterpret_u32_f32(a), svreinterpret_u32_f32(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pload<PacketXf>(const float* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD return svld1_f32(svptrue_b32(), from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf ploadu<PacketXf>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD return svld1_f32(svptrue_b32(), from);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf ploaddup<PacketXf>(const float* from)
+{
+  svuint32_t indices = svindex_u32(0, 1);  // index {base=0, base+step=1, base+step*2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a1, a1, a2, a2, ...}
+  return svld1_gather_u32index_f32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf ploadquad<PacketXf>(const float* from)
+{
+  svuint32_t indices = svindex_u32(0, 1);  // index {base=0, base+step=1, base+step*2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a1, a1, a2, a2, ...}
+  indices = svzip1_u32(indices, indices);  // index in the format {a0, a0, a0, a0, a1, a1, a1, a1, ...}
+  return svld1_gather_u32index_f32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<float>(float* to, const PacketXf& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE svst1_f32(svptrue_b32(), to, from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const PacketXf& from)
+{
+  EIGEN_DEBUG_UNALIGNED_STORE svst1_f32(svptrue_b32(), to, from);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline PacketXf pgather<float, PacketXf>(const float* from, Index stride)
+{
+  // Indice format: {base=0, base+stride, base+stride*2, base+stride*3, ...}
+  svint32_t indices = svindex_s32(0, stride);
+  return svld1_gather_s32index_f32(svptrue_b32(), from, indices);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<float, PacketXf>(float* to, const PacketXf& from, Index stride)
+{
+  // Indice format: {base=0, base+stride, base+stride*2, base+stride*3, ...}
+  svint32_t indices = svindex_s32(0, stride);
+  svst1_scatter_s32index_f32(svptrue_b32(), to, indices, from);
+}
+
+template <>
+EIGEN_STRONG_INLINE float pfirst<PacketXf>(const PacketXf& a)
+{
+  // svlasta returns the first element if all predicate bits are 0
+  return svlasta_f32(svpfalse_b(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf preverse(const PacketXf& a)
+{
+  return svrev_f32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pabs(const PacketXf& a)
+{
+  return svabs_f32_z(svptrue_b32(), a);
+}
+
+// TODO(tellenbach): Should this go into MathFunctions.h? If so, change for 
+// all vector extensions and the generic version.
+template <>
+EIGEN_STRONG_INLINE PacketXf pfrexp<PacketXf>(const PacketXf& a, PacketXf& exponent)
+{
+  return pfrexp_generic(a, exponent);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux<PacketXf>(const PacketXf& a)
+{
+  return svaddv_f32(svptrue_b32(), a);
+}
+
+// Other reduction functions:
+// mul
+// Only works for SVE Vls multiple of 128
+template <>
+EIGEN_STRONG_INLINE float predux_mul<PacketXf>(const PacketXf& a)
+{
+  EIGEN_STATIC_ASSERT((EIGEN_ARM64_SVE_VL % 128 == 0),
+                      EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT);
+  // Multiply the vector by its reverse
+  svfloat32_t prod = svmul_f32_z(svptrue_b32(), a, svrev_f32(a));
+  svfloat32_t half_prod;
+
+  // Extract the high half of the vector. Depending on the VL more reductions need to be done
+  if (EIGEN_ARM64_SVE_VL >= 2048) {
+    half_prod = svtbl_f32(prod, svindex_u32(32, 1));
+    prod = svmul_f32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 1024) {
+    half_prod = svtbl_f32(prod, svindex_u32(16, 1));
+    prod = svmul_f32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 512) {
+    half_prod = svtbl_f32(prod, svindex_u32(8, 1));
+    prod = svmul_f32_z(svptrue_b32(), prod, half_prod);
+  }
+  if (EIGEN_ARM64_SVE_VL >= 256) {
+    half_prod = svtbl_f32(prod, svindex_u32(4, 1));
+    prod = svmul_f32_z(svptrue_b32(), prod, half_prod);
+  }
+  // Last reduction
+  half_prod = svtbl_f32(prod, svindex_u32(2, 1));
+  prod = svmul_f32_z(svptrue_b32(), prod, half_prod);
+
+  // The reduction is done to the first element.
+  return pfirst<PacketXf>(prod);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_min<PacketXf>(const PacketXf& a)
+{
+  return svminv_f32(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_max<PacketXf>(const PacketXf& a)
+{
+  return svmaxv_f32(svptrue_b32(), a);
+}
+
+template<int N>
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<PacketXf, N>& kernel)
+{
+  float buffer[packet_traits<float>::size * N] = {0};
+  int i = 0;
+
+  PacketXi stride_index = svindex_s32(0, N);
+
+  for (i = 0; i < N; i++) {
+    svst1_scatter_s32index_f32(svptrue_b32(), buffer + i, stride_index, kernel.packet[i]);
+  }
+
+  for (i = 0; i < N; i++) {
+    kernel.packet[i] = svld1_f32(svptrue_b32(), buffer + i * packet_traits<float>::size);
+  }
+}
+
+template<>
+EIGEN_STRONG_INLINE PacketXf pldexp<PacketXf>(const PacketXf& a, const PacketXf& exponent)
+{
+  return pldexp_generic(a, exponent);
+}
+
+}  // namespace internal
+}  // namespace Eigen
+
+#endif  // EIGEN_PACKET_MATH_SVE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/TypeCasting.h
new file mode 100644
index 0000000000..7ba5d9cd11
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SVE/TypeCasting.h
@@ -0,0 +1,49 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2020, Arm Limited and Contributors
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_SVE_H
+#define EIGEN_TYPE_CASTING_SVE_H
+
+namespace Eigen {
+namespace internal {
+
+template <>
+struct type_casting_traits<float, numext::int32_t> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+
+template <>
+struct type_casting_traits<numext::int32_t, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+
+template <>
+EIGEN_STRONG_INLINE PacketXf pcast<PacketXi, PacketXf>(const PacketXi& a) {
+  return svcvt_f32_s32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi pcast<PacketXf, PacketXi>(const PacketXf& a) {
+  return svcvt_s32_f32_z(svptrue_b32(), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXf preinterpret<PacketXf, PacketXi>(const PacketXi& a) {
+  return svreinterpret_f32_s32(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE PacketXi preinterpret<PacketXi, PacketXf>(const PacketXf& a) {
+  return svreinterpret_s32_f32(a);
+}
+
+}  // namespace internal
+}  // namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_SVE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/InteropHeaders.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/InteropHeaders.h
new file mode 100644
index 0000000000..10856ff5e5
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/InteropHeaders.h
@@ -0,0 +1,232 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Mehdi Goli    Codeplay Software Ltd.
+// Ralph Potter  Codeplay Software Ltd.
+// Luke Iwanski  Codeplay Software Ltd.
+// Contact: <eigen@codeplay.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/*****************************************************************
+ * InteropHeaders.h
+ *
+ * \brief:
+ *  InteropHeaders
+ *
+ *****************************************************************/
+
+#ifndef EIGEN_INTEROP_HEADERS_SYCL_H
+#define EIGEN_INTEROP_HEADERS_SYCL_H
+
+namespace Eigen {
+
+#if !defined(EIGEN_DONT_VECTORIZE_SYCL)
+
+namespace internal {
+
+template <int has_blend, int lengths>
+struct sycl_packet_traits : default_packet_traits {
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = lengths,
+    HasHalfPacket = 0,
+    HasDiv = 1,
+    HasLog = 1,
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasSin = 1,
+    HasCos = 1,
+    HasTan = 1,
+    HasASin = 1,
+    HasACos = 1,
+    HasATan = 1,
+    HasSinh = 1,
+    HasCosh = 1,
+    HasTanh = 1,
+    HasLGamma = 0,
+    HasDiGamma = 0,
+    HasZeta = 0,
+    HasPolygamma = 0,
+    HasErf = 0,
+    HasErfc = 0,
+    HasNdtri = 0,
+    HasIGamma = 0,
+    HasIGammac = 0,
+    HasBetaInc = 0,
+    HasBlend = has_blend,
+    // This flag is used to indicate whether packet comparison is supported.
+    // pcmp_eq, pcmp_lt and pcmp_le should be defined for it to be true.
+    HasCmp = 1,
+    HasMax = 1,
+    HasMin = 1,
+    HasMul = 1,
+    HasAdd = 1,
+    HasFloor = 1,
+    HasRound = 1,
+    HasRint = 1,
+    HasLog1p = 1,
+    HasExpm1 = 1,
+    HasCeil = 1,
+  };
+};
+
+#ifdef SYCL_DEVICE_ONLY
+#define SYCL_PACKET_TRAITS(packet_type, has_blend, unpacket_type, lengths) \
+  template <>                                                              \
+  struct packet_traits<unpacket_type>                                      \
+      : sycl_packet_traits<has_blend, lengths> {                           \
+    typedef packet_type type;                                              \
+    typedef packet_type half;                                              \
+  };
+
+SYCL_PACKET_TRAITS(cl::sycl::cl_float4, 1, float, 4)
+SYCL_PACKET_TRAITS(cl::sycl::cl_float4, 1, const float, 4)
+SYCL_PACKET_TRAITS(cl::sycl::cl_double2, 0, double, 2)
+SYCL_PACKET_TRAITS(cl::sycl::cl_double2, 0, const double, 2)
+#undef SYCL_PACKET_TRAITS
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#define SYCL_ARITHMETIC(packet_type)  \
+  template <>                         \
+  struct is_arithmetic<packet_type> { \
+    enum { value = true };            \
+  };
+SYCL_ARITHMETIC(cl::sycl::cl_float4)
+SYCL_ARITHMETIC(cl::sycl::cl_double2)
+#undef SYCL_ARITHMETIC
+
+#define SYCL_UNPACKET_TRAITS(packet_type, unpacket_type, lengths)        \
+  template <>                                                            \
+  struct unpacket_traits<packet_type> {                                  \
+    typedef unpacket_type type;                                          \
+    enum { size = lengths, vectorizable = true, alignment = Aligned16 }; \
+    typedef packet_type half;                                            \
+  };
+SYCL_UNPACKET_TRAITS(cl::sycl::cl_float4, float, 4)
+SYCL_UNPACKET_TRAITS(cl::sycl::cl_double2, double, 2)
+
+#undef SYCL_UNPACKET_TRAITS
+#endif
+
+}  // end namespace internal
+
+#endif
+
+namespace TensorSycl {
+namespace internal {
+
+template <typename PacketReturnType, int PacketSize>
+struct PacketWrapper;
+// This function should never get called on the device
+#ifndef SYCL_DEVICE_ONLY
+template <typename PacketReturnType, int PacketSize>
+struct PacketWrapper {
+  typedef typename ::Eigen::internal::unpacket_traits<PacketReturnType>::type
+      Scalar;
+  template <typename Index>
+  EIGEN_DEVICE_FUNC static Scalar scalarize(Index, PacketReturnType &) {
+    eigen_assert(false && "THERE IS NO PACKETIZE VERSION FOR  THE CHOSEN TYPE");
+    abort();
+  }
+  EIGEN_DEVICE_FUNC static PacketReturnType convert_to_packet_type(Scalar in,
+                                                                   Scalar) {
+    return ::Eigen::internal::template plset<PacketReturnType>(in);
+  }
+  EIGEN_DEVICE_FUNC static void set_packet(PacketReturnType, Scalar *) {
+    eigen_assert(false && "THERE IS NO PACKETIZE VERSION FOR  THE CHOSEN TYPE");
+    abort();
+  }
+};
+
+#elif defined(SYCL_DEVICE_ONLY)
+template <typename PacketReturnType>
+struct PacketWrapper<PacketReturnType, 4> {
+  typedef typename ::Eigen::internal::unpacket_traits<PacketReturnType>::type
+      Scalar;
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Scalar scalarize(Index index, PacketReturnType &in) {
+    switch (index) {
+      case 0:
+        return in.x();
+      case 1:
+        return in.y();
+      case 2:
+        return in.z();
+      case 3:
+        return in.w();
+      default:
+      //INDEX MUST BE BETWEEN 0 and 3.There is no abort function in SYCL kernel. so we cannot use abort here. 
+      // The code will never reach here
+      __builtin_unreachable();
+    }
+    __builtin_unreachable();
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static PacketReturnType convert_to_packet_type(
+      Scalar in, Scalar other) {
+    return PacketReturnType(in, other, other, other);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static void set_packet(PacketReturnType &lhs, Scalar *rhs) {
+    lhs = PacketReturnType(rhs[0], rhs[1], rhs[2], rhs[3]);
+  }
+};
+
+template <typename PacketReturnType>
+struct PacketWrapper<PacketReturnType, 1> {
+  typedef typename ::Eigen::internal::unpacket_traits<PacketReturnType>::type
+      Scalar;
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Scalar scalarize(Index, PacketReturnType &in) {
+    return in;
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static PacketReturnType convert_to_packet_type(Scalar in,
+                                                                   Scalar) {
+    return PacketReturnType(in);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static void set_packet(PacketReturnType &lhs, Scalar *rhs) {
+    lhs = rhs[0];
+  }
+};
+
+template <typename PacketReturnType>
+struct PacketWrapper<PacketReturnType, 2> {
+  typedef typename ::Eigen::internal::unpacket_traits<PacketReturnType>::type
+      Scalar;
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static Scalar scalarize(Index index, PacketReturnType &in) {
+    switch (index) {
+      case 0:
+        return in.x();
+      case 1:
+        return in.y();
+      default:
+        //INDEX MUST BE BETWEEN 0 and 1.There is no abort function in SYCL kernel. so we cannot use abort here. 
+      // The code will never reach here
+        __builtin_unreachable();
+    }
+    __builtin_unreachable();
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static PacketReturnType convert_to_packet_type(
+      Scalar in, Scalar other) {
+    return PacketReturnType(in, other);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE static void set_packet(PacketReturnType &lhs, Scalar *rhs) {
+    lhs = PacketReturnType(rhs[0], rhs[1]);
+  }
+};
+
+#endif
+
+}  // end namespace internal
+}  // end namespace TensorSycl
+}  // end namespace Eigen
+
+#endif  // EIGEN_INTEROP_HEADERS_SYCL_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/MathFunctions.h
new file mode 100644
index 0000000000..2ab0f2a76b
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/MathFunctions.h
@@ -0,0 +1,301 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Mehdi Goli    Codeplay Software Ltd.
+// Ralph Potter  Codeplay Software Ltd.
+// Luke Iwanski  Codeplay Software Ltd.
+// Contact: <eigen@codeplay.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/*****************************************************************
+ * MathFunctions.h
+ *
+ * \brief:
+ *  MathFunctions
+ *
+ *****************************************************************/
+
+#ifndef EIGEN_MATH_FUNCTIONS_SYCL_H
+#define EIGEN_MATH_FUNCTIONS_SYCL_H
+namespace Eigen {
+
+namespace internal {
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(SYCL_DEVICE_ONLY)
+#define SYCL_PLOG(packet_type)                                         \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type plog<packet_type>( \
+      const packet_type& a) {                                          \
+    return cl::sycl::log(a);                                           \
+  }
+
+SYCL_PLOG(cl::sycl::cl_float4)
+SYCL_PLOG(cl::sycl::cl_double2)
+#undef SYCL_PLOG
+
+#define SYCL_PLOG1P(packet_type)                                         \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type plog1p<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::log1p(a);                                           \
+  }
+
+SYCL_PLOG1P(cl::sycl::cl_float4)
+SYCL_PLOG1P(cl::sycl::cl_double2)
+#undef SYCL_PLOG1P
+
+#define SYCL_PLOG10(packet_type)                                         \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type plog10<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::log10(a);                                           \
+  }
+
+SYCL_PLOG10(cl::sycl::cl_float4)
+SYCL_PLOG10(cl::sycl::cl_double2)
+#undef SYCL_PLOG10
+
+#define SYCL_PEXP(packet_type)                                         \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pexp<packet_type>( \
+      const packet_type& a) {                                          \
+    return cl::sycl::exp(a);                                           \
+  }
+
+SYCL_PEXP(cl::sycl::cl_float4)
+SYCL_PEXP(cl::sycl::cl_float)
+SYCL_PEXP(cl::sycl::cl_double2)
+#undef SYCL_PEXP
+
+#define SYCL_PEXPM1(packet_type)                                         \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pexpm1<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::expm1(a);                                           \
+  }
+
+SYCL_PEXPM1(cl::sycl::cl_float4)
+SYCL_PEXPM1(cl::sycl::cl_double2)
+#undef SYCL_PEXPM1
+
+#define SYCL_PSQRT(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type psqrt<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::sqrt(a);                                           \
+  }
+
+SYCL_PSQRT(cl::sycl::cl_float4)
+SYCL_PSQRT(cl::sycl::cl_double2)
+#undef SYCL_PSQRT
+
+#define SYCL_PRSQRT(packet_type)                                         \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type prsqrt<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::rsqrt(a);                                           \
+  }
+
+SYCL_PRSQRT(cl::sycl::cl_float4)
+SYCL_PRSQRT(cl::sycl::cl_double2)
+#undef SYCL_PRSQRT
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+#define SYCL_PSIN(packet_type)                                         \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type psin<packet_type>( \
+      const packet_type& a) {                                          \
+    return cl::sycl::sin(a);                                           \
+  }
+
+SYCL_PSIN(cl::sycl::cl_float4)
+SYCL_PSIN(cl::sycl::cl_double2)
+#undef SYCL_PSIN
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+#define SYCL_PCOS(packet_type)                                         \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pcos<packet_type>( \
+      const packet_type& a) {                                          \
+    return cl::sycl::cos(a);                                           \
+  }
+
+SYCL_PCOS(cl::sycl::cl_float4)
+SYCL_PCOS(cl::sycl::cl_double2)
+#undef SYCL_PCOS
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+#define SYCL_PTAN(packet_type)                                         \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type ptan<packet_type>( \
+      const packet_type& a) {                                          \
+    return cl::sycl::tan(a);                                           \
+  }
+
+SYCL_PTAN(cl::sycl::cl_float4)
+SYCL_PTAN(cl::sycl::cl_double2)
+#undef SYCL_PTAN
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+#define SYCL_PASIN(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pasin<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::asin(a);                                           \
+  }
+
+SYCL_PASIN(cl::sycl::cl_float4)
+SYCL_PASIN(cl::sycl::cl_double2)
+#undef SYCL_PASIN
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+#define SYCL_PACOS(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pacos<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::acos(a);                                           \
+  }
+
+SYCL_PACOS(cl::sycl::cl_float4)
+SYCL_PACOS(cl::sycl::cl_double2)
+#undef SYCL_PACOS
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+#define SYCL_PATAN(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type patan<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::atan(a);                                           \
+  }
+
+SYCL_PATAN(cl::sycl::cl_float4)
+SYCL_PATAN(cl::sycl::cl_double2)
+#undef SYCL_PATAN
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+#define SYCL_PSINH(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type psinh<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::sinh(a);                                           \
+  }
+
+SYCL_PSINH(cl::sycl::cl_float4)
+SYCL_PSINH(cl::sycl::cl_double2)
+#undef SYCL_PSINH
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+#define SYCL_PCOSH(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pcosh<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::cosh(a);                                           \
+  }
+
+SYCL_PCOSH(cl::sycl::cl_float4)
+SYCL_PCOSH(cl::sycl::cl_double2)
+#undef SYCL_PCOSH
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+#define SYCL_PTANH(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type ptanh<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::tanh(a);                                           \
+  }
+
+SYCL_PTANH(cl::sycl::cl_float4)
+SYCL_PTANH(cl::sycl::cl_double2)
+#undef SYCL_PTANH
+
+#define SYCL_PCEIL(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pceil<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::ceil(a);                                           \
+  }
+
+SYCL_PCEIL(cl::sycl::cl_float4)
+SYCL_PCEIL(cl::sycl::cl_double2)
+#undef SYCL_PCEIL
+
+#define SYCL_PROUND(packet_type)                                         \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pround<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::round(a);                                           \
+  }
+
+SYCL_PROUND(cl::sycl::cl_float4)
+SYCL_PROUND(cl::sycl::cl_double2)
+#undef SYCL_PROUND
+
+#define SYCL_PRINT(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type print<packet_type>( \
+      const packet_type& a) {                                           \
+    return cl::sycl::rint(a);                                           \
+  }
+
+SYCL_PRINT(cl::sycl::cl_float4)
+SYCL_PRINT(cl::sycl::cl_double2)
+#undef SYCL_PRINT
+
+#define SYCL_FLOOR(packet_type)                                          \
+  template <>                                                            \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pfloor<packet_type>( \
+      const packet_type& a) {                                            \
+    return cl::sycl::floor(a);                                           \
+  }
+
+SYCL_FLOOR(cl::sycl::cl_float4)
+SYCL_FLOOR(cl::sycl::cl_double2)
+#undef SYCL_FLOOR
+
+#define SYCL_PMIN(packet_type, expr)                                   \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pmin<packet_type>( \
+      const packet_type& a, const packet_type& b) {                    \
+    return expr;                                                       \
+  }
+
+SYCL_PMIN(cl::sycl::cl_float4, cl::sycl::fmin(a, b))
+SYCL_PMIN(cl::sycl::cl_double2, cl::sycl::fmin(a, b))
+#undef SYCL_PMIN
+
+#define SYCL_PMAX(packet_type, expr)                                   \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pmax<packet_type>( \
+      const packet_type& a, const packet_type& b) {                    \
+    return expr;                                                       \
+  }
+
+SYCL_PMAX(cl::sycl::cl_float4, cl::sycl::fmax(a, b))
+SYCL_PMAX(cl::sycl::cl_double2, cl::sycl::fmax(a, b))
+#undef SYCL_PMAX
+
+#define SYCL_PLDEXP(packet_type)                                             \
+  template <>                                                                \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type pldexp(                  \
+      const packet_type& a, const packet_type& exponent) {                   \
+    return cl::sycl::ldexp(                                                  \
+        a, exponent.template convert<cl::sycl::cl_int,                       \
+                                     cl::sycl::rounding_mode::automatic>()); \
+  }
+
+SYCL_PLDEXP(cl::sycl::cl_float4)
+SYCL_PLDEXP(cl::sycl::cl_double2)
+#undef SYCL_PLDEXP
+
+#endif
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_SYCL_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/PacketMath.h
new file mode 100644
index 0000000000..87badc0766
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/PacketMath.h
@@ -0,0 +1,670 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Mehdi Goli    Codeplay Software Ltd.
+// Ralph Potter  Codeplay Software Ltd.
+// Luke Iwanski  Codeplay Software Ltd.
+// Contact: <eigen@codeplay.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/*****************************************************************
+ * PacketMath.h
+ *
+ * \brief:
+ *  PacketMath
+ *
+ *****************************************************************/
+
+#ifndef EIGEN_PACKET_MATH_SYCL_H
+#define EIGEN_PACKET_MATH_SYCL_H
+#include <type_traits>
+namespace Eigen {
+
+namespace internal {
+#ifdef SYCL_DEVICE_ONLY
+
+#define SYCL_PLOADT_RO(address_space_target)                                 \
+  template <typename packet_type, int Alignment>                             \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type ploadt_ro(               \
+      typename cl::sycl::multi_ptr<                                          \
+          const typename unpacket_traits<packet_type>::type,                 \
+          cl::sycl::access::address_space::address_space_target>::pointer_t  \
+          from) {                                                            \
+    typedef typename unpacket_traits<packet_type>::type scalar;              \
+    typedef cl::sycl::multi_ptr<                                             \
+        scalar, cl::sycl::access::address_space::address_space_target>       \
+        multi_ptr;                                                           \
+    auto res = packet_type(                                                  \
+        static_cast<typename unpacket_traits<packet_type>::type>(0));        \
+    res.load(0, multi_ptr(const_cast<typename multi_ptr::pointer_t>(from))); \
+    return res;                                                              \
+  }
+
+SYCL_PLOADT_RO(global_space)
+SYCL_PLOADT_RO(local_space)
+#undef SYCL_PLOADT_RO
+#endif
+
+template <typename packet_type, int Alignment, typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type
+ploadt_ro(const Eigen::TensorSycl::internal::RangeAccess<
+          cl::sycl::access::mode::read_write, T>& from) {
+  return ploadt_ro<packet_type, Alignment>(from.get_pointer());
+}
+
+#ifdef SYCL_DEVICE_ONLY
+#define SYCL_PLOAD(address_space_target, Alignment, AlignedType)            \
+  template <typename packet_type>                                           \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type pload##AlignedType(     \
+      typename cl::sycl::multi_ptr<                                         \
+          const typename unpacket_traits<packet_type>::type,                \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          from) {                                                           \
+    return ploadt_ro<packet_type, Alignment>(from);                         \
+  }
+
+// global space
+SYCL_PLOAD(global_space, Unaligned, u)
+SYCL_PLOAD(global_space, Aligned, )
+// local space
+SYCL_PLOAD(local_space, Unaligned, u)
+SYCL_PLOAD(local_space, Aligned, )
+
+#undef SYCL_PLOAD
+#endif
+
+#define SYCL_PLOAD(Alignment, AlignedType)                              \
+  template <typename packet_type>                                       \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type pload##AlignedType( \
+      const Eigen::TensorSycl::internal::RangeAccess<                   \
+          cl::sycl::access::mode::read_write,                           \
+          typename unpacket_traits<packet_type>::type>                  \
+          from) {                                                       \
+    return ploadt_ro<packet_type, Alignment>(from);                     \
+  }
+SYCL_PLOAD(Unaligned, u)
+SYCL_PLOAD(Aligned, )
+#undef SYCL_PLOAD
+
+#ifdef SYCL_DEVICE_ONLY
+/** \internal \returns a packet version of \a *from.
+ * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+#define SYCL_PLOADT(address_space_target)                                   \
+  template <typename packet_type, int Alignment>                            \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type ploadt(                 \
+      typename cl::sycl::multi_ptr<                                         \
+          const typename unpacket_traits<packet_type>::type,                \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          from) {                                                           \
+    if (Alignment >= unpacket_traits<packet_type>::alignment)               \
+      return pload<packet_type>(from);                                      \
+    else                                                                    \
+      return ploadu<packet_type>(from);                                     \
+  }
+
+// global space
+SYCL_PLOADT(global_space)
+// local space
+SYCL_PLOADT(local_space)
+#undef SYCL_PLOADT
+#endif
+
+template <typename packet_type, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type
+ploadt(const Eigen::TensorSycl::internal::RangeAccess<
+       cl::sycl::access::mode::read_write,
+       typename unpacket_traits<packet_type>::type>& from) {
+  return ploadt<packet_type, Alignment>(from.get_pointer());
+}
+#ifdef SYCL_DEVICE_ONLY
+
+// private_space
+#define SYCL_PLOADT_RO_SPECIAL(packet_type, Alignment)                 \
+  template <>                                                          \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type                    \
+  ploadt_ro<packet_type, Alignment>(                                   \
+      const typename unpacket_traits<packet_type>::type* from) {       \
+    typedef typename unpacket_traits<packet_type>::type scalar;        \
+    auto res = packet_type(static_cast<scalar>(0));                    \
+    res.template load<cl::sycl::access::address_space::private_space>( \
+        0, const_cast<scalar*>(from));                                 \
+    return res;                                                        \
+  }
+
+SYCL_PLOADT_RO_SPECIAL(cl::sycl::cl_float4, Aligned)
+SYCL_PLOADT_RO_SPECIAL(cl::sycl::cl_double2, Aligned)
+SYCL_PLOADT_RO_SPECIAL(cl::sycl::cl_float4, Unaligned)
+SYCL_PLOADT_RO_SPECIAL(cl::sycl::cl_double2, Unaligned)
+
+#define SYCL_PLOAD_SPECIAL(packet_type, alignment_type)                    \
+  template <>                                                              \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type pload##alignment_type( \
+      const typename unpacket_traits<packet_type>::type* from) {           \
+    typedef typename unpacket_traits<packet_type>::type scalar;            \
+    auto res = packet_type(static_cast<scalar>(0));                        \
+    res.template load<cl::sycl::access::address_space::private_space>(     \
+        0, const_cast<scalar*>(from));                                     \
+    return res;                                                            \
+  }
+SYCL_PLOAD_SPECIAL(cl::sycl::cl_float4, )
+SYCL_PLOAD_SPECIAL(cl::sycl::cl_double2, )
+SYCL_PLOAD_SPECIAL(cl::sycl::cl_float4, u)
+SYCL_PLOAD_SPECIAL(cl::sycl::cl_double2, u)
+
+#undef SYCL_PLOAD_SPECIAL
+
+#define SYCL_PSTORE(scalar, packet_type, address_space_target, alignment)   \
+  template <>                                                               \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstore##alignment(             \
+      typename cl::sycl::multi_ptr<                                         \
+          scalar,                                                           \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          to,                                                               \
+      const packet_type& from) {                                            \
+    typedef cl::sycl::multi_ptr<                                            \
+        scalar, cl::sycl::access::address_space::address_space_target>      \
+        multi_ptr;                                                          \
+    from.store(0, multi_ptr(to));                                           \
+  }
+
+// global space
+SYCL_PSTORE(float, cl::sycl::cl_float4, global_space, )
+SYCL_PSTORE(float, cl::sycl::cl_float4, global_space, u)
+SYCL_PSTORE(double, cl::sycl::cl_double2, global_space, )
+SYCL_PSTORE(double, cl::sycl::cl_double2, global_space, u)
+SYCL_PSTORE(float, cl::sycl::cl_float4, local_space, )
+SYCL_PSTORE(float, cl::sycl::cl_float4, local_space, u)
+SYCL_PSTORE(double, cl::sycl::cl_double2, local_space, )
+SYCL_PSTORE(double, cl::sycl::cl_double2, local_space, u)
+
+SYCL_PSTORE(float, cl::sycl::cl_float4, private_space, )
+SYCL_PSTORE(float, cl::sycl::cl_float4, private_space, u)
+SYCL_PSTORE(double, cl::sycl::cl_double2, private_space, )
+SYCL_PSTORE(double, cl::sycl::cl_double2, private_space, u)
+#undef SYCL_PSTORE
+
+#define SYCL_PSTORE_T(address_space_target)                                 \
+  template <typename scalar, typename packet_type, int Alignment>           \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(                       \
+      typename cl::sycl::multi_ptr<                                         \
+          scalar,                                                           \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          to,                                                               \
+      const packet_type& from) {                                            \
+    if (Alignment)                                                          \
+      pstore(to, from);                                                     \
+    else                                                                    \
+      pstoreu(to, from);                                                    \
+  }
+
+SYCL_PSTORE_T(global_space)
+
+SYCL_PSTORE_T(local_space)
+
+#undef SYCL_PSTORE_T
+
+#define SYCL_PSET1(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type pset1<packet_type>( \
+      const typename unpacket_traits<packet_type>::type& from) {        \
+    return packet_type(from);                                           \
+  }
+
+// global space
+SYCL_PSET1(cl::sycl::cl_float4)
+SYCL_PSET1(cl::sycl::cl_double2)
+
+#undef SYCL_PSET1
+
+template <typename packet_type>
+struct get_base_packet {
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type
+  get_ploaddup(sycl_multi_pointer) {}
+
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type
+  get_pgather(sycl_multi_pointer, Index) {}
+};
+
+template <>
+struct get_base_packet<cl::sycl::cl_float4> {
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_float4 get_ploaddup(
+      sycl_multi_pointer from) {
+    return cl::sycl::cl_float4(from[0], from[0], from[1], from[1]);
+  }
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_float4 get_pgather(
+      sycl_multi_pointer from, Index stride) {
+    return cl::sycl::cl_float4(from[0 * stride], from[1 * stride],
+                               from[2 * stride], from[3 * stride]);
+  }
+
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void set_pscatter(
+      sycl_multi_pointer to, const cl::sycl::cl_float4& from, Index stride) {
+    auto tmp = stride;
+    to[0] = from.x();
+    to[tmp] = from.y();
+    to[tmp += stride] = from.z();
+    to[tmp += stride] = from.w();
+  }
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_float4 set_plset(
+      const float& a) {
+    return cl::sycl::cl_float4(static_cast<float>(a), static_cast<float>(a + 1),
+                               static_cast<float>(a + 2),
+                               static_cast<float>(a + 3));
+  }
+};
+
+template <>
+struct get_base_packet<cl::sycl::cl_double2> {
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_double2
+  get_ploaddup(const sycl_multi_pointer from) {
+    return cl::sycl::cl_double2(from[0], from[0]);
+  }
+
+  template <typename sycl_multi_pointer, typename Index>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_double2 get_pgather(
+      const sycl_multi_pointer from, Index stride) {
+    return cl::sycl::cl_double2(from[0 * stride], from[1 * stride]);
+  }
+
+  template <typename sycl_multi_pointer>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void set_pscatter(
+      sycl_multi_pointer to, const cl::sycl::cl_double2& from, Index stride) {
+    to[0] = from.x();
+    to[stride] = from.y();
+  }
+
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE cl::sycl::cl_double2 set_plset(
+      const double& a) {
+    return cl::sycl::cl_double2(static_cast<double>(a),
+                                static_cast<double>(a + 1));
+  }
+};
+
+#define SYCL_PLOAD_DUP(address_space_target)                                \
+  template <typename packet_type>                                           \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type ploaddup(               \
+      typename cl::sycl::multi_ptr<                                         \
+          const typename unpacket_traits<packet_type>::type,                \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          from) {                                                           \
+    return get_base_packet<packet_type>::get_ploaddup(from);                \
+  }
+
+// global space
+SYCL_PLOAD_DUP(global_space)
+// local_space
+SYCL_PLOAD_DUP(local_space)
+#undef SYCL_PLOAD_DUP
+
+#define SYCL_PLOAD_DUP_SPECILIZE(packet_type)                              \
+  template <>                                                              \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type ploaddup<packet_type>( \
+      const typename unpacket_traits<packet_type>::type* from) {           \
+    return get_base_packet<packet_type>::get_ploaddup(from);               \
+  }
+
+SYCL_PLOAD_DUP_SPECILIZE(cl::sycl::cl_float4)
+SYCL_PLOAD_DUP_SPECILIZE(cl::sycl::cl_double2)
+
+#undef SYCL_PLOAD_DUP_SPECILIZE
+
+#define SYCL_PLSET(packet_type)                                         \
+  template <>                                                           \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type plset<packet_type>( \
+      const typename unpacket_traits<packet_type>::type& a) {           \
+    return get_base_packet<packet_type>::set_plset(a);                  \
+  }
+
+SYCL_PLSET(cl::sycl::cl_float4)
+SYCL_PLSET(cl::sycl::cl_double2)
+
+#undef SYCL_PLSET
+
+#define SYCL_PGATHER(address_space_target)                                  \
+  template <typename Scalar, typename packet_type>                          \
+  EIGEN_DEVICE_FUNC inline packet_type pgather(                             \
+      typename cl::sycl::multi_ptr<                                         \
+          const typename unpacket_traits<packet_type>::type,                \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          from,                                                             \
+      Index stride) {                                                       \
+    return get_base_packet<packet_type>::get_pgather(from, stride);         \
+  }
+
+// global space
+SYCL_PGATHER(global_space)
+// local space
+SYCL_PGATHER(local_space)
+
+#undef SYCL_PGATHER
+
+#define SYCL_PGATHER_SPECILIZE(scalar, packet_type)                            \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packet_type                            \
+  pgather<scalar, packet_type>(                                                \
+      const typename unpacket_traits<packet_type>::type* from, Index stride) { \
+    return get_base_packet<packet_type>::get_pgather(from, stride);            \
+  }
+
+SYCL_PGATHER_SPECILIZE(float, cl::sycl::cl_float4)
+SYCL_PGATHER_SPECILIZE(double, cl::sycl::cl_double2)
+
+#undef SYCL_PGATHER_SPECILIZE
+
+#define SYCL_PSCATTER(address_space_target)                                 \
+  template <typename Scalar, typename packet_type>                          \
+  EIGEN_DEVICE_FUNC inline void pscatter(                                   \
+      typename cl::sycl::multi_ptr<                                         \
+          typename unpacket_traits<packet_type>::type,                      \
+          cl::sycl::access::address_space::address_space_target>::pointer_t \
+          to,                                                               \
+      const packet_type& from, Index stride) {                              \
+    get_base_packet<packet_type>::set_pscatter(to, from, stride);           \
+  }
+
+// global space
+SYCL_PSCATTER(global_space)
+// local space
+SYCL_PSCATTER(local_space)
+
+#undef SYCL_PSCATTER
+
+#define SYCL_PSCATTER_SPECILIZE(scalar, packet_type)                        \
+  template <>                                                               \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pscatter<scalar, packet_type>( \
+      typename unpacket_traits<packet_type>::type * to,                     \
+      const packet_type& from, Index stride) {                              \
+    get_base_packet<packet_type>::set_pscatter(to, from, stride);           \
+  }
+
+SYCL_PSCATTER_SPECILIZE(float, cl::sycl::cl_float4)
+SYCL_PSCATTER_SPECILIZE(double, cl::sycl::cl_double2)
+
+#undef SYCL_PSCATTER_SPECILIZE
+
+#define SYCL_PMAD(packet_type)                                            \
+  template <>                                                             \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE packet_type pmadd(                \
+      const packet_type& a, const packet_type& b, const packet_type& c) { \
+    return cl::sycl::mad(a, b, c);                                        \
+  }
+
+SYCL_PMAD(cl::sycl::cl_float4)
+SYCL_PMAD(cl::sycl::cl_double2)
+#undef SYCL_PMAD
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float pfirst<cl::sycl::cl_float4>(
+    const cl::sycl::cl_float4& a) {
+  return a.x();
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double pfirst<cl::sycl::cl_double2>(
+    const cl::sycl::cl_double2& a) {
+  return a.x();
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float predux<cl::sycl::cl_float4>(
+    const cl::sycl::cl_float4& a) {
+  return a.x() + a.y() + a.z() + a.w();
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double predux<cl::sycl::cl_double2>(
+    const cl::sycl::cl_double2& a) {
+  return a.x() + a.y();
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float predux_max<cl::sycl::cl_float4>(
+    const cl::sycl::cl_float4& a) {
+  return cl::sycl::fmax(cl::sycl::fmax(a.x(), a.y()),
+                        cl::sycl::fmax(a.z(), a.w()));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double predux_max<cl::sycl::cl_double2>(
+    const cl::sycl::cl_double2& a) {
+  return cl::sycl::fmax(a.x(), a.y());
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float predux_min<cl::sycl::cl_float4>(
+    const cl::sycl::cl_float4& a) {
+  return cl::sycl::fmin(cl::sycl::fmin(a.x(), a.y()),
+                        cl::sycl::fmin(a.z(), a.w()));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double predux_min<cl::sycl::cl_double2>(
+    const cl::sycl::cl_double2& a) {
+  return cl::sycl::fmin(a.x(), a.y());
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float predux_mul<cl::sycl::cl_float4>(
+    const cl::sycl::cl_float4& a) {
+  return a.x() * a.y() * a.z() * a.w();
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double predux_mul<cl::sycl::cl_double2>(
+    const cl::sycl::cl_double2& a) {
+  return a.x() * a.y();
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_float4
+pabs<cl::sycl::cl_float4>(const cl::sycl::cl_float4& a) {
+  return cl::sycl::cl_float4(cl::sycl::fabs(a.x()), cl::sycl::fabs(a.y()),
+                             cl::sycl::fabs(a.z()), cl::sycl::fabs(a.w()));
+}
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_double2
+pabs<cl::sycl::cl_double2>(const cl::sycl::cl_double2& a) {
+  return cl::sycl::cl_double2(cl::sycl::fabs(a.x()), cl::sycl::fabs(a.y()));
+}
+
+template <typename Packet>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet sycl_pcmp_le(const Packet &a,
+                                                          const Packet &b) {
+  return ((a <= b)
+              .template convert<typename unpacket_traits<Packet>::type,
+                                cl::sycl::rounding_mode::automatic>());
+}
+
+template <typename Packet>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet sycl_pcmp_lt(const Packet &a,
+                                                          const Packet &b) {
+  return ((a < b)
+              .template convert<typename unpacket_traits<Packet>::type,
+                                cl::sycl::rounding_mode::automatic>());
+}
+
+template <typename Packet>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet sycl_pcmp_eq(const Packet &a,
+                                                          const Packet &b) {
+  return ((a == b)
+              .template convert<typename unpacket_traits<Packet>::type,
+                                cl::sycl::rounding_mode::automatic>());
+}
+
+#define SYCL_PCMP(OP, TYPE)                                                    \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE TYPE pcmp_##OP<TYPE>(const TYPE &a,    \
+                                                             const TYPE &b) {  \
+    return sycl_pcmp_##OP<TYPE>(a, b);                                         \
+  }
+
+SYCL_PCMP(le, cl::sycl::cl_float4)
+SYCL_PCMP(lt, cl::sycl::cl_float4)
+SYCL_PCMP(eq, cl::sycl::cl_float4)
+SYCL_PCMP(le, cl::sycl::cl_double2)
+SYCL_PCMP(lt, cl::sycl::cl_double2)
+SYCL_PCMP(eq, cl::sycl::cl_double2)
+#undef SYCL_PCMP
+
+template <typename T> struct convert_to_integer;
+
+template <> struct convert_to_integer<float> {
+  using type = std::int32_t;
+  using packet_type = cl::sycl::cl_int4;
+};
+template <> struct convert_to_integer<double> {
+  using type = std::int64_t;
+  using packet_type = cl::sycl::cl_long2;
+};
+
+template <typename PacketIn>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename convert_to_integer<
+    typename unpacket_traits<PacketIn>::type>::packet_type
+vector_as_int(const PacketIn &p) {
+  return (
+      p.template convert<typename convert_to_integer<
+                             typename unpacket_traits<PacketIn>::type>::type,
+                         cl::sycl::rounding_mode::automatic>());
+}
+
+template <typename packetOut, typename PacketIn>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE packetOut
+convert_vector(const PacketIn &p) {
+  return (p.template convert<typename unpacket_traits<packetOut>::type,
+                             cl::sycl::rounding_mode::automatic>());
+}
+
+#define SYCL_PAND(TYPE)                                                        \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TYPE pand<TYPE>(const TYPE &a,         \
+                                                        const TYPE &b) {       \
+    return convert_vector<TYPE>(vector_as_int(a) & vector_as_int(b));          \
+  }
+SYCL_PAND(cl::sycl::cl_float4)
+SYCL_PAND(cl::sycl::cl_double2)
+#undef SYCL_PAND
+
+#define SYCL_POR(TYPE)                                                         \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TYPE por<TYPE>(const TYPE &a,          \
+                                                       const TYPE &b) {        \
+    return convert_vector<TYPE>(vector_as_int(a) | vector_as_int(b));          \
+  }
+
+SYCL_POR(cl::sycl::cl_float4)
+SYCL_POR(cl::sycl::cl_double2)
+#undef SYCL_POR
+
+#define SYCL_PXOR(TYPE)                                                        \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TYPE pxor<TYPE>(const TYPE &a,         \
+                                                        const TYPE &b) {       \
+    return convert_vector<TYPE>(vector_as_int(a) ^ vector_as_int(b));          \
+  }
+
+SYCL_PXOR(cl::sycl::cl_float4)
+SYCL_PXOR(cl::sycl::cl_double2)
+#undef SYCL_PXOR
+
+#define SYCL_PANDNOT(TYPE)                                                     \
+  template <>                                                                  \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE TYPE pandnot<TYPE>(const TYPE &a,      \
+                                                           const TYPE &b) {    \
+    return convert_vector<TYPE>(vector_as_int(a) & (~vector_as_int(b)));       \
+  }
+SYCL_PANDNOT(cl::sycl::cl_float4)
+SYCL_PANDNOT(cl::sycl::cl_double2)
+#undef SYCL_PANDNOT
+
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void ptranspose(
+    PacketBlock<cl::sycl::cl_float4, 4>& kernel) {
+  float tmp = kernel.packet[0].y();
+  kernel.packet[0].y() = kernel.packet[1].x();
+  kernel.packet[1].x() = tmp;
+
+  tmp = kernel.packet[0].z();
+  kernel.packet[0].z() = kernel.packet[2].x();
+  kernel.packet[2].x() = tmp;
+
+  tmp = kernel.packet[0].w();
+  kernel.packet[0].w() = kernel.packet[3].x();
+  kernel.packet[3].x() = tmp;
+
+  tmp = kernel.packet[1].z();
+  kernel.packet[1].z() = kernel.packet[2].y();
+  kernel.packet[2].y() = tmp;
+
+  tmp = kernel.packet[1].w();
+  kernel.packet[1].w() = kernel.packet[3].y();
+  kernel.packet[3].y() = tmp;
+
+  tmp = kernel.packet[2].w();
+  kernel.packet[2].w() = kernel.packet[3].z();
+  kernel.packet[3].z() = tmp;
+}
+
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void ptranspose(
+    PacketBlock<cl::sycl::cl_double2, 2>& kernel) {
+  double tmp = kernel.packet[0].y();
+  kernel.packet[0].y() = kernel.packet[1].x();
+  kernel.packet[1].x() = tmp;
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_float4 pblend(
+    const Selector<unpacket_traits<cl::sycl::cl_float4>::size>& ifPacket,
+    const cl::sycl::cl_float4& thenPacket,
+    const cl::sycl::cl_float4& elsePacket) {
+  cl::sycl::cl_int4 condition(
+      ifPacket.select[0] ? 0 : -1, ifPacket.select[1] ? 0 : -1,
+      ifPacket.select[2] ? 0 : -1, ifPacket.select[3] ? 0 : -1);
+  return cl::sycl::select(thenPacket, elsePacket, condition);
+}
+
+template <>
+inline cl::sycl::cl_double2 pblend(
+    const Selector<unpacket_traits<cl::sycl::cl_double2>::size>& ifPacket,
+    const cl::sycl::cl_double2& thenPacket,
+    const cl::sycl::cl_double2& elsePacket) {
+  cl::sycl::cl_long2 condition(ifPacket.select[0] ? 0 : -1,
+                               ifPacket.select[1] ? 0 : -1);
+  return cl::sycl::select(thenPacket, elsePacket, condition);
+}
+#endif  // SYCL_DEVICE_ONLY
+
+#define SYCL_PSTORE(alignment)                                  \
+  template <typename packet_type>                               \
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstore##alignment( \
+      const Eigen::TensorSycl::internal::RangeAccess<           \
+          cl::sycl::access::mode::read_write,                   \
+          typename unpacket_traits<packet_type>::type>& to,     \
+      const packet_type& from) {                                \
+    pstore##alignment(to.get_pointer(), from);                  \
+  }
+
+// global space
+SYCL_PSTORE()
+SYCL_PSTORE(u)
+
+#undef SYCL_PSTORE
+
+template <typename scalar, typename packet_type, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(
+    Eigen::TensorSycl::internal::RangeAccess<
+        cl::sycl::access::mode::read_write,
+        typename unpacket_traits<packet_type>::type>
+        to,
+    const packet_type& from) {
+  pstoret<scalar, packet_type, Alignment>(to.get_pointer(), from);
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_PACKET_MATH_SYCL_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/SyclMemoryModel.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/SyclMemoryModel.h
new file mode 100644
index 0000000000..f81e59db58
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/SyclMemoryModel.h
@@ -0,0 +1,694 @@
+/***************************************************************************
+ *  Copyright (C) 2017 Codeplay Software Limited
+ *  This Source Code Form is subject to the terms of the Mozilla
+ *  Public License v. 2.0. If a copy of the MPL was not distributed
+ *  with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ *
+ *  SyclMemoryModel.h
+ *
+ *  Description:
+ *    Interface for SYCL buffers to behave as a non-dereferenceable pointer
+ *    Interface for Placeholder accessor to behave as a pointer on both host
+ *    and device
+ *
+ * Authors:
+ *
+ *    Ruyman Reyes   Codeplay Software Ltd.
+ *    Mehdi Goli     Codeplay Software Ltd.
+ *    Vanya Yaneva   Codeplay Software Ltd.
+ *
+ **************************************************************************/
+
+#if defined(EIGEN_USE_SYCL) && \
+    !defined(EIGEN_CXX11_TENSOR_TENSOR_SYCL_STORAGE_MEMORY_H)
+#define EIGEN_CXX11_TENSOR_TENSOR_SYCL_STORAGE_MEMORY_H
+
+#include <CL/sycl.hpp>
+#ifdef EIGEN_EXCEPTIONS
+#include <stdexcept>
+#endif
+#include <cstddef>
+#include <queue>
+#include <set>
+#include <unordered_map>
+
+namespace Eigen {
+namespace TensorSycl {
+namespace internal {
+
+using sycl_acc_target = cl::sycl::access::target;
+using sycl_acc_mode = cl::sycl::access::mode;
+
+/**
+ * Default values for template arguments
+ */
+using buffer_data_type_t = uint8_t;
+const sycl_acc_target default_acc_target = sycl_acc_target::global_buffer;
+const sycl_acc_mode default_acc_mode = sycl_acc_mode::read_write;
+
+/**
+ * PointerMapper
+ *  Associates fake pointers with buffers.
+ *
+ */
+class PointerMapper {
+ public:
+  using base_ptr_t = std::intptr_t;
+
+  /* Structure of a virtual pointer
+   *
+   * |================================================|
+   * |               POINTER ADDRESS                  |
+   * |================================================|
+   */
+  struct virtual_pointer_t {
+    /* Type for the pointers
+     */
+    base_ptr_t m_contents;
+
+    /** Conversions from virtual_pointer_t to
+     * void * should just reinterpret_cast the integer number
+     */
+    operator void *() const { return reinterpret_cast<void *>(m_contents); }
+
+    /**
+     * Convert back to the integer number.
+     */
+    operator base_ptr_t() const { return m_contents; }
+
+    /**
+     * Add a certain value to the pointer to create a
+     * new pointer to that offset
+     */
+    virtual_pointer_t operator+(size_t off) { return m_contents + off; }
+
+    /* Numerical order for sorting pointers in containers. */
+    bool operator<(virtual_pointer_t rhs) const {
+      return (static_cast<base_ptr_t>(m_contents) <
+              static_cast<base_ptr_t>(rhs.m_contents));
+    }
+
+    bool operator>(virtual_pointer_t rhs) const {
+      return (static_cast<base_ptr_t>(m_contents) >
+              static_cast<base_ptr_t>(rhs.m_contents));
+    }
+
+    /**
+     * Numerical order for sorting pointers in containers
+     */
+    bool operator==(virtual_pointer_t rhs) const {
+      return (static_cast<base_ptr_t>(m_contents) ==
+              static_cast<base_ptr_t>(rhs.m_contents));
+    }
+
+    /**
+     * Simple forward to the equality overload.
+     */
+    bool operator!=(virtual_pointer_t rhs) const {
+      return !(this->operator==(rhs));
+    }
+
+    /**
+     * Converts a void * into a virtual pointer structure.
+     * Note that this will only work if the void * was
+     * already a virtual_pointer_t, but we have no way of
+     * checking
+     */
+    virtual_pointer_t(const void *ptr)
+        : m_contents(reinterpret_cast<base_ptr_t>(ptr)){};
+
+    /**
+     * Creates a virtual_pointer_t from the given integer
+     * number
+     */
+    virtual_pointer_t(base_ptr_t u) : m_contents(u){};
+  };
+
+  /* Definition of a null pointer
+   */
+  const virtual_pointer_t null_virtual_ptr = nullptr;
+
+  /**
+   * Whether if a pointer is null or not.
+   * A pointer is nullptr if the value is of null_virtual_ptr
+   */
+  static inline bool is_nullptr(virtual_pointer_t ptr) {
+    return (static_cast<void *>(ptr) == nullptr);
+  }
+
+  /* basic type for all buffers
+   */
+  using buffer_t = cl::sycl::buffer_mem;
+
+  /**
+   * Node that stores information about a device allocation.
+   * Nodes are sorted by size to organise a free list of nodes
+   * that can be recovered.
+   */
+  struct pMapNode_t {
+    buffer_t m_buffer;
+    size_t m_size;
+    bool m_free;
+
+    pMapNode_t(buffer_t b, size_t size, bool f)
+        : m_buffer{b}, m_size{size}, m_free{f} {
+      m_buffer.set_final_data(nullptr);
+    }
+
+    bool operator<=(const pMapNode_t &rhs) { return (m_size <= rhs.m_size); }
+  };
+
+  /** Storage of the pointer / buffer tree
+   */
+  using pointerMap_t = std::map<virtual_pointer_t, pMapNode_t>;
+
+  /**
+   * Obtain the insertion point in the pointer map for
+   * a pointer of the given size.
+   * \param requiredSize Size attemted to reclaim
+   */
+  typename pointerMap_t::iterator get_insertion_point(size_t requiredSize) {
+    typename pointerMap_t::iterator retVal;
+    bool reuse = false;
+    if (!m_freeList.empty()) {
+      // try to re-use an existing block
+      for (auto freeElem : m_freeList) {
+        if (freeElem->second.m_size >= requiredSize) {
+          retVal = freeElem;
+          reuse = true;
+          // Element is not going to be free anymore
+          m_freeList.erase(freeElem);
+          break;
+        }
+      }
+    }
+    if (!reuse) {
+      retVal = std::prev(m_pointerMap.end());
+    }
+    return retVal;
+  }
+
+  /**
+   * Returns an iterator to the node that stores the information
+   * of the given virtual pointer from the given pointer map structure.
+   * If pointer is not found, throws std::out_of_range.
+   * If the pointer map structure is empty, throws std::out_of_range
+   *
+   * \param pMap the pointerMap_t structure storing all the pointers
+   * \param virtual_pointer_ptr The virtual pointer to obtain the node of
+   * \throws std::out:of_range if the pointer is not found or pMap is empty
+   */
+  typename pointerMap_t::iterator get_node(const virtual_pointer_t ptr) {
+    if (this->count() == 0) {
+      m_pointerMap.clear();
+      EIGEN_THROW_X(std::out_of_range("There are no pointers allocated\n"));
+
+    }
+    if (is_nullptr(ptr)) {
+      m_pointerMap.clear();
+      EIGEN_THROW_X(std::out_of_range("Cannot access null pointer\n"));
+    }
+    // The previous element to the lower bound is the node that
+    // holds this memory address
+    auto node = m_pointerMap.lower_bound(ptr);
+    // If the value of the pointer is not the one of the node
+    // then we return the previous one
+    if (node == std::end(m_pointerMap)) {
+      --node;
+    } else if (node->first != ptr) {
+      if (node == std::begin(m_pointerMap)) {
+        m_pointerMap.clear();
+        EIGEN_THROW_X(
+            std::out_of_range("The pointer is not registered in the map\n"));
+
+      }
+      --node;
+    }
+
+    return node;
+  }
+
+  /* get_buffer.
+   * Returns a buffer from the map using the pointer address
+   */
+  template <typename buffer_data_type = buffer_data_type_t>
+  cl::sycl::buffer<buffer_data_type, 1> get_buffer(
+      const virtual_pointer_t ptr) {
+    using sycl_buffer_t = cl::sycl::buffer<buffer_data_type, 1>;
+
+    // get_node() returns a `buffer_mem`, so we need to cast it to a `buffer<>`.
+    // We can do this without the `buffer_mem` being a pointer, as we
+    // only declare member variables in the base class (`buffer_mem`) and not in
+    // the child class (`buffer<>).
+    auto node = get_node(ptr);
+    eigen_assert(node->first == ptr || node->first < ptr);
+    eigen_assert(ptr < static_cast<virtual_pointer_t>(node->second.m_size +
+                                                      node->first));
+    return *(static_cast<sycl_buffer_t *>(&node->second.m_buffer));
+  }
+
+  /**
+   * @brief Returns an accessor to the buffer of the given virtual pointer
+   * @param accessMode
+   * @param accessTarget
+   * @param ptr The virtual pointer
+   */
+  template <sycl_acc_mode access_mode = default_acc_mode,
+            sycl_acc_target access_target = default_acc_target,
+            typename buffer_data_type = buffer_data_type_t>
+  cl::sycl::accessor<buffer_data_type, 1, access_mode, access_target>
+  get_access(const virtual_pointer_t ptr) {
+    auto buf = get_buffer<buffer_data_type>(ptr);
+    return buf.template get_access<access_mode, access_target>();
+  }
+
+  /**
+   * @brief Returns an accessor to the buffer of the given virtual pointer
+   *        in the given command group scope
+   * @param accessMode
+   * @param accessTarget
+   * @param ptr The virtual pointer
+   * @param cgh Reference to the command group scope
+   */
+  template <sycl_acc_mode access_mode = default_acc_mode,
+            sycl_acc_target access_target = default_acc_target,
+            typename buffer_data_type = buffer_data_type_t>
+  cl::sycl::accessor<buffer_data_type, 1, access_mode, access_target>
+  get_access(const virtual_pointer_t ptr, cl::sycl::handler &cgh) {
+    auto buf = get_buffer<buffer_data_type>(ptr);
+    return buf.template get_access<access_mode, access_target>(cgh);
+  }
+
+  /*
+   * Returns the offset from the base address of this pointer.
+   */
+  inline std::ptrdiff_t get_offset(const virtual_pointer_t ptr) {
+    // The previous element to the lower bound is the node that
+    // holds this memory address
+    auto node = get_node(ptr);
+    auto start = node->first;
+    eigen_assert(start == ptr || start < ptr);
+    eigen_assert(ptr < start + node->second.m_size);
+    return (ptr - start);
+  }
+
+  /*
+   * Returns the number of elements by which the given pointer is offset from
+   * the base address.
+   */
+  template <typename buffer_data_type>
+  inline size_t get_element_offset(const virtual_pointer_t ptr) {
+    return get_offset(ptr) / sizeof(buffer_data_type);
+  }
+
+  /**
+   * Constructs the PointerMapper structure.
+   */
+  PointerMapper(base_ptr_t baseAddress = 4096)
+      : m_pointerMap{}, m_freeList{}, m_baseAddress{baseAddress} {
+    if (m_baseAddress == 0) {
+      EIGEN_THROW_X(std::invalid_argument("Base address cannot be zero\n"));
+    }
+  };
+
+  /**
+   * PointerMapper cannot be copied or moved
+   */
+  PointerMapper(const PointerMapper &) = delete;
+
+  /**
+   * Empty the pointer list
+   */
+  inline void clear() {
+    m_freeList.clear();
+    m_pointerMap.clear();
+  }
+
+  /* add_pointer.
+   * Adds an existing pointer to the map and returns the virtual pointer id.
+   */
+  inline virtual_pointer_t add_pointer(const buffer_t &b) {
+    return add_pointer_impl(b);
+  }
+
+  /* add_pointer.
+   * Adds a pointer to the map and returns the virtual pointer id.
+   */
+  inline virtual_pointer_t add_pointer(buffer_t &&b) {
+    return add_pointer_impl(b);
+  }
+
+  /**
+   * @brief Fuses the given node with the previous nodes in the
+   *        pointer map if they are free
+   *
+   * @param node A reference to the free node to be fused
+   */
+  void fuse_forward(typename pointerMap_t::iterator &node) {
+    while (node != std::prev(m_pointerMap.end())) {
+      // if following node is free
+      // remove it and extend the current node with its size
+      auto fwd_node = std::next(node);
+      if (!fwd_node->second.m_free) {
+        break;
+      }
+      auto fwd_size = fwd_node->second.m_size;
+      m_freeList.erase(fwd_node);
+      m_pointerMap.erase(fwd_node);
+
+      node->second.m_size += fwd_size;
+    }
+  }
+
+  /**
+   * @brief Fuses the given node with the following nodes in the
+   *        pointer map if they are free
+   *
+   * @param node A reference to the free node to be fused
+   */
+  void fuse_backward(typename pointerMap_t::iterator &node) {
+    while (node != m_pointerMap.begin()) {
+      // if previous node is free, extend it
+      // with the size of the current one
+      auto prev_node = std::prev(node);
+      if (!prev_node->second.m_free) {
+        break;
+      }
+      prev_node->second.m_size += node->second.m_size;
+
+      // remove the current node
+      m_freeList.erase(node);
+      m_pointerMap.erase(node);
+
+      // point to the previous node
+      node = prev_node;
+    }
+  }
+
+  /* remove_pointer.
+   * Removes the given pointer from the map.
+   * The pointer is allowed to be reused only if ReUse if true.
+   */
+  template <bool ReUse = true>
+  void remove_pointer(const virtual_pointer_t ptr) {
+    if (is_nullptr(ptr)) {
+      return;
+    }
+    auto node = this->get_node(ptr);
+
+    node->second.m_free = true;
+    m_freeList.emplace(node);
+
+    // Fuse the node
+    // with free nodes before and after it
+    fuse_forward(node);
+    fuse_backward(node);
+
+    // If after fusing the node is the last one
+    // simply remove it (since it is free)
+    if (node == std::prev(m_pointerMap.end())) {
+      m_freeList.erase(node);
+      m_pointerMap.erase(node);
+    }
+  }
+
+  /* count.
+   * Return the number of active pointers (i.e, pointers that
+   * have been malloc but not freed).
+   */
+  size_t count() const { return (m_pointerMap.size() - m_freeList.size()); }
+
+ private:
+  /* add_pointer_impl.
+   * Adds a pointer to the map and returns the virtual pointer id.
+   * BufferT is either a const buffer_t& or a buffer_t&&.
+   */
+  template <class BufferT>
+  virtual_pointer_t add_pointer_impl(BufferT b) {
+    virtual_pointer_t retVal = nullptr;
+    size_t bufSize = b.get_count();
+    pMapNode_t p{b, bufSize, false};
+    // If this is the first pointer:
+    if (m_pointerMap.empty()) {
+      virtual_pointer_t initialVal{m_baseAddress};
+      m_pointerMap.emplace(initialVal, p);
+      return initialVal;
+    }
+
+    auto lastElemIter = get_insertion_point(bufSize);
+    // We are recovering an existing free node
+    if (lastElemIter->second.m_free) {
+      lastElemIter->second.m_buffer = b;
+      lastElemIter->second.m_free = false;
+
+      // If the recovered node is bigger than the inserted one
+      // add a new free node with the remaining space
+      if (lastElemIter->second.m_size > bufSize) {
+        // create a new node with the remaining space
+        auto remainingSize = lastElemIter->second.m_size - bufSize;
+        pMapNode_t p2{b, remainingSize, true};
+
+        // update size of the current node
+        lastElemIter->second.m_size = bufSize;
+
+        // add the new free node
+        auto newFreePtr = lastElemIter->first + bufSize;
+        auto freeNode = m_pointerMap.emplace(newFreePtr, p2).first;
+        m_freeList.emplace(freeNode);
+      }
+
+      retVal = lastElemIter->first;
+    } else {
+      size_t lastSize = lastElemIter->second.m_size;
+      retVal = lastElemIter->first + lastSize;
+      m_pointerMap.emplace(retVal, p);
+    }
+    return retVal;
+  }
+
+  /**
+   * Compare two iterators to pointer map entries according to
+   * the size of the allocation on the device.
+   */
+  struct SortBySize {
+    bool operator()(typename pointerMap_t::iterator a,
+                    typename pointerMap_t::iterator b) const {
+      return ((a->first < b->first) && (a->second <= b->second)) ||
+             ((a->first < b->first) && (b->second <= a->second));
+    }
+  };
+
+  /* Maps the pointer addresses to buffer and size pairs.
+   */
+  pointerMap_t m_pointerMap;
+
+  /* List of free nodes available for re-using
+   */
+  std::set<typename pointerMap_t::iterator, SortBySize> m_freeList;
+
+  /* Base address used when issuing the first virtual pointer, allows users
+   * to specify alignment. Cannot be zero. */
+  std::intptr_t m_baseAddress;
+};
+
+/* remove_pointer.
+ * Removes the given pointer from the map.
+ * The pointer is allowed to be reused only if ReUse if true.
+ */
+template <>
+inline void PointerMapper::remove_pointer<false>(const virtual_pointer_t ptr) {
+  if (is_nullptr(ptr)) {
+    return;
+  }
+  m_pointerMap.erase(this->get_node(ptr));
+}
+
+/**
+ * Malloc-like interface to the pointer-mapper.
+ * Given a size, creates a byte-typed buffer and returns a
+ * fake pointer to keep track of it.
+ * \param size Size in bytes of the desired allocation
+ * \throw cl::sycl::exception if error while creating the buffer
+ */
+inline void *SYCLmalloc(size_t size, PointerMapper &pMap) {
+  if (size == 0) {
+    return nullptr;
+  }
+  // Create a generic buffer of the given size
+  using buffer_t = cl::sycl::buffer<buffer_data_type_t, 1>;
+  auto thePointer = pMap.add_pointer(buffer_t(cl::sycl::range<1>{size}));
+  // Store the buffer on the global list
+  return static_cast<void *>(thePointer);
+}
+
+/**
+ * Free-like interface to the pointer mapper.
+ * Given a fake-pointer created with the virtual-pointer malloc,
+ * destroys the buffer and remove it from the list.
+ * If ReUse is false, the pointer is not added to the freeList,
+ * it should be false only for sub-buffers.
+ */
+template <bool ReUse = true, typename PointerMapper>
+inline void SYCLfree(void *ptr, PointerMapper &pMap) {
+  pMap.template remove_pointer<ReUse>(ptr);
+}
+
+/**
+ * Clear all the memory allocated by SYCL.
+ */
+template <typename PointerMapper>
+inline void SYCLfreeAll(PointerMapper &pMap) {
+  pMap.clear();
+}
+
+template <cl::sycl::access::mode AcMd, typename T>
+struct RangeAccess {
+  static const auto global_access = cl::sycl::access::target::global_buffer;
+  static const auto is_place_holder = cl::sycl::access::placeholder::true_t;
+  typedef T scalar_t;
+  typedef scalar_t &ref_t;
+  typedef typename cl::sycl::global_ptr<scalar_t>::pointer_t ptr_t;
+
+  // the accessor type does not necessarily the same as T
+  typedef cl::sycl::accessor<scalar_t, 1, AcMd, global_access, is_place_holder>
+      accessor;
+
+  typedef RangeAccess<AcMd, T> self_t;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE RangeAccess(accessor access,
+                                                    size_t offset,
+                                                    std::intptr_t virtual_ptr)
+      : access_(access), offset_(offset), virtual_ptr_(virtual_ptr) {}
+
+  RangeAccess(cl::sycl::buffer<scalar_t, 1> buff =
+                  cl::sycl::buffer<scalar_t, 1>(cl::sycl::range<1>(1)))
+      : access_{accessor{buff}}, offset_(0), virtual_ptr_(-1) {}
+
+  // This should be only used for null constructor on the host side
+  RangeAccess(std::nullptr_t) : RangeAccess() {}
+  // This template parameter must be removed and scalar_t should be replaced
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ptr_t get_pointer() const {
+    return (access_.get_pointer().get() + offset_);
+  }
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t &operator+=(Index offset) {
+    offset_ += (offset);
+    return *this;
+  }
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t operator+(Index offset) const {
+    return self_t(access_, offset_ + offset, virtual_ptr_);
+  }
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t operator-(Index offset) const {
+    return self_t(access_, offset_ - offset, virtual_ptr_);
+  }
+  template <typename Index>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t &operator-=(Index offset) {
+    offset_ -= offset;
+    return *this;
+  }
+
+  // THIS IS FOR NULL COMPARISON ONLY
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend bool operator==(
+      const RangeAccess &lhs, std::nullptr_t) {
+    return ((lhs.virtual_ptr_ == -1));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend bool operator!=(
+      const RangeAccess &lhs, std::nullptr_t i) {
+    return !(lhs == i);
+  }
+
+  // THIS IS FOR NULL COMPARISON ONLY
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend bool operator==(
+      std::nullptr_t, const RangeAccess &rhs) {
+    return ((rhs.virtual_ptr_ == -1));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend bool operator!=(
+      std::nullptr_t i, const RangeAccess &rhs) {
+    return !(i == rhs);
+  }
+  // Prefix operator (Increment and return value)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t &operator++() {
+    offset_++;
+    return (*this);
+  }
+
+  // Postfix operator (Return value and increment)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE self_t operator++(int i) {
+    EIGEN_UNUSED_VARIABLE(i);
+    self_t temp_iterator(*this);
+    offset_++;
+    return temp_iterator;
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t get_size() const {
+    return (access_.get_count() - offset_);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::ptrdiff_t get_offset() const {
+    return offset_;
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void set_offset(std::ptrdiff_t offset) {
+    offset_ = offset;
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ref_t operator*() const {
+    return *get_pointer();
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ref_t operator*() {
+    return *get_pointer();
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ptr_t operator->() = delete;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ref_t operator[](int x) {
+    return *(get_pointer() + x);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ref_t operator[](int x) const {
+    return *(get_pointer() + x);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_t *get_virtual_pointer() const {
+    return reinterpret_cast<scalar_t *>(virtual_ptr_ +
+                                        (offset_ * sizeof(scalar_t)));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit operator bool() const {
+    return (virtual_ptr_ != -1);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE operator RangeAccess<AcMd, const T>() {
+    return RangeAccess<AcMd, const T>(access_, offset_, virtual_ptr_);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  operator RangeAccess<AcMd, const T>() const {
+    return RangeAccess<AcMd, const T>(access_, offset_, virtual_ptr_);
+  }
+  // binding placeholder accessors to a command group handler for SYCL
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void bind(
+      cl::sycl::handler &cgh) const {
+    cgh.require(access_);
+  }
+
+ private:
+  accessor access_;
+  size_t offset_;
+  std::intptr_t virtual_ptr_;  // the location of the buffer in the map
+};
+
+template <cl::sycl::access::mode AcMd, typename T>
+struct RangeAccess<AcMd, const T> : RangeAccess<AcMd, T> {
+  typedef RangeAccess<AcMd, T> Base;
+  using Base::Base;
+};
+
+}  // namespace internal
+}  // namespace TensorSycl
+}  // namespace Eigen
+
+#endif  // EIGEN_CXX11_TENSOR_TENSOR_SYCL_STORAGE_MEMORY_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/TypeCasting.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/TypeCasting.h
new file mode 100644
index 0000000000..9208ab21d9
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/SYCL/TypeCasting.h
@@ -0,0 +1,85 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Mehdi Goli    Codeplay Software Ltd.
+// Ralph Potter  Codeplay Software Ltd.
+// Luke Iwanski  Codeplay Software Ltd.
+// Contact: <eigen@codeplay.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/*****************************************************************
+ * TypeCasting.h
+ *
+ * \brief:
+ *  TypeCasting
+ *
+ *****************************************************************/
+
+#ifndef EIGEN_TYPE_CASTING_SYCL_H
+#define EIGEN_TYPE_CASTING_SYCL_H
+
+namespace Eigen {
+
+namespace internal {
+#ifdef SYCL_DEVICE_ONLY
+template <>
+struct type_casting_traits<float, int> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_int4
+pcast<cl::sycl::cl_float4, cl::sycl::cl_int4>(const cl::sycl::cl_float4& a) {
+  return a
+      .template convert<cl::sycl::cl_int, cl::sycl::rounding_mode::automatic>();
+}
+
+template <>
+struct type_casting_traits<int, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 1 };
+};
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_float4
+pcast<cl::sycl::cl_int4, cl::sycl::cl_float4>(const cl::sycl::cl_int4& a) {
+  return a.template convert<cl::sycl::cl_float,
+                            cl::sycl::rounding_mode::automatic>();
+}
+
+template <>
+struct type_casting_traits<double, float> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 2, TgtCoeffRatio = 1 };
+};
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_float4
+pcast<cl::sycl::cl_double2, cl::sycl::cl_float4>(
+    const cl::sycl::cl_double2& a, const cl::sycl::cl_double2& b) {
+  auto a1 = a.template convert<cl::sycl::cl_float,
+                               cl::sycl::rounding_mode::automatic>();
+  auto b1 = b.template convert<cl::sycl::cl_float,
+                               cl::sycl::rounding_mode::automatic>();
+  return cl::sycl::float4(a1.x(), a1.y(), b1.x(), b1.y());
+}
+
+template <>
+struct type_casting_traits<float, double> {
+  enum { VectorizedCast = 1, SrcCoeffRatio = 1, TgtCoeffRatio = 2 };
+};
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE cl::sycl::cl_double2
+pcast<cl::sycl::cl_float4, cl::sycl::cl_double2>(const cl::sycl::cl_float4& a) {
+  // Simply discard the second half of the input
+  return cl::sycl::cl_double2(a.x(), a.y());
+}
+
+#endif
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_TYPE_CASTING_SYCL_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/Complex.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/Complex.h
index 1bfb73397d..6c67cfe058 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/Complex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/Complex.h
@@ -15,6 +15,10 @@ namespace Eigen {
 
 namespace internal {
 
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+static Packet4ui  p4ui_CONJ_XOR = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 }; //vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);
+#endif
+
 static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_ZERO_, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
 static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_ZERO_, 8);//{ 0x8000000000000000, 0x0000000000000000 };
 
@@ -29,10 +33,14 @@ struct Packet2cf
 {
   EIGEN_STRONG_INLINE Packet2cf() {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ < 12)
   union {
     Packet4f v;
     Packet1cd cd[2];
   };
+#else
+  Packet4f v;
+#endif
 };
 
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
@@ -83,69 +91,43 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float>  type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+template<> struct unpacket_traits<Packet2cf> {
+  typedef std::complex<float>  type;
+  enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+  typedef Packet2cf half;
+  typedef Packet4f as_real;
+};
+template<> struct unpacket_traits<Packet1cd> {
+  typedef std::complex<double> type;
+  enum {size=1, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false};
+  typedef Packet1cd half;
+  typedef Packet2d as_real;
+};
 
 /* Forward declaration */
 EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel);
 
-template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+/* complex<double> first */
 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 Packet2cf ploadu<Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)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 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 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<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)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 Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
 { /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
-{
-  Packet2cf res;
-  res.cd[0] = Packet1cd(vec_ld2f((const float *)&from));
-  res.cd[1] = res.cd[0];
-  return res;
-}
-template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  af[0] = from[0*stride];
-  af[1] = from[1*stride];
-  return pload<Packet2cf>(af);
-}
 template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride EIGEN_UNUSED)
 {
   return pload<Packet1cd>(from);
 }
-template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
-{
-  std::complex<float> EIGEN_ALIGN16 af[2];
-  pstore<std::complex<float> >((std::complex<float> *) af, from);
-  to[0*stride] = af[0];
-  to[1*stride] = af[1];
-}
 template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride EIGEN_UNUSED)
 {
   pstore<std::complex<double> >(to, from);
 }
-
-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 Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(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 Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
 template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
-template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(Packet4f(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd((Packet2d)vec_xor((Packet2d)a.v, (Packet2d)p2ul_CONJ_XOR2)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
-{
-  Packet2cf res;
-  res.v.v4f[0] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0]))).v;
-  res.v.v4f[1] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1]))).v;
-  return res;
-}
-
 template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
   Packet2d a_re, a_im, v1, v2;
@@ -163,190 +145,177 @@ template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, con
 
   return Packet1cd(v1 + v2);
 }
-template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
-{
-  Packet2cf res;
-  res.v.v4f[0] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[0]))).v;
-  res.v.v4f[1] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[1]))).v;
-  return res;
-}
-
-template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_or(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_xor(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v, vec_nor(b.v,b.v))); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v,b.v)); }
-
+template<> EIGEN_STRONG_INLINE Packet1cd pand    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por     <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_or(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_xor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v, vec_nor(b.v,b.v))); }
 template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from) {  return pset1<Packet1cd>(*from); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*      from) {  return pset1<Packet2cf>(*from); }
+template<> EIGEN_STRONG_INLINE Packet1cd pcmp_eq(const Packet1cd& a, const Packet1cd& b) {
+  Packet2d eq = vec_cmpeq (a.v, b.v);
+  Packet2d tmp = { eq[1], eq[0] };
+  return (Packet1cd)pand<Packet2d>(eq, tmp);
+}
 
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *     addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
 
 template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
 {
-  std::complex<double> EIGEN_ALIGN16 res;
+  EIGEN_ALIGN16 std::complex<double> res;
   pstore<std::complex<double> >(&res, a);
 
   return res;
 }
-template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
-{
-  std::complex<float> EIGEN_ALIGN16 res[2];
-  pstore<std::complex<float> >(res, a);
-
-  return res[0];
-}
 
 template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
 {
-  Packet2cf res;
-  res.cd[0] = a.cd[1];
-  res.cd[1] = a.cd[0];
-  return res;
+  return pfirst(a);
 }
-
-template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
 {
   return pfirst(a);
 }
-template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
-  std::complex<float> res;
-  Packet1cd b = padd<Packet1cd>(a.cd[0], a.cd[1]);
-  vec_st2f(b.v, (float*)&res);
-  return res;
+  // TODO optimize it for AltiVec
+  Packet1cd res = pmul(a,pconj(b));
+  Packet2d s = vec_madd(b.v, b.v, p2d_ZERO_);
+  return Packet1cd(pdiv(res.v, s + vec_perm(s, s, p16uc_REVERSE64)));
 }
 
-template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
 {
-  return vecs[0];
+  return Packet1cd(preverse(Packet2d(x.v)));
 }
-template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
 {
-  PacketBlock<Packet2cf,2> transpose;
-  transpose.packet[0] = vecs[0];
-  transpose.packet[1] = vecs[1];
-  ptranspose(transpose);
+  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
 
-  return padd<Packet2cf>(transpose.packet[0], transpose.packet[1]);
-} 
+/* complex<float> follows */
+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 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 std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
 {
-  return pfirst(a);
+  EIGEN_ALIGN16 std::complex<float> res[2];
+  pstore<std::complex<float> >(res, a);
+
+  return res[0];
 }
-template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+
+
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ < 12)
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
-  std::complex<float> res;
-  Packet1cd b = pmul<Packet1cd>(a.cd[0], a.cd[1]);
-  vec_st2f(b.v, (float*)&res);
+  Packet2cf res;
+  res.cd[0] = Packet1cd(vec_ld2f((const float *)&from));
+  res.cd[1] = res.cd[0];
   return res;
 }
-
-template<int Offset>
-struct palign_impl<Offset,Packet1cd>
+#else
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
-  static EIGEN_STRONG_INLINE 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...
-  }
-};
+  Packet2cf res;
+  if((std::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_PSET64_HI);
+  return res;
+}
+#endif
 
-template<int Offset>
-struct palign_impl<Offset,Packet2cf>
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
 {
-  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
-  {
-    if (Offset == 1) {
-      first.cd[0] = first.cd[1];
-      first.cd[1] = second.cd[0];
-    }
-  }
-};
-
-template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+  EIGEN_ALIGN16 std::complex<float> af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet2cf>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
 {
-  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
-  { return padd(pmul(x,y),c); }
+  EIGEN_ALIGN16 std::complex<float> af[2];
+  pstore<std::complex<float> >((std::complex<float> *) af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
 
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
+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<> 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); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v,b.v)); }
 
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return internal::pmul(pconj(a), b);
-  }
-};
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*      from) {  return pset1<Packet2cf>(*from); }
 
-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); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *     addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
 
-  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
 
-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); }
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ < 12)
 
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return internal::pmul(a, pconj(b));
-  }
-};
+template<> EIGEN_STRONG_INLINE Packet2cf pcmp_eq(const Packet2cf& a, const Packet2cf& b) {
+  Packet4f eq = pcmp_eq<Packet4f> (a.v, b.v);
+  Packet2cf res;
+  Packet2d tmp1 = { eq.v4f[0][1], eq.v4f[0][0] };
+  Packet2d tmp2 = { eq.v4f[1][1], eq.v4f[1][0] };
+  res.v.v4f[0] = pand<Packet2d>(eq.v4f[0], tmp1);
+  res.v.v4f[1] = pand<Packet2d>(eq.v4f[1], tmp2);
+  return res;
+}
 
-template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 {
-  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);
-  }
-};
+  Packet2cf res;
+  res.v.v4f[0] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0]))).v;
+  res.v.v4f[1] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1]))).v;
+  return res;
+}
 
-template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
-  { return padd(pmul(x,y),c); }
+  Packet2cf res;
+  res.v.v4f[0] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[0]))).v;
+  res.v.v4f[1] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[1]))).v;
+  return res;
+}
 
-  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
-  {
-    return pconj(internal::pmul(a, b));
-  }
-};
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet2cf res;
+  res.cd[0] = a.cd[1];
+  res.cd[1] = a.cd[0];
+  return res;
+}
 
-EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
-EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> res;
+  Packet1cd b = padd<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
+}
 
-template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
 {
-  // TODO optimize it for AltiVec
-  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
-  Packet2d s = vec_madd(b.v, b.v, p2d_ZERO_);
-  return Packet1cd(pdiv(res.v, s + vec_perm(s, s, p16uc_REVERSE64)));
+  std::complex<float> res;
+  Packet1cd b = pmul<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
 }
 
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
+
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   // TODO optimize it for AltiVec
@@ -356,11 +325,6 @@ template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, con
   return res;
 }
 
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
-{
-  return Packet1cd(preverse(Packet2d(x.v)));
-}
-
 EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
 {
   Packet2cf res;
@@ -369,13 +333,6 @@ EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
   return res;
 }
 
-EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
-{
-  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
-  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
-  kernel.packet[0].v = tmp;
-}
-
 EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
 {
   Packet1cd tmp = kernel.packet[0].cd[1];
@@ -389,6 +346,88 @@ template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, con
   result.v = pblend<Packet4f>(ifPacket4, thenPacket.v, elsePacket.v);
   return result;
 }
+#else
+template<> EIGEN_STRONG_INLINE Packet2cf pcmp_eq(const Packet2cf& a, const Packet2cf& b) {
+  Packet4f eq = vec_cmpeq (a.v, b.v);
+  Packet4f tmp = { eq[1], eq[0], eq[3], eq[2] };
+  return (Packet2cf)pand<Packet4f>(eq, tmp);
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet4f a_re, a_im, prod, prod_im;
+
+  // Permute and multiply the real parts of a and b
+  a_re = vec_perm(a.v, a.v, p16uc_PSET32_WODD);
+  
+  // Get the imaginary parts of a
+  a_im = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
+
+  // multiply a_im * b and get the conjugate result
+  prod_im = a_im * b.v;
+  prod_im = pxor<Packet4f>(prod_im, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR));
+  // permute back to a proper order
+  prod_im = vec_perm(prod_im, prod_im, p16uc_COMPLEX32_REV);
+
+  // multiply a_re * b, add prod_im
+  prod = pmadd<Packet4f>(a_re, b.v, prod_im);
+ 
+  return Packet2cf(prod);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet4f rev_a;
+  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX32_REV2);
+  return Packet2cf(rev_a);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  b = vec_sld(a.v, a.v, 8);
+  b = padd<Packet4f>(a.v, b);
+  return pfirst<Packet2cf>(Packet2cf(b));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  Packet4f b;
+  Packet2cf prod;
+  b = vec_sld(a.v, a.v, 8);
+  prod = pmul<Packet2cf>(a, Packet2cf(b));
+
+  return pfirst<Packet2cf>(prod);
+}
+
+EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res = pmul(a, pconj(b));
+  Packet4f s = pmul<Packet4f>(b.v, b.v);
+  return Packet2cf(pdiv(res.v, padd<Packet4f>(s, vec_perm(s, s, p16uc_COMPLEX32_REV))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
+{
+  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX32_REV));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
+{
+  Packet4f tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  Packet2cf result;
+  result.v = reinterpret_cast<Packet4f>(pblend<Packet2d>(ifPacket, reinterpret_cast<Packet2d>(thenPacket.v), reinterpret_cast<Packet2d>(elsePacket.v)));
+  return result;
+}
+#endif
 
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/MathFunctions.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/MathFunctions.h
index 5c7aa72567..1635e128c8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/MathFunctions.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/MathFunctions.h
@@ -20,6 +20,50 @@ namespace Eigen {
 
 namespace internal {
 
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+static _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+static _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+static _EIGEN_DECLARE_CONST_Packet4i(23, 23);
+
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+/* the smallest non denormalized float number */
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000); // -1.f/0.f
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_nan,     0xffffffff);
+  
+/* natural logarithm computed for 4 simultaneous float
+  return NaN for x <= 0
+*/
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
+static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+#endif
+
 static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
 static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
 static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
@@ -93,43 +137,95 @@ Packet2d pexp<Packet2d>(const Packet2d& _x)
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
-Packet4f pexp<Packet4f>(const Packet4f& x)
+Packet4f pexp<Packet4f>(const Packet4f& _x)
 {
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+  Packet4f x = _x;
+
+  Packet4f tmp, 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);
+
+  fx = pfloor(fx);
+
+  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 = (Packet4i){ (int)fx[0], (int)fx[1], (int)fx[2], (int)fx[3] };
+  emm0 = emm0 + p4i_0x7f;
+  emm0 = emm0 << reinterpret_cast<Packet4i>(p4i_23);
+
+  return pmax(pmul(y, reinterpret_cast<Packet4f>(emm0)), _x);
+#else
   Packet4f res;
-  res.v4f[0] = pexp<Packet2d>(x.v4f[0]);
-  res.v4f[1] = pexp<Packet2d>(x.v4f[1]);
+  res.v4f[0] = pexp<Packet2d>(_x.v4f[0]);
+  res.v4f[1] = pexp<Packet2d>(_x.v4f[1]);
   return res;
+#endif
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet2d psqrt<Packet2d>(const Packet2d& x)
 {
-  return  __builtin_s390_vfsqdb(x);
+  return vec_sqrt(x);
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f psqrt<Packet4f>(const Packet4f& x)
 {
   Packet4f res;
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+  res = vec_sqrt(x);
+#else
   res.v4f[0] = psqrt<Packet2d>(x.v4f[0]);
   res.v4f[1] = psqrt<Packet2d>(x.v4f[1]);
+#endif
   return res;
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet2d prsqrt<Packet2d>(const Packet2d& x) {
-  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
   return pset1<Packet2d>(1.0) / psqrt<Packet2d>(x);
 }
 
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f prsqrt<Packet4f>(const Packet4f& x) {
   Packet4f res;
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+  res = pset1<Packet4f>(1.0) / psqrt<Packet4f>(x);
+#else
   res.v4f[0] = prsqrt<Packet2d>(x.v4f[0]);
   res.v4f[1] = prsqrt<Packet2d>(x.v4f[1]);
+#endif
   return res;
 }
 
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& x) {
+  return internal::generic_fast_tanh_float(x);
+}
+
 }  // end namespace internal
 
 }  // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/PacketMath.h b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/PacketMath.h
old mode 100644
new mode 100755
index 57b01fc634..a7b59c80ed
--- a/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/PacketMath.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/arch/ZVector/PacketMath.h
@@ -10,26 +10,20 @@
 #ifndef EIGEN_PACKET_MATH_ZVECTOR_H
 #define EIGEN_PACKET_MATH_ZVECTOR_H
 
-#include <stdint.h>
-
 namespace Eigen {
 
 namespace internal {
 
 #ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
-#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 16
 #endif
 
 #ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
 
-#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-#endif
-
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  16
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  32
 #endif
 
 typedef __vector int                 Packet4i;
@@ -41,21 +35,30 @@ typedef __vector double              Packet2d;
 typedef __vector unsigned long long  Packet2ul;
 typedef __vector long long           Packet2l;
 
+// Z14 has builtin support for float vectors
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+typedef __vector float               Packet4f;
+#else
 typedef struct {
 	Packet2d  v4f[2];
 } Packet4f;
+#endif
 
 typedef union {
-  int32_t   i[4];
-  uint32_t ui[4];
-  int64_t   l[2];
-  uint64_t ul[2];
+  numext::int32_t   i[4];
+  numext::uint32_t ui[4];
+  numext::int64_t   l[2];
+  numext::uint64_t ul[2];
   double    d[2];
+  float     f[4];
   Packet4i  v4i;
   Packet4ui v4ui;
   Packet2l  v2l;
   Packet2ul v2ul;
   Packet2d  v2d;
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+  Packet4f  v4f;
+#endif
 } Packet;
 
 // We don't want to write the same code all the time, but we need to reuse the constants
@@ -80,15 +83,31 @@ typedef union {
   Packet2l p2l_##NAME = pset1<Packet2l>(X)
 
 // These constants are endian-agnostic
-//static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
 static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE, 1); //{ 1, 1, 1, 1}
 
 static _EIGEN_DECLARE_CONST_FAST_Packet2d(ZERO, 0);
 static _EIGEN_DECLARE_CONST_FAST_Packet2l(ZERO, 0);
 static _EIGEN_DECLARE_CONST_FAST_Packet2l(ONE, 1);
 
-static Packet2d p2d_ONE = { 1.0, 1.0 }; 
-static Packet2d p2d_ZERO_ = { -0.0, -0.0 };
+static Packet2d p2d_ONE = { 1.0, 1.0 };
+static Packet2d p2d_ZERO_ = { numext::bit_cast<double>(0x8000000000000000ull),
+                              numext::bit_cast<double>(0x8000000000000000ull) };
+
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+#define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
+  Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(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) \
+  const Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(pset1<Packet4i>(X))
+
+static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0); //{ 0.0, 0.0, 0.0, 0.0}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1); //{ -1, -1, -1, -1}
+static Packet4f p4f_MZERO = { 0x80000000, 0x80000000, 0x80000000, 0x80000000};
+#endif
 
 static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
 static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
@@ -120,9 +139,9 @@ static Packet16uc p16uc_TRANSPOSE64_LO = vec_add(p16uc_PSET64_LO, p16uc_HALF64_0
 static Packet16uc p16uc_TRANSPOSE64_HI = { 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
 static Packet16uc p16uc_TRANSPOSE64_LO = { 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
 
-//static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
 
-//static Packet16uc p16uc_COMPLEX32_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_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
 
 
 #if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
@@ -149,29 +168,31 @@ template<> struct packet_traits<int>    : default_packet_traits
   };
 };
 
-template<> struct packet_traits<float> : default_packet_traits
-{
+template <>
+struct packet_traits<float> : default_packet_traits {
   typedef Packet4f type;
   typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4,
+    size = 4,
     HasHalfPacket = 0,
 
-    HasAdd  = 1,
-    HasSub  = 1,
-    HasMul  = 1,
-    HasDiv  = 1,
-    HasMin  = 1,
-    HasMax  = 1,
-    HasAbs  = 1,
-    HasSin  = 0,
-    HasCos  = 0,
-    HasLog  = 0,
-    HasExp  = 1,
+    HasAdd = 1,
+    HasSub = 1,
+    HasMul = 1,
+    HasDiv = 1,
+    HasMin = 1,
+    HasMax = 1,
+    HasAbs = 1,
+    HasSin = 0,
+    HasCos = 0,
+    HasLog = 0,
+    HasExp = 1,
     HasSqrt = 1,
     HasRsqrt = 1,
+    HasTanh = 1,
+    HasErf = 1,
     HasRound = 1,
     HasFloor = 1,
     HasCeil = 1,
@@ -211,9 +232,9 @@ template<> struct packet_traits<double> : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet4i half; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16, vectorizable=true, masked_load_available=false, masked_store_available=false}; typedef Packet2d half; };
 
 /* Forward declaration */
 EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4f,4>& kernel);
@@ -258,82 +279,15 @@ inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
   return s;
 }
 
-/* Helper function to simulate a vec_splat_packet4f
- */
-template<int element> EIGEN_STRONG_INLINE Packet4f vec_splat_packet4f(const Packet4f&   from)
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ >= 12)
+inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
 {
-  Packet4f splat;
-  switch (element) {
-  case 0:
-    splat.v4f[0] = vec_splat(from.v4f[0], 0);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 1:
-    splat.v4f[0] = vec_splat(from.v4f[0], 1);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 2:
-    splat.v4f[0] = vec_splat(from.v4f[1], 0);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  case 3:
-    splat.v4f[0] = vec_splat(from.v4f[1], 1);
-    splat.v4f[1] = splat.v4f[0];
-    break;
-  }
-  return splat;
+  Packet vt;
+  vt.v4f = v;
+  s << vt.f[0] << ", " << vt.f[1] << ", " << vt.f[2] << ", " << vt.f[3];
+  return s;
 }
-
-template<int Offset>
-struct palign_impl<Offset,Packet4i>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
-  {
-    switch (Offset % 4) {
-    case 1:
-      first = vec_sld(first, second, 4); break;
-    case 2:
-      first = vec_sld(first, second, 8); break;
-    case 3:
-      first = vec_sld(first, second, 12); break;
-    }
-  }
-};
-
-/* This is a tricky one, we have to translate float alignment to vector elements of sizeof double
- */
-template<int Offset>
-struct palign_impl<Offset,Packet4f>
-{
-  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
-  {
-    switch (Offset % 4) {
-    case 1:
-      first.v4f[0] = vec_sld(first.v4f[0], first.v4f[1], 8);
-      first.v4f[1] = vec_sld(first.v4f[1], second.v4f[0], 8);
-      break;
-    case 2:
-      first.v4f[0] = first.v4f[1];
-      first.v4f[1] = second.v4f[0];
-      break;
-    case 3:
-      first.v4f[0] = vec_sld(first.v4f[1],  second.v4f[0], 8);
-      first.v4f[1] = vec_sld(second.v4f[0], second.v4f[1], 8);
-      break;
-    }
-  }
-};
-
-
-template<int Offset>
-struct palign_impl<Offset,Packet2d>
-{
-  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
-  {
-    if (Offset == 1)
-      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(first), reinterpret_cast<Packet4i>(second), 8));
-  }
-};
+#endif
 
 template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
 {
@@ -344,16 +298,6 @@ template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
   return vfrom->v4i;
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_LOAD
-  Packet4f vfrom;
-  vfrom.v4f[0] = vec_ld2f(&from[0]);
-  vfrom.v4f[1] = vec_ld2f(&from[2]);
-  return vfrom;
-}
-
 template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
 {
   // FIXME: No intrinsic yet
@@ -372,15 +316,6 @@ template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& f
   vto->v4i = from;
 }
 
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
-{
-  // FIXME: No intrinsic yet
-  EIGEN_DEBUG_ALIGNED_STORE
-  vec_st2f(from.v4f[0], &to[0]);
-  vec_st2f(from.v4f[1], &to[2]);
-}
-
-
 template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
 {
   // FIXME: No intrinsic yet
@@ -397,13 +332,6 @@ template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) {
   return vec_splats(from);
 }
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&    from)
-{
-  Packet4f to;
-  to.v4f[0] = pset1<Packet2d>(static_cast<const double&>(from));
-  to.v4f[1] = to.v4f[0];
-  return to;
-}
 
 template<> EIGEN_STRONG_INLINE void
 pbroadcast4<Packet4i>(const int *a,
@@ -416,17 +344,6 @@ pbroadcast4<Packet4i>(const int *a,
   a3 = vec_splat(a3, 3);
 }
 
-template<> EIGEN_STRONG_INLINE void
-pbroadcast4<Packet4f>(const float *a,
-                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
-{
-  a3 = pload<Packet4f>(a);
-  a0 = vec_splat_packet4f<0>(a3);
-  a1 = vec_splat_packet4f<1>(a3);
-  a2 = vec_splat_packet4f<2>(a3);
-  a3 = vec_splat_packet4f<3>(a3);
-}
-
 template<> EIGEN_STRONG_INLINE void
 pbroadcast4<Packet2d>(const double *a,
                       Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
@@ -441,7 +358,7 @@ pbroadcast4<Packet2d>(const double *a,
 
 template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
 {
-  int EIGEN_ALIGN16 ai[4];
+  EIGEN_ALIGN16 int ai[4];
   ai[0] = from[0*stride];
   ai[1] = from[1*stride];
   ai[2] = from[2*stride];
@@ -449,19 +366,9 @@ template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* f
  return pload<Packet4i>(ai);
 }
 
-template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
-{
-  float EIGEN_ALIGN16 ai[4];
-  ai[0] = from[0*stride];
-  ai[1] = from[1*stride];
-  ai[2] = from[2*stride];
-  ai[3] = from[3*stride];
- return pload<Packet4f>(ai);
-}
-
 template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
 {
-  double EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 double af[2];
   af[0] = from[0*stride];
   af[1] = from[1*stride];
  return pload<Packet2d>(af);
@@ -469,7 +376,7 @@ template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const dou
 
 template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
 {
-  int EIGEN_ALIGN16 ai[4];
+  EIGEN_ALIGN16 int ai[4];
   pstore<int>((int *)ai, from);
   to[0*stride] = ai[0];
   to[1*stride] = ai[1];
@@ -477,179 +384,61 @@ template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const
   to[3*stride] = ai[3];
 }
 
-template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
-{
-  float EIGEN_ALIGN16 ai[4];
-  pstore<float>((float *)ai, from);
-  to[0*stride] = ai[0];
-  to[1*stride] = ai[1];
-  to[2*stride] = ai[2];
-  to[3*stride] = ai[3];
-}
-
 template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
 {
-  double EIGEN_ALIGN16 af[2];
+  EIGEN_ALIGN16 double af[2];
   pstore<double>(af, from);
   to[0*stride] = af[0];
   to[1*stride] = af[1];
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a + b); }
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] + b.v4f[0];
-  c.v4f[1] = a.v4f[1] + b.v4f[1];
-  return c;
-}
 template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a + b); }
 
 template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a - b); }
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] - b.v4f[0];
-  c.v4f[1] = a.v4f[1] - b.v4f[1];
-  return c;
-}
 template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a - b); }
 
 template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a * b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] * b.v4f[0];
-  c.v4f[1] = a.v4f[1] * b.v4f[1];
-  return c;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a * b); }
 
 template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a / b); }
-template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f c;
-  c.v4f[0] = a.v4f[0] / b.v4f[0];
-  c.v4f[1] = a.v4f[1] / b.v4f[1];
-  return c;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a / b); }
 
 template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return (-a); }
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
-{
-  Packet4f c;
-  c.v4f[0] = -a.v4f[0];
-  c.v4f[1] = -a.v4f[1];
-  return c;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return (-a); }
 
 template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
-template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
 template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
 
 template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd<Packet4i>(pmul<Packet4i>(a, b), c); }
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
-{
-  Packet4f res;
-  res.v4f[0] = vec_madd(a.v4f[0], b.v4f[0], c.v4f[0]);
-  res.v4f[1] = vec_madd(a.v4f[1], b.v4f[1], c.v4f[1]);
-  return res;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
 
 template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)    { return padd<Packet4i>(pset1<Packet4i>(a), p4i_COUNTDOWN); }
-template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)  { return padd<Packet4f>(pset1<Packet4f>(a), p4f_COUNTDOWN); }
 template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return padd<Packet2d>(pset1<Packet2d>(a), p2d_COUNTDOWN); }
 
 template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
 template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pmin(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pmin(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
 template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pmax(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pmax(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
 template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
 template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
 template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
-template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return pand<Packet4i>(a, vec_nor(b, b)); }
 template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
-template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
-{
-  Packet4f res;
-  res.v4f[0] = pandnot(a.v4f[0], b.v4f[0]);
-  res.v4f[1] = pandnot(a.v4f[1], b.v4f[1]);
-  return res;
-}
 
-template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_round(a.v4f[0]);
-  res.v4f[1] = vec_round(a.v4f[1]);
-  return res;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_ceil(a.v4f[0]);
-  res.v4f[1] = vec_ceil(a.v4f[1]);
-  return res;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = vec_floor(a.v4f[0]);
-  res.v4f[1] = vec_floor(a.v4f[1]);
-  return res;
-}
 template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
 
 template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*       from) { return pload<Packet4i>(from); }
-template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*     from) { return pload<Packet4f>(from); }
 template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double*    from) { return pload<Packet2d>(from); }
 
 
@@ -659,14 +448,6 @@ template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
   return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*    from)
-{
-  Packet4f p = pload<Packet4f>(from);
-  p.v4f[1] = vec_splat(p.v4f[0], 1);
-  p.v4f[0] = vec_splat(p.v4f[0], 0);
-  return p;
-}
-
 template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
 {
   Packet2d p = pload<Packet2d>(from);
@@ -674,16 +455,13 @@ template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
 }
 
 template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*        to, const Packet4i& from) { pstore<int>(to, from); }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*    to, const Packet4f& from) { pstore<float>(to, from); }
 template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { pstore<double>(to, from); }
 
 template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
 template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
 
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int    EIGEN_ALIGN16 x[4]; pstore(x, a); return x[0]; }
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float  EIGEN_ALIGN16 x[2]; vec_st2f(a.v4f[0], &x[0]); return x[0]; }
-template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { EIGEN_ALIGN16 int    x[4]; pstore(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { EIGEN_ALIGN16 double x[2]; pstore(x, a); return x[0]; }
 
 template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
 {
@@ -695,23 +473,8 @@ template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
   return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
-{
-  Packet4f rev;
-  rev.v4f[0] = preverse<Packet2d>(a.v4f[1]);
-  rev.v4f[1] = preverse<Packet2d>(a.v4f[0]);
-  return rev;
-}
-
 template<> EIGEN_STRONG_INLINE Packet4i pabs<Packet4i>(const Packet4i& a) { return vec_abs(a); }
 template<> EIGEN_STRONG_INLINE Packet2d pabs<Packet2d>(const Packet2d& a) { return vec_abs(a); }
-template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>(const Packet4f& a)
-{
-  Packet4f res;
-  res.v4f[0] = pabs(a.v4f[0]);
-  res.v4f[1] = pabs(a.v4f[1]);
-  return res;
-}
 
 template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
 {
@@ -730,67 +493,6 @@ template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
   sum = padd<Packet2d>(a, b);
   return pfirst(sum);
 }
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet2d sum;
-  sum = padd<Packet2d>(a.v4f[0], a.v4f[1]);
-  double first = predux<Packet2d>(sum);
-  return static_cast<float>(first);
-}
-
-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] = padd<Packet4i>(sum[0], sum[1]);
-  // Lines 2+3
-  sum[1] = padd<Packet4i>(sum[2], sum[3]);
-  // Add the results
-  sum[0] = padd<Packet4i>(sum[0], sum[1]);
-
-  return sum[0];
-}
-
-template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
-{
-  Packet2d v[2], sum;
-  v[0] = padd<Packet2d>(vecs[0], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[0]), reinterpret_cast<Packet4ui>(vecs[0]), 8)));
-  v[1] = padd<Packet2d>(vecs[1], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[1]), reinterpret_cast<Packet4ui>(vecs[1]), 8)));
- 
-  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v[0]), reinterpret_cast<Packet4ui>(v[1]), 8));
-
-  return sum;
-}
-
-template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
-{
-  PacketBlock<Packet4f,4> transpose;
-  transpose.packet[0] = vecs[0];
-  transpose.packet[1] = vecs[1];
-  transpose.packet[2] = vecs[2];
-  transpose.packet[3] = vecs[3];
-  ptranspose(transpose);
-
-  Packet4f sum = padd(transpose.packet[0], transpose.packet[1]);
-  sum = padd(sum, transpose.packet[2]);
-  sum = padd(sum, transpose.packet[3]);
-  return sum;
-}
 
 // Other reduction functions:
 // mul
@@ -806,12 +508,6 @@ template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
   return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
 }
 
-template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
-{
-  // Return predux_mul<Packet2d> of the subvectors product
-  return static_cast<float>(pfirst(predux_mul(pmul(a.v4f[0], a.v4f[1]))));
-}
-
 // min
 template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
 {
@@ -826,14 +522,6 @@ template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
   return pfirst(pmin<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
 }
 
-template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
-{
-  Packet2d b, res;
-  b   = pmin<Packet2d>(a.v4f[0], a.v4f[1]);
-  res = pmin<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
-  return static_cast<float>(pfirst(res));
-}
-
 // max
 template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
 {
@@ -849,14 +537,6 @@ template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
   return pfirst(pmax<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
 }
 
-template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
-{
-  Packet2d b, res;
-  b   = pmax<Packet2d>(a.v4f[0], a.v4f[1]);
-  res = pmax<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
-  return static_cast<float>(pfirst(res));
-}
-
 EIGEN_DEVICE_FUNC inline void
 ptranspose(PacketBlock<Packet4i,4>& kernel) {
   Packet4i t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
@@ -877,6 +557,282 @@ ptranspose(PacketBlock<Packet2d,2>& kernel) {
   kernel.packet[1] = t1;
 }
 
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2ul mask = vec_cmpeq(select, reinterpret_cast<Packet2ul>(p2l_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+/* z13 has no vector float support so we emulate that with double
+   z14 has proper vector float support.
+*/
+#if !defined(__ARCH__) || (defined(__ARCH__) && __ARCH__ < 12)
+/* Helper function to simulate a vec_splat_packet4f
+ */
+template<int element> EIGEN_STRONG_INLINE Packet4f vec_splat_packet4f(const Packet4f&   from)
+{
+  Packet4f splat;
+  switch (element) {
+  case 0:
+    splat.v4f[0] = vec_splat(from.v4f[0], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 1:
+    splat.v4f[0] = vec_splat(from.v4f[0], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 2:
+    splat.v4f[0] = vec_splat(from.v4f[1], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 3:
+    splat.v4f[0] = vec_splat(from.v4f[1], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  }
+  return splat;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet4f vfrom;
+  vfrom.v4f[0] = vec_ld2f(&from[0]);
+  vfrom.v4f[1] = vec_ld2f(&from[2]);
+  return vfrom;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_st2f(from.v4f[0], &to[0]);
+  vec_st2f(from.v4f[1], &to[2]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&    from)
+{
+  Packet4f to;
+  to.v4f[0] = pset1<Packet2d>(static_cast<const double&>(from));
+  to.v4f[1] = to.v4f[0];
+  return to;
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat_packet4f<0>(a3);
+  a1 = vec_splat_packet4f<1>(a3);
+  a2 = vec_splat_packet4f<2>(a3);
+  a3 = vec_splat_packet4f<3>(a3);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  EIGEN_ALIGN16 float ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4f>(ai);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  EIGEN_ALIGN16 float ai[4];
+  pstore<float>((float *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] + b.v4f[0];
+  c.v4f[1] = a.v4f[1] + b.v4f[1];
+  return c;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] - b.v4f[0];
+  c.v4f[1] = a.v4f[1] - b.v4f[1];
+  return c;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] * b.v4f[0];
+  c.v4f[1] = a.v4f[1] * b.v4f[1];
+  return c;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] / b.v4f[0];
+  c.v4f[1] = a.v4f[1] / b.v4f[1];
+  return c;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  Packet4f c;
+  c.v4f[0] = -a.v4f[0];
+  c.v4f[1] = -a.v4f[1];
+  return c;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+{
+  Packet4f res;
+  res.v4f[0] = vec_madd(a.v4f[0], b.v4f[0], c.v4f[0]);
+  res.v4f[1] = vec_madd(a.v4f[1], b.v4f[1], c.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmin(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmin(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmax(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmax(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = por(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = por(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pxor(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pxor(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pandnot(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pandnot(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_round(a.v4f[0]);
+  res.v4f[1] = vec_round(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_ceil(a.v4f[0]);
+  res.v4f[1] = vec_ceil(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_floor(a.v4f[0]);
+  res.v4f[1] = vec_floor(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*    from)
+{
+  Packet4f p = pload<Packet4f>(from);
+  p.v4f[1] = vec_splat(p.v4f[0], 1);
+  p.v4f[0] = vec_splat(p.v4f[0], 0);
+  return p;
+}
+
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { EIGEN_ALIGN16 float x[2]; vec_st2f(a.v4f[0], &x[0]); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  Packet4f rev;
+  rev.v4f[0] = preverse<Packet2d>(a.v4f[1]);
+  rev.v4f[1] = preverse<Packet2d>(a.v4f[0]);
+  return rev;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = pabs(a.v4f[0]);
+  res.v4f[1] = pabs(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet2d sum;
+  sum = padd<Packet2d>(a.v4f[0], a.v4f[1]);
+  double first = predux<Packet2d>(sum);
+  return static_cast<float>(first);
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  // Return predux_mul<Packet2d> of the subvectors product
+  return static_cast<float>(pfirst(predux_mul(pmul(a.v4f[0], a.v4f[1]))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmin<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmin<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmax<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmax<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
 /* Split the Packet4f PacketBlock into 4 Packet2d PacketBlocks and transpose each one
  */
 EIGEN_DEVICE_FUNC inline void
@@ -915,12 +871,6 @@ ptranspose(PacketBlock<Packet4f,4>& kernel) {
   kernel.packet[3].v4f[1] = t3.packet[1];
 }
 
-template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
-  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
-  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
-  return vec_sel(elsePacket, thenPacket, mask);
-}
-
 template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
   Packet2ul select_hi = { ifPacket.select[0], ifPacket.select[1] };
   Packet2ul select_lo = { ifPacket.select[2], ifPacket.select[3] };
@@ -932,12 +882,177 @@ template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, cons
   return result;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
-  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
-  Packet2ul mask = vec_cmpeq(select, reinterpret_cast<Packet2ul>(p2l_ONE));
+template<> Packet4f EIGEN_STRONG_INLINE pcmp_le<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pcmp_le(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pcmp_le(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> Packet4f EIGEN_STRONG_INLINE pcmp_lt<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pcmp_lt(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pcmp_lt(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> Packet4f EIGEN_STRONG_INLINE pcmp_eq<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pcmp_eq(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pcmp_eq(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet *vfrom;
+  vfrom = (Packet *) from;
+  return vfrom->v4f;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet4f& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  Packet *vto;
+  vto = (Packet *) to;
+  vto->v4f = from;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float& from)
+{
+  return vec_splats(from);
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  EIGEN_ALIGN16 float af[4];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  af[2] = from[2*stride];
+  af[3] = from[3*stride];
+ return pload<Packet4f>(af);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  EIGEN_ALIGN16 float af[4];
+  pstore<float>((float*)af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+  to[2*stride] = af[2];
+  to[3*stride] = af[3];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return (a + b); }
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return (a - b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return (a * b); }
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return (a / b); }
+template<> EIGEN_STRONG_INLINE Packet4f pnegate<Packet4f>(const Packet4f& a) { return (-a); }
+template<> EIGEN_STRONG_INLINE Packet4f pconj<Packet4f>  (const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4f pmadd<Packet4f>  (const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(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 Packet4f pmax<Packet4f>   (const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>   (const Packet4f& a, const Packet4f& 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 Packet4f pxor<Packet4f>   (const Packet4f& a, const Packet4f& 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 Packet4f pround<Packet4f> (const Packet4f& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>  (const Packet4f& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f> (const Packet4f& a) { return vec_floor(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>   (const Packet4f& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE float pfirst<Packet4f>(const Packet4f& a) { EIGEN_ALIGN16 float x[4]; pstore(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float* from)
+{
+  Packet4f p = pload<Packet4f>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  return reinterpret_cast<Packet4f>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, sum;
+  b   = vec_sld(a, a, 8);
+  sum = padd<Packet4f>(a, b);
+  b   = vec_sld(sum, sum, 4);
+  sum = padd<Packet4f>(sum, b);
+  return pfirst(sum);
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  Packet4f prod;
+  prod = pmul(a, vec_sld(a, a, 8));
+  return pfirst(pmul(prod, vec_sld(prod, prod, 4)));
+}
+
+// min
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet4f b, res;
+  b   = pmin<Packet4f>(a, vec_sld(a, a, 8));
+  res = pmin<Packet4f>(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 = pmax<Packet4f>(a, vec_sld(a, a, 8));
+  res = pmax<Packet4f>(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  Packet4f t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  Packet4f t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  Packet4f t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  Packet4f t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
   return vec_sel(elsePacket, thenPacket, mask);
 }
 
+#endif
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f> (const float* from) { return pload<Packet4f>(from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet4f& from) { pstore<float>(to, from); }
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>  (const float& a)  { return padd<Packet4f>(pset1<Packet4f>(a), p4f_COUNTDOWN); }
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/functors/AssignmentFunctors.h b/examples/ThirdPartyLibs/Eigen/src/Core/functors/AssignmentFunctors.h
index 1077d8eb04..bf64ef4ede 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/functors/AssignmentFunctors.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/functors/AssignmentFunctors.h
@@ -144,7 +144,7 @@ template<typename Scalar> struct swap_assign_op {
   EIGEN_EMPTY_STRUCT_CTOR(swap_assign_op)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Scalar& a, const Scalar& b) const
   {
-#ifdef EIGEN_CUDACC
+#ifdef EIGEN_GPUCC
     // FIXME is there some kind of cuda::swap?
     Scalar t=b; const_cast<Scalar&>(b)=a; a=t;
 #else
@@ -157,7 +157,16 @@ template<typename Scalar>
 struct functor_traits<swap_assign_op<Scalar> > {
   enum {
     Cost = 3 * NumTraits<Scalar>::ReadCost,
-    PacketAccess = packet_traits<Scalar>::Vectorizable
+    PacketAccess = 
+    #if defined(EIGEN_VECTORIZE_AVX) && EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<800 || defined(__apple_build_version__))
+    // This is a partial workaround for a bug in clang generating bad code
+    // when mixing 256/512 bits loads and 128 bits moves.
+    // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1684
+    //     https://bugs.llvm.org/show_bug.cgi?id=40815
+    0
+    #else
+    packet_traits<Scalar>::Vectorizable
+    #endif
   };
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/functors/BinaryFunctors.h b/examples/ThirdPartyLibs/Eigen/src/Core/functors/BinaryFunctors.h
index 96747bac78..63f09ab931 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/functors/BinaryFunctors.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/functors/BinaryFunctors.h
@@ -39,32 +39,26 @@ struct scalar_sum_op : binary_op_base<LhsScalar,RhsScalar>
     EIGEN_SCALAR_BINARY_OP_PLUGIN
   }
 #endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a, const Packet& b) const
   { return internal::padd(a,b); }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type predux(const Packet& a) const
   { return internal::predux(a); }
 };
 template<typename LhsScalar,typename RhsScalar>
 struct functor_traits<scalar_sum_op<LhsScalar,RhsScalar> > {
   enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2, // rough estimate!
+    Cost = (int(NumTraits<LhsScalar>::AddCost) + int(NumTraits<RhsScalar>::AddCost)) / 2, // rough estimate!
     PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAdd && packet_traits<RhsScalar>::HasAdd
     // TODO vectorize mixed sum
   };
 };
 
-/** \internal
-  * \brief Template specialization to deprecate the summation of boolean expressions.
-  * This is required to solve Bug 426.
-  * \sa DenseBase::count(), DenseBase::any(), ArrayBase::cast(), MatrixBase::cast()
-  */
-template<> struct scalar_sum_op<bool,bool> : scalar_sum_op<int,int> {
-  EIGEN_DEPRECATED
-  scalar_sum_op() {}
-};
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool scalar_sum_op<bool,bool>::operator() (const bool& a, const bool& b) const { return a || b; }
 
 
 /** \internal
@@ -83,23 +77,27 @@ struct scalar_product_op  : binary_op_base<LhsScalar,RhsScalar>
     EIGEN_SCALAR_BINARY_OP_PLUGIN
   }
 #endif
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a, const Packet& b) const
   { return internal::pmul(a,b); }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE 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!
+    Cost = (int(NumTraits<LhsScalar>::MulCost) + int(NumTraits<RhsScalar>::MulCost))/2, // rough estimate!
     PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
     // TODO vectorize mixed product
   };
 };
 
+template<>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool scalar_product_op<bool,bool>::operator() (const bool& a, const bool& b) const { return a && b; }
+
+
 /** \internal
   * \brief Template functor to compute the conjugate product of two scalars
   *
@@ -116,11 +114,11 @@ struct scalar_conj_product_op  : binary_op_base<LhsScalar,RhsScalar>
   typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_conj_product_op>::ReturnType result_type;
   
   EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const LhsScalar& a, const RhsScalar& b) const
   { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
   
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a, const Packet& b) const
   { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
 };
 template<typename LhsScalar,typename RhsScalar>
@@ -136,21 +134,28 @@ struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
   *
   * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
   */
-template<typename LhsScalar,typename RhsScalar>
+template<typename LhsScalar,typename RhsScalar, int NaNPropagation>
 struct scalar_min_op : binary_op_base<LhsScalar,RhsScalar>
 {
   typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_min_op>::ReturnType result_type;
   EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::mini(a, b); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const LhsScalar& a, const RhsScalar& b) const {
+    return internal::pmin<NaNPropagation>(a, b);
+  }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmin(a,b); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a, const Packet& b) const
+  {
+    return internal::pmin<NaNPropagation>(a,b);
+  }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_min(a); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type predux(const Packet& a) const
+  {
+    return internal::predux_min<NaNPropagation>(a);
+  }
 };
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
+
+template<typename LhsScalar,typename RhsScalar, int NaNPropagation>
+struct functor_traits<scalar_min_op<LhsScalar,RhsScalar, NaNPropagation> > {
   enum {
     Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
     PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMin
@@ -162,21 +167,28 @@ struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
   *
   * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
   */
-template<typename LhsScalar,typename RhsScalar>
-struct scalar_max_op  : binary_op_base<LhsScalar,RhsScalar>
+template<typename LhsScalar,typename RhsScalar, int NaNPropagation>
+struct scalar_max_op : binary_op_base<LhsScalar,RhsScalar>
 {
   typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_max_op>::ReturnType result_type;
   EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::maxi(a, b); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const LhsScalar& a, const RhsScalar& b) const {
+    return internal::pmax<NaNPropagation>(a,b);
+  }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmax(a,b); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Packet packetOp(const Packet& a, const Packet& b) const
+  {
+    return internal::pmax<NaNPropagation>(a,b);
+  }
   template<typename Packet>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_max(a); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type predux(const Packet& a) const
+  {
+    return internal::predux_max<NaNPropagation>(a);
+  }
 };
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_max_op<LhsScalar,RhsScalar> > {
+
+template<typename LhsScalar,typename RhsScalar, int NaNPropagation>
+struct functor_traits<scalar_max_op<LhsScalar,RhsScalar, NaNPropagation> > {
   enum {
     Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
     PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMax
@@ -253,9 +265,8 @@ struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_NEQ> : binary_op_base<LhsScalar,Rh
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a!=b;}
 };
 
-
 /** \internal
-  * \brief Template functor to compute the hypot of two scalars
+  * \brief Template functor to compute the hypot of two \b positive \b and \b real scalars
   *
   * \sa MatrixBase::stableNorm(), class Redux
   */
@@ -263,22 +274,15 @@ template<typename Scalar>
 struct scalar_hypot_op<Scalar,Scalar> : binary_op_base<Scalar,Scalar>
 {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
-//   typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar &x, const Scalar &y) const
   {
-    EIGEN_USING_STD_MATH(sqrt)
-    Scalar p, qp;
-    if(_x>_y)
-    {
-      p = _x;
-      qp = _y / p;
-    }
-    else
-    {
-      p = _y;
-      qp = _x / p;
-    }
-    return p * sqrt(Scalar(1) + qp*qp);
+    // This functor is used by hypotNorm only for which it is faster to first apply abs
+    // on all coefficients prior to reduction through hypot.
+    // This way we avoid calling abs on positive and real entries, and this also permits
+    // to seamlessly handle complexes. Otherwise we would have to handle both real and complexes
+    // through the same functor...
+    return internal::positive_real_hypot(x,y);
   }
 };
 template<typename Scalar>
@@ -294,6 +298,7 @@ struct functor_traits<scalar_hypot_op<Scalar,Scalar> > {
 
 /** \internal
   * \brief Template functor to compute the pow of two scalars
+  * See the specification of pow in https://en.cppreference.com/w/cpp/numeric/math/pow
   */
 template<typename Scalar, typename Exponent>
 struct scalar_pow_op  : binary_op_base<Scalar,Exponent>
@@ -308,16 +313,31 @@ struct scalar_pow_op  : binary_op_base<Scalar,Exponent>
     EIGEN_SCALAR_BINARY_OP_PLUGIN
   }
 #endif
+
   EIGEN_DEVICE_FUNC
   inline result_type operator() (const Scalar& a, const Exponent& b) const { return numext::pow(a, b); }
+
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  {
+    return generic_pow(a,b);
+  }
 };
+
 template<typename Scalar, typename Exponent>
 struct functor_traits<scalar_pow_op<Scalar,Exponent> > {
-  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = (!NumTraits<Scalar>::IsComplex && !NumTraits<Scalar>::IsInteger &&
+                    packet_traits<Scalar>::HasExp && packet_traits<Scalar>::HasLog &&
+                    packet_traits<Scalar>::HasRound && packet_traits<Scalar>::HasCmp &&
+                    // Temporarly disable packet access for half/bfloat16 until
+                    // accuracy is improved.
+                    !is_same<Scalar, half>::value && !is_same<Scalar, bfloat16>::value
+                    )
+  };
 };
 
-
-
 //---------- non associative binary functors ----------
 
 /** \internal
@@ -344,7 +364,7 @@ struct scalar_difference_op : binary_op_base<LhsScalar,RhsScalar>
 template<typename LhsScalar,typename RhsScalar>
 struct functor_traits<scalar_difference_op<LhsScalar,RhsScalar> > {
   enum {
-    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    Cost = (int(NumTraits<LhsScalar>::AddCost) + int(NumTraits<RhsScalar>::AddCost)) / 2,
     PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasSub && packet_traits<RhsScalar>::HasSub
   };
 };
@@ -389,11 +409,14 @@ struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
 struct scalar_boolean_and_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pand(a,b); }
 };
 template<> struct functor_traits<scalar_boolean_and_op> {
   enum {
     Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
+    PacketAccess = true
   };
 };
 
@@ -405,11 +428,14 @@ template<> struct functor_traits<scalar_boolean_and_op> {
 struct scalar_boolean_or_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::por(a,b); }
 };
 template<> struct functor_traits<scalar_boolean_or_op> {
   enum {
     Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
+    PacketAccess = true
   };
 };
 
@@ -421,11 +447,44 @@ template<> struct functor_traits<scalar_boolean_or_op> {
 struct scalar_boolean_xor_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_xor_op)
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a ^ b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pxor(a,b); }
 };
 template<> struct functor_traits<scalar_boolean_xor_op> {
   enum {
     Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
+    PacketAccess = true
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the absolute difference of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::absolute_difference
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_absolute_difference_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_absolute_difference_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_absolute_difference_op)
+#else
+  scalar_absolute_difference_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  { return numext::absdiff(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pabsdiff(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_absolute_difference_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAbsDiff
   };
 };
 
@@ -443,7 +502,7 @@ template<typename BinaryOp> struct bind1st_op : BinaryOp {
   typedef typename BinaryOp::second_argument_type second_argument_type;
   typedef typename BinaryOp::result_type          result_type;
 
-  bind1st_op(const first_argument_type &val) : m_value(val) {}
+  EIGEN_DEVICE_FUNC explicit bind1st_op(const first_argument_type &val) : m_value(val) {}
 
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const second_argument_type& b) const { return BinaryOp::operator()(m_value,b); }
 
@@ -462,7 +521,7 @@ template<typename BinaryOp> struct bind2nd_op : BinaryOp {
   typedef typename BinaryOp::second_argument_type second_argument_type;
   typedef typename BinaryOp::result_type          result_type;
 
-  bind2nd_op(const second_argument_type &val) : m_value(val) {}
+  EIGEN_DEVICE_FUNC explicit bind2nd_op(const second_argument_type &val) : m_value(val) {}
 
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const first_argument_type& a) const { return BinaryOp::operator()(a,m_value); }
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/functors/NullaryFunctors.h b/examples/ThirdPartyLibs/Eigen/src/Core/functors/NullaryFunctors.h
index b03be0269c..192f225dda 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/functors/NullaryFunctors.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/functors/NullaryFunctors.h
@@ -37,26 +37,27 @@ template<typename Scalar>
 struct functor_traits<scalar_identity_op<Scalar> >
 { enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
 
-template <typename Scalar, typename Packet, bool IsInteger> struct linspaced_op_impl;
+template <typename Scalar, bool IsInteger> struct linspaced_op_impl;
 
-template <typename Scalar, typename Packet>
-struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,/*IsInteger*/false>
 {
-  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
-    m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1)),
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+
+  EIGEN_DEVICE_FUNC linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+    m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : Scalar((high-low)/RealScalar(num_steps-1))),
     m_flip(numext::abs(high)<numext::abs(low))
   {}
 
   template<typename IndexType>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
     if(m_flip)
-      return (i==0)? m_low : (m_high - RealScalar(m_size1-i)*m_step);
+      return (i==0)? m_low : Scalar(m_high - RealScalar(m_size1-i)*m_step);
     else
-      return (i==m_size1)? m_high : (m_low + RealScalar(i)*m_step);
+      return (i==m_size1)? m_high : Scalar(m_low + RealScalar(i)*m_step);
   }
 
-  template<typename IndexType>
+  template<typename Packet, typename IndexType>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const
   {
     // Principle:
@@ -65,17 +66,17 @@ struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
     {
       Packet pi = plset<Packet>(Scalar(i-m_size1));
       Packet res = padd(pset1<Packet>(m_high), pmul(pset1<Packet>(m_step), pi));
-      if(i==0)
-        res = pinsertfirst(res, m_low);
-      return res;
+      if (EIGEN_PREDICT_TRUE(i != 0)) return res;
+      Packet mask = pcmp_lt(pset1<Packet>(0), plset<Packet>(0));
+      return pselect<Packet>(mask, res, pset1<Packet>(m_low));
     }
     else
     {
       Packet pi = plset<Packet>(Scalar(i));
       Packet res = padd(pset1<Packet>(m_low), pmul(pset1<Packet>(m_step), pi));
-      if(i==m_size1-unpacket_traits<Packet>::size+1)
-        res = pinsertlast(res, m_high);
-      return res;
+      if(EIGEN_PREDICT_TRUE(i != m_size1-unpacket_traits<Packet>::size+1)) return res;
+      Packet mask = pcmp_lt(plset<Packet>(0), pset1<Packet>(unpacket_traits<Packet>::size-1));
+      return pselect<Packet>(mask, res, pset1<Packet>(m_high));
     }
   }
 
@@ -86,10 +87,10 @@ struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
   const bool m_flip;
 };
 
-template <typename Scalar, typename Packet>
-struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
+template <typename Scalar>
+struct linspaced_op_impl<Scalar,/*IsInteger*/true>
 {
-  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+  EIGEN_DEVICE_FUNC linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
     m_low(low),
     m_multiplier((high-low)/convert_index<Scalar>(num_steps<=1 ? 1 : num_steps-1)),
     m_divisor(convert_index<Scalar>((high>=low?num_steps:-num_steps)+(high-low))/((numext::abs(high-low)+1)==0?1:(numext::abs(high-low)+1))),
@@ -115,8 +116,8 @@ struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
 // 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, typename PacketType> struct linspaced_op;
-template <typename Scalar, typename PacketType> struct functor_traits< linspaced_op<Scalar,PacketType> >
+template <typename Scalar> struct linspaced_op;
+template <typename Scalar> struct functor_traits< linspaced_op<Scalar> >
 {
   enum
   {
@@ -126,9 +127,9 @@ template <typename Scalar, typename PacketType> struct functor_traits< linspaced
     IsRepeatable = true
   };
 };
-template <typename Scalar, typename PacketType> struct linspaced_op
+template <typename Scalar> struct linspaced_op
 {
-  linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
+  EIGEN_DEVICE_FUNC linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
     : impl((num_steps==1 ? high : low),high,num_steps)
   {}
 
@@ -136,11 +137,11 @@ template <typename Scalar, typename PacketType> struct linspaced_op
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const { return impl(i); }
 
   template<typename Packet,typename IndexType>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.packetOp(i); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.template packetOp<Packet>(i); }
 
   // This proxy object handles the actual required temporaries and the different
   // implementations (integer vs. floating point).
-  const linspaced_op_impl<Scalar,PacketType,NumTraits<Scalar>::IsInteger> impl;
+  const linspaced_op_impl<Scalar,NumTraits<Scalar>::IsInteger> impl;
 };
 
 // Linear access is automatically determined from the operator() prototypes available for the given functor.
@@ -166,12 +167,12 @@ struct has_unary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value =
 template<typename Scalar,typename IndexType>
 struct has_binary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 1}; };
 
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_nullary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_unary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 1}; };
-template<typename Scalar, typename PacketType,typename IndexType>
-struct has_binary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<linspaced_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<linspaced_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<linspaced_op<Scalar>,IndexType> { enum { value = 0}; };
 
 template<typename Scalar,typename IndexType>
 struct has_nullary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 1}; };
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/functors/StlFunctors.h b/examples/ThirdPartyLibs/Eigen/src/Core/functors/StlFunctors.h
index 6df3fa501b..4570c9b634 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/functors/StlFunctors.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/functors/StlFunctors.h
@@ -12,6 +12,28 @@
 
 namespace Eigen {
 
+// Portable replacements for certain functors.
+namespace numext {
+
+template<typename T = void>
+struct equal_to {
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC bool operator()(const T& lhs, const T& rhs) const {
+    return lhs == rhs;
+  }
+};
+
+template<typename T = void>
+struct not_equal_to {
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC bool operator()(const T& lhs, const T& rhs) const {
+    return lhs != rhs;
+  }
+};
+
+}
+
+
 namespace internal {
 
 // default functor traits for STL functors:
@@ -68,11 +90,19 @@ template<typename T>
 struct functor_traits<std::equal_to<T> >
 { enum { Cost = 1, PacketAccess = false }; };
 
+template<typename T>
+struct functor_traits<numext::equal_to<T> >
+  : functor_traits<std::equal_to<T> > {};
+
 template<typename T>
 struct functor_traits<std::not_equal_to<T> >
 { enum { Cost = 1, PacketAccess = false }; };
 
-#if (__cplusplus < 201103L) && (EIGEN_COMP_MSVC <= 1900)
+template<typename T>
+struct functor_traits<numext::not_equal_to<T> >
+  : functor_traits<std::not_equal_to<T> > {};
+
+#if (EIGEN_COMP_CXXVER < 11)
 // std::binder* are deprecated since c++11 and will be removed in c++17
 template<typename T>
 struct functor_traits<std::binder2nd<T> >
@@ -83,13 +113,17 @@ struct functor_traits<std::binder1st<T> >
 { enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
 #endif
 
+#if (EIGEN_COMP_CXXVER < 17)
+// std::unary_negate is deprecated since c++17 and will be removed in c++20
 template<typename T>
 struct functor_traits<std::unary_negate<T> >
 { enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
 
+// std::binary_negate is deprecated since c++17 and will be removed in c++20
 template<typename T>
 struct functor_traits<std::binary_negate<T> >
 { enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+#endif
 
 #ifdef EIGEN_STDEXT_SUPPORT
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/functors/UnaryFunctors.h b/examples/ThirdPartyLibs/Eigen/src/Core/functors/UnaryFunctors.h
index bfc0465563..16136d185a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/functors/UnaryFunctors.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/functors/UnaryFunctors.h
@@ -109,7 +109,7 @@ struct functor_traits<scalar_abs2_op<Scalar> >
 template<typename Scalar> struct scalar_conjugate_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
   EIGEN_DEVICE_FUNC
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::conj(a); }
   template<typename Packet>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
 };
@@ -117,7 +117,15 @@ template<typename Scalar>
 struct functor_traits<scalar_conjugate_op<Scalar> >
 {
   enum {
-    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+    Cost = 0,
+    // Yes the cost is zero even for complexes because in most cases for which
+    // the cost is used, conjugation turns to be a no-op. Some examples:
+    //   cost(a*conj(b)) == cost(a*b)
+    //   cost(a+conj(b)) == cost(a+b)
+    //   <etc.
+    // If we don't set it to zero, then:
+    //   A.conjugate().lazyProduct(B.conjugate())
+    // will bake its operands. We definitely don't want that!
     PacketAccess = packet_traits<Scalar>::HasConj
   };
 };
@@ -130,7 +138,7 @@ struct functor_traits<scalar_conjugate_op<Scalar> >
 template<typename Scalar> struct scalar_arg_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_arg_op)
   typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using numext::arg; return arg(a); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::arg(a); }
   template<typename Packet>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
   { return internal::parg(a); }
@@ -158,6 +166,44 @@ 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 arithmetically shift a scalar right by a number of bits
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::shift_right()
+  */
+template<typename Scalar, int N>
+struct scalar_shift_right_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_shift_right_op)
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const
+  { return a >> N; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::parithmetic_shift_right<N>(a); }
+};
+template<typename Scalar, int N>
+struct functor_traits<scalar_shift_right_op<Scalar,N> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = packet_traits<Scalar>::HasShift }; };
+
+/** \internal
+  * \brief Template functor to logically shift a scalar left by a number of bits
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::shift_left()
+  */
+template<typename Scalar, int N>
+struct scalar_shift_left_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_shift_left_op)
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const
+  { return a << N; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::plogical_shift_left<N>(a); }
+};
+template<typename Scalar, int N>
+struct functor_traits<scalar_shift_left_op<Scalar,N> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = packet_traits<Scalar>::HasShift }; };
+
 /** \internal
   * \brief Template functor to extract the real part of a complex
   *
@@ -341,7 +387,7 @@ struct functor_traits<scalar_log1p_op<Scalar> > {
   */
 template<typename Scalar> struct scalar_log10_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_log10_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD_MATH(log10) return log10(a); }
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD(log10) return log10(a); }
   template <typename Packet>
   EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog10(a); }
 };
@@ -349,6 +395,22 @@ template<typename Scalar>
 struct functor_traits<scalar_log10_op<Scalar> >
 { enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog10 }; };
 
+/** \internal
+  *
+  * \brief Template functor to compute the base-2 logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::log2()
+  */
+template<typename Scalar> struct scalar_log2_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log2_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(EIGEN_LOG2E) * numext::log(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog2(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log2_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog }; };
+
 /** \internal
   * \brief Template functor to compute the square root of a scalar
   * \sa class CwiseUnaryOp, Cwise::sqrt()
@@ -376,13 +438,25 @@ struct functor_traits<scalar_sqrt_op<Scalar> > {
   };
 };
 
+// Boolean specialization to eliminate -Wimplicit-conversion-floating-point-to-bool warnings.
+template<> struct scalar_sqrt_op<bool> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline bool operator() (const bool& a) const { return a; }
+  template <typename Packet>
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return a; }
+};
+template <>
+struct functor_traits<scalar_sqrt_op<bool> > {
+  enum { Cost = 1, PacketAccess = packet_traits<bool>::Vectorizable };
+};
+
 /** \internal
   * \brief Template functor to compute the reciprocal square root of a scalar
   * \sa class CwiseUnaryOp, Cwise::rsqrt()
   */
 template<typename Scalar> struct scalar_rsqrt_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_rsqrt_op)
-  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(1)/numext::sqrt(a); }
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::rsqrt(a); }
   template <typename Packet>
   EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::prsqrt(a); }
 };
@@ -548,6 +622,23 @@ struct functor_traits<scalar_tanh_op<Scalar> > {
   };
 };
 
+#if EIGEN_HAS_CXX11_MATH
+/** \internal
+  * \brief Template functor to compute the atanh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::atanh()
+  */
+template <typename Scalar>
+struct scalar_atanh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_atanh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::atanh(a); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_atanh_op<Scalar> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+#endif
+
 /** \internal
   * \brief Template functor to compute the sinh of a scalar
   * \sa class CwiseUnaryOp, ArrayBase::sinh()
@@ -567,6 +658,23 @@ struct functor_traits<scalar_sinh_op<Scalar> >
   };
 };
 
+#if EIGEN_HAS_CXX11_MATH
+/** \internal
+  * \brief Template functor to compute the asinh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::asinh()
+  */
+template <typename Scalar>
+struct scalar_asinh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_asinh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::asinh(a); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_asinh_op<Scalar> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+#endif
+
 /** \internal
   * \brief Template functor to compute the cosh of a scalar
   * \sa class CwiseUnaryOp, ArrayBase::cosh()
@@ -586,6 +694,23 @@ struct functor_traits<scalar_cosh_op<Scalar> >
   };
 };
 
+#if EIGEN_HAS_CXX11_MATH
+/** \internal
+  * \brief Template functor to compute the acosh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::acosh()
+  */
+template <typename Scalar>
+struct scalar_acosh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_acosh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::acosh(a); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_acosh_op<Scalar> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+#endif
+
 /** \internal
   * \brief Template functor to compute the inverse of a scalar
   * \sa class CwiseUnaryOp, Cwise::inverse()
@@ -598,9 +723,13 @@ struct scalar_inverse_op {
   EIGEN_DEVICE_FUNC 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 }; };
+template <typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasDiv,
+    Cost = scalar_div_cost<Scalar, PacketAccess>::value
+  };
+};
 
 /** \internal
   * \brief Template functor to compute the square of a scalar
@@ -618,6 +747,19 @@ template<typename Scalar>
 struct functor_traits<scalar_square_op<Scalar> >
 { enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
 
+// Boolean specialization to avoid -Wint-in-bool-context warnings on GCC.
+template<>
+struct scalar_square_op<bool> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline bool operator() (const bool& a) const { return a; }
+  template<typename Packet>
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return a; }
+};
+template<>
+struct functor_traits<scalar_square_op<bool> >
+{ enum { Cost = 0, PacketAccess = packet_traits<bool>::Vectorizable }; };
+
 /** \internal
   * \brief Template functor to compute the cube of a scalar
   * \sa class CwiseUnaryOp, Cwise::cube()
@@ -634,6 +776,19 @@ template<typename Scalar>
 struct functor_traits<scalar_cube_op<Scalar> >
 { enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
 
+// Boolean specialization to avoid -Wint-in-bool-context warnings on GCC.
+template<>
+struct scalar_cube_op<bool> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline bool operator() (const bool& a) const { return a; }
+  template<typename Packet>
+  EIGEN_DEPRECATED EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return a; }
+};
+template<>
+struct functor_traits<scalar_cube_op<bool> >
+{ enum { Cost = 0, PacketAccess = packet_traits<bool>::Vectorizable }; };
+
 /** \internal
   * \brief Template functor to compute the rounded value of a scalar
   * \sa class CwiseUnaryOp, ArrayBase::round()
@@ -672,6 +827,25 @@ struct functor_traits<scalar_floor_op<Scalar> >
   };
 };
 
+/** \internal
+  * \brief Template functor to compute the rounded (with current rounding mode)  value of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::rint()
+  */
+template<typename Scalar> struct scalar_rint_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_rint_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::rint(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::print(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_rint_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasRint
+  };
+};
+
 /** \internal
   * \brief Template functor to compute the ceil of a scalar
   * \sa class CwiseUnaryOp, ArrayBase::ceil()
@@ -699,9 +873,9 @@ template<typename Scalar> struct scalar_isnan_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_isnan_op)
   typedef bool result_type;
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const {
-#if defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
     return numext::isnan(a);
-#else  
+#else
     return (numext::isnan)(a);
 #endif
   }
@@ -723,7 +897,7 @@ template<typename Scalar> struct scalar_isinf_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_isinf_op)
   typedef bool result_type;
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const {
-#if defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
     return numext::isinf(a);
 #else
     return (numext::isinf)(a);
@@ -747,7 +921,7 @@ template<typename Scalar> struct scalar_isfinite_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_isfinite_op)
   typedef bool result_type;
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const {
-#if defined(__SYCL_DEVICE_ONLY__)
+#if defined(SYCL_DEVICE_ONLY)
     return numext::isfinite(a);
 #else
     return (numext::isfinite)(a);
@@ -784,9 +958,9 @@ struct functor_traits<scalar_boolean_not_op<Scalar> > {
   * \brief Template functor to compute the signum of a scalar
   * \sa class CwiseUnaryOp, Cwise::sign()
   */
-template<typename Scalar,bool iscpx=(NumTraits<Scalar>::IsComplex!=0) > struct scalar_sign_op;
+template<typename Scalar,bool is_complex=(NumTraits<Scalar>::IsComplex!=0), bool is_integer=(NumTraits<Scalar>::IsInteger!=0) > struct scalar_sign_op;
 template<typename Scalar>
-struct scalar_sign_op<Scalar,false> {
+struct scalar_sign_op<Scalar, false, true> {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
   EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
   {
@@ -796,8 +970,21 @@ struct scalar_sign_op<Scalar,false> {
   //template <typename Packet>
   //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
 };
+
 template<typename Scalar>
-struct scalar_sign_op<Scalar,true> {
+struct scalar_sign_op<Scalar, false, false> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+  {
+    return (numext::isnan)(a) ? a : Scalar( (a>Scalar(0)) - (a<Scalar(0)) );
+  }
+  //TODO
+  //template <typename Packet>
+  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+
+template<typename Scalar, bool is_integer>
+struct scalar_sign_op<Scalar,true, is_integer> {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
   EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
   {
@@ -806,7 +993,7 @@ struct scalar_sign_op<Scalar,true> {
     if (aa==real_type(0))
       return Scalar(0);
     aa = real_type(1)/aa;
-    return Scalar(real(a)*aa, imag(a)*aa );
+    return Scalar(a.real()*aa, a.imag()*aa );
   }
   //TODO
   //template <typename Packet>
@@ -815,7 +1002,7 @@ struct scalar_sign_op<Scalar,true> {
 template<typename Scalar>
 struct functor_traits<scalar_sign_op<Scalar> >
 { enum {
-    Cost = 
+    Cost =
         NumTraits<Scalar>::IsComplex
         ? ( 8*NumTraits<Scalar>::MulCost  ) // roughly
         : ( 3*NumTraits<Scalar>::AddCost),
@@ -823,6 +1010,120 @@ struct functor_traits<scalar_sign_op<Scalar> >
   };
 };
 
+/** \internal
+  * \brief Template functor to compute the logistic function of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::logistic()
+  */
+template <typename T>
+struct scalar_logistic_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_logistic_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T operator()(const T& x) const {
+    return packetOp(x);
+  }
+
+  template <typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Packet packetOp(const Packet& x) const {
+    const Packet one = pset1<Packet>(T(1));
+    return pdiv(one, padd(one, pexp(pnegate(x))));
+  }
+};
+
+#ifndef EIGEN_GPU_COMPILE_PHASE
+/** \internal
+  * \brief Template specialization of the logistic function for float.
+  *
+  *  Uses just a 9/10-degree rational interpolant which
+  *  interpolates 1/(1+exp(-x)) - 0.5 up to a couple of ulps in the range
+  *  [-9, 18]. Below -9 we use the more accurate approximation
+  *  1/(1+exp(-x)) ~= exp(x), and above 18 the logistic function is 1 withing
+  *  one ulp. The shifted logistic is interpolated because it was easier to
+  *  make the fit converge.
+  *
+  */
+template <>
+struct scalar_logistic_op<float> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_logistic_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator()(const float& x) const {
+    return packetOp(x);
+  }
+
+  template <typename Packet> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Packet packetOp(const Packet& _x) const {
+    const Packet cutoff_lower = pset1<Packet>(-9.f);
+    const Packet lt_mask = pcmp_lt<Packet>(_x, cutoff_lower);
+    const bool any_small = predux_any(lt_mask);
+
+    // The upper cut-off is the smallest x for which the rational approximation evaluates to 1.
+    // Choosing this value saves us a few instructions clamping the results at the end.
+#ifdef EIGEN_VECTORIZE_FMA
+    const Packet cutoff_upper = pset1<Packet>(15.7243833541870117f);
+#else
+    const Packet cutoff_upper = pset1<Packet>(15.6437711715698242f);
+#endif
+    const Packet x = pmin(_x, cutoff_upper);
+
+    // The monomial coefficients of the numerator polynomial (odd).
+    const Packet alpha_1 = pset1<Packet>(2.48287947061529e-01f);
+    const Packet alpha_3 = pset1<Packet>(8.51377133304701e-03f);
+    const Packet alpha_5 = pset1<Packet>(6.08574864600143e-05f);
+    const Packet alpha_7 = pset1<Packet>(1.15627324459942e-07f);
+    const Packet alpha_9 = pset1<Packet>(4.37031012579801e-11f);
+
+    // The monomial coefficients of the denominator polynomial (even).
+    const Packet beta_0 = pset1<Packet>(9.93151921023180e-01f);
+    const Packet beta_2 = pset1<Packet>(1.16817656904453e-01f);
+    const Packet beta_4 = pset1<Packet>(1.70198817374094e-03f);
+    const Packet beta_6 = pset1<Packet>(6.29106785017040e-06f);
+    const Packet beta_8 = pset1<Packet>(5.76102136993427e-09f);
+    const Packet beta_10 = pset1<Packet>(6.10247389755681e-13f);
+
+    // Since the polynomials are odd/even, we need x^2.
+    const Packet x2 = pmul(x, x);
+
+    // Evaluate the numerator polynomial p.
+    Packet p = pmadd(x2, alpha_9, alpha_7);
+    p = pmadd(x2, p, alpha_5);
+    p = pmadd(x2, p, alpha_3);
+    p = pmadd(x2, p, alpha_1);
+    p = pmul(x, p);
+
+    // Evaluate the denominator polynomial q.
+    Packet q = pmadd(x2, beta_10, beta_8);
+    q = pmadd(x2, q, beta_6);
+    q = pmadd(x2, q, beta_4);
+    q = pmadd(x2, q, beta_2);
+    q = pmadd(x2, q, beta_0);
+    // Divide the numerator by the denominator and shift it up.
+    const Packet logistic = padd(pdiv(p, q), pset1<Packet>(0.5f));
+    if (EIGEN_PREDICT_FALSE(any_small)) {
+      const Packet exponential = pexp(_x);
+      return pselect(lt_mask, exponential, logistic);
+    } else {
+      return logistic;
+    }
+  }
+};
+#endif  // #ifndef EIGEN_GPU_COMPILE_PHASE
+
+template <typename T>
+struct functor_traits<scalar_logistic_op<T> > {
+  enum {
+    // The cost estimate for float here here is for the common(?) case where
+    // all arguments are greater than -9.
+    Cost = scalar_div_cost<T, packet_traits<T>::HasDiv>::value +
+           (internal::is_same<T, float>::value
+                ? NumTraits<T>::AddCost * 15 + NumTraits<T>::MulCost * 11
+                : NumTraits<T>::AddCost * 2 +
+                      functor_traits<scalar_exp_op<T> >::Cost),
+    PacketAccess =
+        packet_traits<T>::HasAdd && packet_traits<T>::HasDiv &&
+        (internal::is_same<T, float>::value
+             ? packet_traits<T>::HasMul && packet_traits<T>::HasMax &&
+                   packet_traits<T>::HasMin
+             : packet_traits<T>::HasNegate && packet_traits<T>::HasExp)
+  };
+};
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index 45230bce5e..9db24a306b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -15,7 +15,13 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
+enum GEBPPacketSizeType {
+  GEBPPacketFull = 0,
+  GEBPPacketHalf,
+  GEBPPacketQuarter
+};
+
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false, int Arch=Architecture::Target, int _PacketSize=GEBPPacketFull>
 class gebp_traits;
 
 
@@ -25,16 +31,42 @@ inline std::ptrdiff_t manage_caching_sizes_helper(std::ptrdiff_t a, std::ptrdiff
   return a<=0 ? b : a;
 }
 
+#if defined(EIGEN_DEFAULT_L1_CACHE_SIZE)
+#define EIGEN_SET_DEFAULT_L1_CACHE_SIZE(val) EIGEN_DEFAULT_L1_CACHE_SIZE
+#else
+#define EIGEN_SET_DEFAULT_L1_CACHE_SIZE(val) val
+#endif // defined(EIGEN_DEFAULT_L1_CACHE_SIZE)
+
+#if defined(EIGEN_DEFAULT_L2_CACHE_SIZE)
+#define EIGEN_SET_DEFAULT_L2_CACHE_SIZE(val) EIGEN_DEFAULT_L2_CACHE_SIZE
+#else
+#define EIGEN_SET_DEFAULT_L2_CACHE_SIZE(val) val
+#endif // defined(EIGEN_DEFAULT_L2_CACHE_SIZE)
+
+#if defined(EIGEN_DEFAULT_L3_CACHE_SIZE)
+#define EIGEN_SET_DEFAULT_L3_CACHE_SIZE(val) EIGEN_DEFAULT_L3_CACHE_SIZE
+#else
+#define EIGEN_SET_DEFAULT_L3_CACHE_SIZE(val) val
+#endif // defined(EIGEN_DEFAULT_L3_CACHE_SIZE)
+  
 #if EIGEN_ARCH_i386_OR_x86_64
-const std::ptrdiff_t defaultL1CacheSize = 32*1024;
-const std::ptrdiff_t defaultL2CacheSize = 256*1024;
-const std::ptrdiff_t defaultL3CacheSize = 2*1024*1024;
+const std::ptrdiff_t defaultL1CacheSize = EIGEN_SET_DEFAULT_L1_CACHE_SIZE(32*1024);
+const std::ptrdiff_t defaultL2CacheSize = EIGEN_SET_DEFAULT_L2_CACHE_SIZE(256*1024);
+const std::ptrdiff_t defaultL3CacheSize = EIGEN_SET_DEFAULT_L3_CACHE_SIZE(2*1024*1024);
+#elif EIGEN_ARCH_PPC
+const std::ptrdiff_t defaultL1CacheSize = EIGEN_SET_DEFAULT_L1_CACHE_SIZE(64*1024);
+const std::ptrdiff_t defaultL2CacheSize = EIGEN_SET_DEFAULT_L2_CACHE_SIZE(512*1024);
+const std::ptrdiff_t defaultL3CacheSize = EIGEN_SET_DEFAULT_L3_CACHE_SIZE(4*1024*1024);
 #else
-const std::ptrdiff_t defaultL1CacheSize = 16*1024;
-const std::ptrdiff_t defaultL2CacheSize = 512*1024;
-const std::ptrdiff_t defaultL3CacheSize = 512*1024;
+const std::ptrdiff_t defaultL1CacheSize = EIGEN_SET_DEFAULT_L1_CACHE_SIZE(16*1024);
+const std::ptrdiff_t defaultL2CacheSize = EIGEN_SET_DEFAULT_L2_CACHE_SIZE(512*1024);
+const std::ptrdiff_t defaultL3CacheSize = EIGEN_SET_DEFAULT_L3_CACHE_SIZE(512*1024);
 #endif
 
+#undef EIGEN_SET_DEFAULT_L1_CACHE_SIZE
+#undef EIGEN_SET_DEFAULT_L2_CACHE_SIZE
+#undef EIGEN_SET_DEFAULT_L3_CACHE_SIZE
+
 /** \internal */
 struct CacheSizes {
   CacheSizes(): m_l1(-1),m_l2(-1),m_l3(-1) {
@@ -50,7 +82,6 @@ struct CacheSizes {
   std::ptrdiff_t m_l3;
 };
 
-
 /** \internal */
 inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1, std::ptrdiff_t* l2, std::ptrdiff_t* l3)
 {
@@ -101,6 +132,16 @@ void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index n
   // at the register level. This small horizontal panel has to stay within L1 cache.
   std::ptrdiff_t l1, l2, l3;
   manage_caching_sizes(GetAction, &l1, &l2, &l3);
+  #ifdef EIGEN_VECTORIZE_AVX512
+  // We need to find a rationale for that, but without this adjustment,
+  // performance with AVX512 is pretty bad, like -20% slower.
+  // One reason is that with increasing packet-size, the blocking size k
+  // has to become pretty small if we want that 1 lhs panel fit within L1.
+  // For instance, with the 3pX4 kernel and double, the size of the lhs+rhs panels are:
+  //   k*(3*64 + 4*8) Bytes, with l1=32kBytes, and k%8=0, we have k=144.
+  // This is quite small for a good reuse of the accumulation registers.
+  l1 *= 4;
+  #endif
 
   if (num_threads > 1) {
     typedef typename Traits::ResScalar ResScalar;
@@ -115,7 +156,8 @@ void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index n
     // registers. However once the latency is hidden there is no point in
     // increasing the value of k, so we'll cap it at 320 (value determined
     // experimentally).
-    const Index k_cache = (numext::mini<Index>)((l1-ksub)/kdiv, 320);
+    // To avoid that k vanishes, we make k_cache at least as big as kr
+    const Index k_cache = numext::maxi<Index>(kr, (numext::mini<Index>)((l1-ksub)/kdiv, 320));
     if (k_cache < k) {
       k = k_cache - (k_cache % kr);
       eigen_internal_assert(k > 0);
@@ -307,35 +349,60 @@ inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_
   computeProductBlockingSizes<LhsScalar,RhsScalar,1,Index>(k, m, n, num_threads);
 }
 
-#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
-  #define CJMADD(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_ALWAYS_INLINE 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_ALWAYS_INLINE 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 RhsPacket, typename RhsPacketx4, int registers_taken>
+struct RhsPanelHelper {
+ private:
+  static const int remaining_registers = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS - registers_taken;
+ public:
+  typedef typename conditional<remaining_registers>=4, RhsPacketx4, RhsPacket>::type type;
+};
 
-  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);
-  }
+template <typename Packet>
+struct QuadPacket
+{
+  Packet B_0, B1, B2, B3;
+  const Packet& get(const FixedInt<0>&) const { return B_0; }
+  const Packet& get(const FixedInt<1>&) const { return B1; }
+  const Packet& get(const FixedInt<2>&) const { return B2; }
+  const Packet& get(const FixedInt<3>&) const { return B3; }
+};
 
-  #define CJMADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
-//   #define CJMADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
-#endif
+template <int N, typename T1, typename T2, typename T3>
+struct packet_conditional { typedef T3 type; };
+
+template <typename T1, typename T2, typename T3>
+struct packet_conditional<GEBPPacketFull, T1, T2, T3> { typedef T1 type; };
+
+template <typename T1, typename T2, typename T3>
+struct packet_conditional<GEBPPacketHalf, T1, T2, T3> { typedef T2 type; };
+
+#define PACKET_DECL_COND_PREFIX(prefix, name, packet_size)         \
+  typedef typename packet_conditional<packet_size,                 \
+                                      typename packet_traits<name ## Scalar>::type, \
+                                      typename packet_traits<name ## Scalar>::half, \
+                                      typename unpacket_traits<typename packet_traits<name ## Scalar>::half>::half>::type \
+  prefix ## name ## Packet
+
+#define PACKET_DECL_COND(name, packet_size)                        \
+  typedef typename packet_conditional<packet_size,                 \
+                                      typename packet_traits<name ## Scalar>::type, \
+                                      typename packet_traits<name ## Scalar>::half, \
+                                      typename unpacket_traits<typename packet_traits<name ## Scalar>::half>::half>::type \
+  name ## Packet
+
+#define PACKET_DECL_COND_SCALAR_PREFIX(prefix, packet_size)        \
+  typedef typename packet_conditional<packet_size,                 \
+                                      typename packet_traits<Scalar>::type, \
+                                      typename packet_traits<Scalar>::half, \
+                                      typename unpacket_traits<typename packet_traits<Scalar>::half>::half>::type \
+  prefix ## ScalarPacket
+
+#define PACKET_DECL_COND_SCALAR(packet_size)                       \
+  typedef typename packet_conditional<packet_size,                 \
+                                      typename packet_traits<Scalar>::type, \
+                                      typename packet_traits<Scalar>::half, \
+                                      typename unpacket_traits<typename packet_traits<Scalar>::half>::half>::type \
+  ScalarPacket
 
 /* Vectorization logic
  *  real*real: unpack rhs to constant packets, ...
@@ -347,7 +414,7 @@ inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_
  *  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>
+template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs, bool _ConjRhs, int Arch, int _PacketSize>
 class gebp_traits
 {
 public:
@@ -355,13 +422,17 @@ class gebp_traits
   typedef _RhsScalar RhsScalar;
   typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
+  PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
+
   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,
+    Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
+    LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
+    RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
+    ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
 
@@ -370,10 +441,12 @@ class gebp_traits
 
     // register block size along the M direction (currently, this one cannot be modified)
     default_mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
-#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
-    // we assume 16 registers
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX) \
+    && ((!EIGEN_COMP_MSVC) || (EIGEN_COMP_MSVC>=1914))
+    // we assume 16 registers or more
     // See bug 992, if the scalar type is not vectorizable but that EIGEN_HAS_SINGLE_INSTRUCTION_MADD is defined,
     // then using 3*LhsPacketSize triggers non-implemented paths in syrk.
+    // Bug 1515: MSVC prior to v19.14 yields to register spilling.
     mr = Vectorizable ? 3*LhsPacketSize : default_mr,
 #else
     mr = default_mr,
@@ -383,37 +456,41 @@ class gebp_traits
     RhsProgress = 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;
+  typedef LhsPacket LhsPacket4Packing;
 
+  typedef QuadPacket<RhsPacket> RhsPacketx4;
   typedef ResPacket AccPacket;
   
   EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
   {
     p = pset1<ResPacket>(ResScalar(0));
   }
-  
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
-  {
-    pbroadcast4(b, b0, b1, b2, b3);
-  }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     pbroadcast2(b, b0, b1);
-//   }
-  
+
   template<typename RhsPacketType>
   EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
   {
     dest = pset1<RhsPacketType>(*b);
   }
-  
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
+  {
+    pbroadcast4(b, dest.B_0, dest.B1, dest.B2, dest.B3);
+  }
+
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, RhsPacketType& dest) const
+  {
+    loadRhs(b, dest);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const
+  {
+  }
+
   EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
   {
     dest = ploadquad<RhsPacket>(b);
@@ -431,8 +508,8 @@ class gebp_traits
     dest = ploadu<LhsPacketType>(a);
   }
 
-  template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
-  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, AccPacketType& tmp) const
+  template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, RhsPacketType& tmp, const LaneIdType&) const
   {
     conj_helper<LhsPacketType,RhsPacketType,ConjLhs,ConjRhs> cj;
     // It would be a lot cleaner to call pmadd all the time. Unfortunately if we
@@ -447,6 +524,12 @@ class gebp_traits
 #endif
   }
 
+  template<typename LhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketx4& b, AccPacketType& c, RhsPacket& tmp, const LaneIdType& lane) const
+  {
+    madd(a, b.get(lane), c, tmp, lane);
+  }
+
   EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
   {
     r = pmadd(c,alpha,r);
@@ -460,21 +543,25 @@ class gebp_traits
 
 };
 
-template<typename RealScalar, bool _ConjLhs>
-class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
+template<typename RealScalar, bool _ConjLhs, int Arch, int _PacketSize>
+class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false, Arch, _PacketSize>
 {
 public:
   typedef std::complex<RealScalar> LhsScalar;
   typedef RealScalar RhsScalar;
   typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
+  PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
+
   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,
+    Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
+    LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
+    RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
+    ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
     nr = 4,
@@ -489,13 +576,12 @@ class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
     RhsProgress = 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;
+  typedef LhsPacket LhsPacket4Packing;
+
+  typedef QuadPacket<RhsPacket> RhsPacketx4;
 
   typedef ResPacket AccPacket;
 
@@ -504,42 +590,64 @@ class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
   {
-    dest = pset1<RhsPacket>(*b);
+    dest = pset1<RhsPacketType>(*b);
+  }
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
+  {
+    pbroadcast4(b, dest.B_0, dest.B1, dest.B2, dest.B3);
   }
+
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, RhsPacketType& dest) const
+  {
+    loadRhs(b, dest);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const
+  {}
   
   EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
   {
-    dest = pset1<RhsPacket>(*b);
+    loadRhsQuad_impl(b,dest, typename conditional<RhsPacketSize==16,true_type,false_type>::type());
   }
 
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  EIGEN_STRONG_INLINE void loadRhsQuad_impl(const RhsScalar* b, RhsPacket& dest, const true_type&) const
   {
-    dest = pload<LhsPacket>(a);
+    // FIXME we can do better!
+    // what we want here is a ploadheight
+    RhsScalar tmp[4] = {b[0],b[0],b[1],b[1]};
+    dest = ploadquad<RhsPacket>(tmp);
   }
 
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  EIGEN_STRONG_INLINE void loadRhsQuad_impl(const RhsScalar* b, RhsPacket& dest, const false_type&) const
   {
-    dest = ploadu<LhsPacket>(a);
+    eigen_internal_assert(RhsPacketSize<=8);
+    dest = pset1<RhsPacket>(*b);
   }
 
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
   {
-    pbroadcast4(b, b0, b1, b2, b3);
+    dest = pload<LhsPacket>(a);
   }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     pbroadcast2(b, b0, b1);
-//   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
+  {
+    dest = ploadu<LhsPacketType>(a);
+  }
+
+  template <typename LhsPacketType, typename RhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, RhsPacketType& tmp, const LaneIdType&) 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
+  template <typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, RhsPacketType& tmp, const true_type&) const
   {
 #ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
     EIGEN_UNUSED_VARIABLE(tmp);
@@ -554,13 +662,20 @@ class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
     c += a * b;
   }
 
-  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  template<typename LhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketx4& b, AccPacketType& c, RhsPacket& tmp, const LaneIdType& lane) const
   {
+    madd(a, b.get(lane), c, tmp, lane);
+  }
+
+  template <typename ResPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void acc(const AccPacketType& c, const ResPacketType& alpha, ResPacketType& r) const
+  {
+    conj_helper<ResPacketType,ResPacketType,ConjLhs,false> cj;
     r = cj.pmadd(c,alpha,r);
   }
 
 protected:
-  conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
 };
 
 template<typename Packet>
@@ -579,13 +694,57 @@ DoublePacket<Packet> padd(const DoublePacket<Packet> &a, const DoublePacket<Pack
   return res;
 }
 
+// note that for DoublePacket<RealPacket> the "4" in "downto4"
+// corresponds to the number of complexes, so it means "8"
+// it terms of real coefficients.
+
 template<typename Packet>
-const DoublePacket<Packet>& predux_downto4(const DoublePacket<Packet> &a)
+const DoublePacket<Packet>&
+predux_half_dowto4(const DoublePacket<Packet> &a,
+                   typename enable_if<unpacket_traits<Packet>::size<=8>::type* = 0)
 {
   return a;
 }
 
-template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typedef DoublePacket<Packet> half; };
+template<typename Packet>
+DoublePacket<typename unpacket_traits<Packet>::half>
+predux_half_dowto4(const DoublePacket<Packet> &a,
+                   typename enable_if<unpacket_traits<Packet>::size==16>::type* = 0)
+{
+  // yes, that's pretty hackish :(
+  DoublePacket<typename unpacket_traits<Packet>::half> res;
+  typedef std::complex<typename unpacket_traits<Packet>::type> Cplx;
+  typedef typename packet_traits<Cplx>::type CplxPacket;
+  res.first  = predux_half_dowto4(CplxPacket(a.first)).v;
+  res.second = predux_half_dowto4(CplxPacket(a.second)).v;
+  return res;
+}
+
+// same here, "quad" actually means "8" in terms of real coefficients
+template<typename Scalar, typename RealPacket>
+void loadQuadToDoublePacket(const Scalar* b, DoublePacket<RealPacket>& dest,
+                            typename enable_if<unpacket_traits<RealPacket>::size<=8>::type* = 0)
+{
+  dest.first  = pset1<RealPacket>(numext::real(*b));
+  dest.second = pset1<RealPacket>(numext::imag(*b));
+}
+
+template<typename Scalar, typename RealPacket>
+void loadQuadToDoublePacket(const Scalar* b, DoublePacket<RealPacket>& dest,
+                            typename enable_if<unpacket_traits<RealPacket>::size==16>::type* = 0)
+{
+  // yes, that's pretty hackish too :(
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  RealScalar r[4] = {numext::real(b[0]), numext::real(b[0]), numext::real(b[1]), numext::real(b[1])};
+  RealScalar i[4] = {numext::imag(b[0]), numext::imag(b[0]), numext::imag(b[1]), numext::imag(b[1])};
+  dest.first  = ploadquad<RealPacket>(r);
+  dest.second = ploadquad<RealPacket>(i);
+}
+
+
+template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > {
+  typedef DoublePacket<typename unpacket_traits<Packet>::half> half;
+};
 // template<typename Packet>
 // DoublePacket<Packet> pmadd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
 // {
@@ -595,8 +754,8 @@ template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typede
 //   return res;
 // }
 
-template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
-class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
+template<typename RealScalar, bool _ConjLhs, bool _ConjRhs, int Arch, int _PacketSize>
+class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs, Arch, _PacketSize >
 {
 public:
   typedef std::complex<RealScalar>  Scalar;
@@ -604,15 +763,21 @@ class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs,
   typedef std::complex<RealScalar>  RhsScalar;
   typedef std::complex<RealScalar>  ResScalar;
   
+  PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
+  PACKET_DECL_COND(Real, _PacketSize);
+  PACKET_DECL_COND_SCALAR(_PacketSize);
+
   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,
-    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
-    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+    Vectorizable = unpacket_traits<RealPacket>::vectorizable
+                && unpacket_traits<ScalarPacket>::vectorizable,
+    ResPacketSize   = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
+    LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
+    RhsPacketSize = Vectorizable ? unpacket_traits<RhsScalar>::size : 1,
+    RealPacketSize  = Vectorizable ? unpacket_traits<RealPacket>::size : 1,
 
     // FIXME: should depend on NumberOfRegisters
     nr = 4,
@@ -622,14 +787,16 @@ class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs,
     RhsProgress = 1
   };
   
-  typedef typename packet_traits<RealScalar>::type RealPacket;
-  typedef typename packet_traits<Scalar>::type     ScalarPacket;
-  typedef DoublePacket<RealPacket> DoublePacketType;
+  typedef DoublePacket<RealPacket>                 DoublePacketType;
 
+  typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type LhsPacket4Packing;
   typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
   typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type RhsPacket;
   typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
   typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type AccPacket;
+
+  // this actualy holds 8 packets!
+  typedef QuadPacket<RhsPacket> RhsPacketx4;
   
   EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
 
@@ -640,51 +807,49 @@ class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs,
   }
 
   // Scalar path
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ScalarPacket& dest) const
   {
-    dest = pset1<ResPacket>(*b);
+    dest = pset1<ScalarPacket>(*b);
   }
 
   // Vectorized path
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacketType& dest) const
+  template<typename RealPacketType>
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacket<RealPacketType>& dest) const
   {
-    dest.first  = pset1<RealPacket>(real(*b));
-    dest.second = pset1<RealPacket>(imag(*b));
+    dest.first  = pset1<RealPacketType>(numext::real(*b));
+    dest.second = pset1<RealPacketType>(numext::imag(*b));
   }
-  
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
   {
-    loadRhs(b,dest);
+    loadRhs(b, dest.B_0);
+    loadRhs(b + 1, dest.B1);
+    loadRhs(b + 2, dest.B2);
+    loadRhs(b + 3, dest.B3);
   }
-  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
+
+  // Scalar path
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, ScalarPacket& dest) const
   {
-    eigen_internal_assert(unpacket_traits<ScalarPacket>::size<=4);
-    loadRhs(b,dest);
+    loadRhs(b, dest);
   }
-  
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+
+  // Vectorized path
+  template<typename RealPacketType>
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, DoublePacket<RealPacketType>& dest) const
   {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
-    loadRhs(b+2, b2);
-    loadRhs(b+3, b3);
+    loadRhs(b, dest);
   }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const {}
   
-  // Vectorized path
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, DoublePacketType& b0, DoublePacketType& b1)
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
   {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
+    loadRhs(b,dest);
   }
-  
-  // Scalar path
-  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsScalar& b0, RhsScalar& b1)
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
   {
-    // FIXME not sure that's the best way to implement it!
-    loadRhs(b+0, b0);
-    loadRhs(b+1, b1);
+    loadQuadToDoublePacket(b,dest);
   }
 
   // nothing special here
@@ -693,47 +858,59 @@ class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs,
     dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
   }
 
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = ploadu<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+    dest = ploadu<LhsPacketType>((const typename unpacket_traits<LhsPacketType>::type*)(a));
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacketType& c, RhsPacket& /*tmp*/) const
+  template<typename LhsPacketType, typename RhsPacketType, typename ResPacketType, typename TmpType, typename LaneIdType>
+  EIGEN_STRONG_INLINE
+  typename enable_if<!is_same<RhsPacketType,RhsPacketx4>::value>::type
+  madd(const LhsPacketType& a, const RhsPacketType& b, DoublePacket<ResPacketType>& c, TmpType& /*tmp*/, const LaneIdType&) 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
+  template<typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, ResPacket& c, RhsPacket& /*tmp*/, const LaneIdType&) const
   {
     c = cj.pmadd(a,b,c);
   }
+
+  template<typename LhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketx4& b, AccPacketType& c, RhsPacket& tmp, const LaneIdType& lane) const
+  {
+    madd(a, b.get(lane), c, tmp, lane);
+  }
   
   EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
   
-  EIGEN_STRONG_INLINE void acc(const DoublePacketType& c, const ResPacket& alpha, ResPacket& r) const
+  template<typename RealPacketType, typename ResPacketType>
+  EIGEN_STRONG_INLINE void acc(const DoublePacket<RealPacketType>& c, const ResPacketType& alpha, ResPacketType& r) const
   {
     // assemble c
-    ResPacket tmp;
+    ResPacketType tmp;
     if((!ConjLhs)&&(!ConjRhs))
     {
-      tmp = pcplxflip(pconj(ResPacket(c.second)));
-      tmp = padd(ResPacket(c.first),tmp);
+      tmp = pcplxflip(pconj(ResPacketType(c.second)));
+      tmp = padd(ResPacketType(c.first),tmp);
     }
     else if((!ConjLhs)&&(ConjRhs))
     {
-      tmp = pconj(pcplxflip(ResPacket(c.second)));
-      tmp = padd(ResPacket(c.first),tmp);
+      tmp = pconj(pcplxflip(ResPacketType(c.second)));
+      tmp = padd(ResPacketType(c.first),tmp);
     }
     else if((ConjLhs)&&(!ConjRhs))
     {
-      tmp = pcplxflip(ResPacket(c.second));
-      tmp = padd(pconj(ResPacket(c.first)),tmp);
+      tmp = pcplxflip(ResPacketType(c.second));
+      tmp = padd(pconj(ResPacketType(c.first)),tmp);
     }
     else if((ConjLhs)&&(ConjRhs))
     {
-      tmp = pcplxflip(ResPacket(c.second));
-      tmp = psub(pconj(ResPacket(c.first)),tmp);
+      tmp = pcplxflip(ResPacketType(c.second));
+      tmp = psub(pconj(ResPacketType(c.first)),tmp);
     }
     
     r = pmadd(tmp,alpha,r);
@@ -743,8 +920,8 @@ class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs,
   conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
 };
 
-template<typename RealScalar, bool _ConjRhs>
-class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
+template<typename RealScalar, bool _ConjRhs, int Arch, int _PacketSize>
+class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs, Arch, _PacketSize >
 {
 public:
   typedef std::complex<RealScalar>  Scalar;
@@ -752,14 +929,25 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
   typedef Scalar      RhsScalar;
   typedef Scalar      ResScalar;
 
+  PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Real, _PacketSize);
+  PACKET_DECL_COND_SCALAR_PREFIX(_, _PacketSize);
+
+#undef PACKET_DECL_COND_SCALAR_PREFIX
+#undef PACKET_DECL_COND_PREFIX
+#undef PACKET_DECL_COND_SCALAR
+#undef PACKET_DECL_COND
+
   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,
+    Vectorizable = unpacket_traits<_RealPacket>::vectorizable
+                && unpacket_traits<_ScalarPacket>::vectorizable,
+    LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
+    RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
+    ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
     // FIXME: should depend on NumberOfRegisters
@@ -770,14 +958,11 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
     RhsProgress = 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;
-
+  typedef LhsPacket LhsPacket4Packing;
+  typedef QuadPacket<RhsPacket> RhsPacketx4;
   typedef ResPacket AccPacket;
 
   EIGEN_STRONG_INLINE void initAcc(AccPacket& p)
@@ -785,22 +970,25 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
   {
-    dest = pset1<RhsPacket>(*b);
+    dest = pset1<RhsPacketType>(*b);
   }
-  
-  void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketx4& dest) const
   {
-    pbroadcast4(b, b0, b1, b2, b3);
+    pbroadcast4(b, dest.B_0, dest.B1, dest.B2, dest.B3);
   }
-  
-//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
-//   {
-//     // FIXME not sure that's the best way to implement it!
-//     b0 = pload1<RhsPacket>(b+0);
-//     b1 = pload1<RhsPacket>(b+1);
-//   }
+
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar* b, RhsPacketType& dest) const
+  {
+    loadRhs(b, dest);
+  }
+
+  EIGEN_STRONG_INLINE void updateRhs(const RhsScalar*, RhsPacketx4&) const
+  {}
 
   EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
   {
@@ -809,21 +997,23 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
   
   EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
   {
-    eigen_internal_assert(unpacket_traits<RhsPacket>::size<=4);
-    loadRhs(b,dest);
+    dest = ploadquad<RhsPacket>(b);
   }
 
-  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = ploaddup<LhsPacket>(a);
+    dest = ploaddup<LhsPacketType>(a);
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
+  template <typename LhsPacketType, typename RhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, RhsPacketType& tmp, const LaneIdType&) 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
+  template <typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void madd_impl(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, RhsPacketType& tmp, const true_type&) const
   {
 #ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
     EIGEN_UNUSED_VARIABLE(tmp);
@@ -839,16 +1029,24 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
     c += a * b;
   }
 
-  EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
+  template<typename LhsPacketType, typename AccPacketType, typename LaneIdType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketx4& b, AccPacketType& c, RhsPacket& tmp, const LaneIdType& lane) const
+  {
+    madd(a, b.get(lane), c, tmp, lane);
+  }
+
+  template <typename ResPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void acc(const AccPacketType& c, const ResPacketType& alpha, ResPacketType& r) const
   {
+    conj_helper<ResPacketType,ResPacketType,false,ConjRhs> cj;
     r = cj.pmadd(alpha,c,r);
   }
 
 protected:
-  conj_helper<ResPacket,ResPacket,false,ConjRhs> cj;
+
 };
 
-/* optimized GEneral packed Block * packed Panel product kernel
+/* optimized General packed Block * packed Panel product kernel
  *
  * Mixing type logic: C += A * B
  *  |  A  |  B  | comments
@@ -858,26 +1056,47 @@ class gebp_traits<RealScalar, std::complex<RealScalar>, false, _ConjRhs >
 template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 struct gebp_kernel
 {
-  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs,Architecture::Target> Traits;
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs,Architecture::Target,GEBPPacketHalf> HalfTraits;
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs,Architecture::Target,GEBPPacketQuarter> QuarterTraits;
+  
   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;
+  typedef typename Traits::RhsPacketx4 RhsPacketx4;
+
+  typedef typename RhsPanelHelper<RhsPacket, RhsPacketx4, 15>::type RhsPanel15;
+
+  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs,Architecture::Target> SwappedTraits;
 
-  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs> SwappedTraits;
   typedef typename SwappedTraits::ResScalar SResScalar;
   typedef typename SwappedTraits::LhsPacket SLhsPacket;
   typedef typename SwappedTraits::RhsPacket SRhsPacket;
   typedef typename SwappedTraits::ResPacket SResPacket;
   typedef typename SwappedTraits::AccPacket SAccPacket;
 
+  typedef typename HalfTraits::LhsPacket LhsPacketHalf;
+  typedef typename HalfTraits::RhsPacket RhsPacketHalf;
+  typedef typename HalfTraits::ResPacket ResPacketHalf;
+  typedef typename HalfTraits::AccPacket AccPacketHalf;
+
+  typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
+  typedef typename QuarterTraits::RhsPacket RhsPacketQuarter;
+  typedef typename QuarterTraits::ResPacket ResPacketQuarter;
+  typedef typename QuarterTraits::AccPacket AccPacketQuarter;
+
   typedef typename DataMapper::LinearMapper LinearMapper;
 
   enum {
     Vectorizable  = Traits::Vectorizable,
     LhsProgress   = Traits::LhsProgress,
+    LhsProgressHalf      = HalfTraits::LhsProgress,
+    LhsProgressQuarter   = QuarterTraits::LhsProgress,
     RhsProgress   = Traits::RhsProgress,
+    RhsProgressHalf      = HalfTraits::RhsProgress,
+    RhsProgressQuarter   = QuarterTraits::RhsProgress,
     ResPacketSize = Traits::ResPacketSize
   };
 
@@ -887,6 +1106,299 @@ struct gebp_kernel
                   Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
 };
 
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs,
+int SwappedLhsProgress = gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs,Architecture::Target>::LhsProgress>
+struct last_row_process_16_packets
+{
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs,Architecture::Target> Traits;
+  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs,Architecture::Target> SwappedTraits;
+
+  typedef typename Traits::ResScalar ResScalar;
+  typedef typename SwappedTraits::LhsPacket SLhsPacket;
+  typedef typename SwappedTraits::RhsPacket SRhsPacket;
+  typedef typename SwappedTraits::ResPacket SResPacket;
+  typedef typename SwappedTraits::AccPacket SAccPacket;
+
+  EIGEN_STRONG_INLINE void operator()(const DataMapper& res, SwappedTraits &straits, const LhsScalar* blA,
+                  const RhsScalar* blB, Index depth, const Index endk, Index i, Index j2,
+                  ResScalar alpha, SAccPacket &C0)
+    {
+      EIGEN_UNUSED_VARIABLE(res);
+      EIGEN_UNUSED_VARIABLE(straits);
+      EIGEN_UNUSED_VARIABLE(blA);
+      EIGEN_UNUSED_VARIABLE(blB);
+      EIGEN_UNUSED_VARIABLE(depth);
+      EIGEN_UNUSED_VARIABLE(endk);
+      EIGEN_UNUSED_VARIABLE(i);
+      EIGEN_UNUSED_VARIABLE(j2);
+      EIGEN_UNUSED_VARIABLE(alpha);
+      EIGEN_UNUSED_VARIABLE(C0);
+    }
+};
+
+
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+struct last_row_process_16_packets<LhsScalar, RhsScalar, Index, DataMapper,  mr,  nr, ConjugateLhs,  ConjugateRhs, 16> {
+  typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs,Architecture::Target> Traits;
+  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs,Architecture::Target> SwappedTraits;
+
+  typedef typename Traits::ResScalar ResScalar;
+  typedef typename SwappedTraits::LhsPacket SLhsPacket;
+  typedef typename SwappedTraits::RhsPacket SRhsPacket;
+  typedef typename SwappedTraits::ResPacket SResPacket;
+  typedef typename SwappedTraits::AccPacket SAccPacket;
+
+  EIGEN_STRONG_INLINE void operator()(const DataMapper& res, SwappedTraits &straits, const LhsScalar* blA,
+                  const RhsScalar* blB, Index depth, const Index endk, Index i, Index j2,
+                  ResScalar alpha, SAccPacket &C0)
+  {
+    typedef typename unpacket_traits<typename unpacket_traits<SResPacket>::half>::half SResPacketQuarter;
+    typedef typename unpacket_traits<typename unpacket_traits<SLhsPacket>::half>::half SLhsPacketQuarter;
+    typedef typename unpacket_traits<typename unpacket_traits<SRhsPacket>::half>::half SRhsPacketQuarter;
+    typedef typename unpacket_traits<typename unpacket_traits<SAccPacket>::half>::half SAccPacketQuarter;
+
+    SResPacketQuarter R = res.template gatherPacket<SResPacketQuarter>(i, j2);
+    SResPacketQuarter alphav = pset1<SResPacketQuarter>(alpha);
+
+    if (depth - endk > 0)
+      {
+	// We have to handle the last row(s) of the rhs, which
+	// correspond to a half-packet
+	SAccPacketQuarter c0 = predux_half_dowto4(predux_half_dowto4(C0));
+
+	for (Index kk = endk; kk < depth; kk++)
+	  {
+	    SLhsPacketQuarter a0;
+	    SRhsPacketQuarter b0;
+	    straits.loadLhsUnaligned(blB, a0);
+	    straits.loadRhs(blA, b0);
+	    straits.madd(a0,b0,c0,b0, fix<0>);
+	    blB += SwappedTraits::LhsProgress/4;
+	    blA += 1;
+	  }
+	straits.acc(c0, alphav, R);
+      }
+    else
+      {
+	straits.acc(predux_half_dowto4(predux_half_dowto4(C0)), alphav, R);
+      }
+    res.scatterPacket(i, j2, R);
+  }
+};
+
+template<int nr, Index LhsProgress, Index RhsProgress, typename LhsScalar, typename RhsScalar, typename ResScalar, typename AccPacket, typename LhsPacket, typename RhsPacket, typename ResPacket, typename GEBPTraits, typename LinearMapper, typename DataMapper>
+struct lhs_process_one_packet
+{
+  typedef typename GEBPTraits::RhsPacketx4 RhsPacketx4;
+
+  EIGEN_STRONG_INLINE void peeled_kc_onestep(Index K, const LhsScalar* blA, const RhsScalar* blB, GEBPTraits traits, LhsPacket *A0, RhsPacketx4 *rhs_panel, RhsPacket *T0, AccPacket *C0, AccPacket *C1, AccPacket *C2, AccPacket *C3)
+  {
+    EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1X4");
+    EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!");
+    traits.loadLhs(&blA[(0+1*K)*LhsProgress], *A0);
+    traits.loadRhs(&blB[(0+4*K)*RhsProgress], *rhs_panel);
+    traits.madd(*A0, *rhs_panel, *C0, *T0, fix<0>);
+    traits.madd(*A0, *rhs_panel, *C1, *T0, fix<1>);
+    traits.madd(*A0, *rhs_panel, *C2, *T0, fix<2>);
+    traits.madd(*A0, *rhs_panel, *C3, *T0, fix<3>);
+    #if EIGEN_GNUC_AT_LEAST(6,0) && defined(EIGEN_VECTORIZE_SSE) && !(EIGEN_COMP_LCC)
+    __asm__  ("" : "+x,m" (*A0));
+    #endif
+    EIGEN_ASM_COMMENT("end step of gebp micro kernel 1X4");
+  }
+
+  EIGEN_STRONG_INLINE void operator()(
+    const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB, ResScalar alpha,
+    Index peelStart, Index peelEnd, Index strideA, Index strideB, Index offsetA, Index offsetB,
+    int prefetch_res_offset, Index peeled_kc, Index pk, Index cols, Index depth, Index packet_cols4)
+  {
+    GEBPTraits traits;
+
+    // loops on each largest micro horizontal panel of lhs
+    // (LhsProgress x depth)
+    for(Index i=peelStart; i<peelEnd; i+=LhsProgress)
+    {
+      // loops on each largest micro vertical panel of rhs (depth * nr)
+      for(Index j2=0; j2<packet_cols4; j2+=nr)
+      {
+        // We select a LhsProgress x nr micro block of res
+        // which is entirely stored into 1 x nr registers.
+
+        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);
+        traits.initAcc(C2);
+        traits.initAcc(C3);
+        // To improve instruction pipelining, let's double the accumulation registers:
+        //  even k will accumulate in C*, while odd k will accumulate in D*.
+        // This trick is crutial to get good performance with FMA, otherwise it is 
+        // actually faster to perform separated MUL+ADD because of a naturally
+        // better instruction-level parallelism.
+        AccPacket D0, D1, D2, D3;
+        traits.initAcc(D0);
+        traits.initAcc(D1);
+        traits.initAcc(D2);
+        traits.initAcc(D3);
+
+        LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+        LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+        LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+        LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+        r0.prefetch(prefetch_res_offset);
+        r1.prefetch(prefetch_res_offset);
+        r2.prefetch(prefetch_res_offset);
+        r3.prefetch(prefetch_res_offset);
+
+        // performs "inner" products
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+        prefetch(&blB[0]);
+        LhsPacket A0, A1;
+
+        for(Index k=0; k<peeled_kc; k+=pk)
+        {
+          EIGEN_ASM_COMMENT("begin gebp micro kernel 1/half/quarterX4");
+          RhsPacketx4 rhs_panel;
+          RhsPacket T0;
+
+          internal::prefetch(blB+(48+0));
+          peeled_kc_onestep(0, blA, blB, traits, &A0, &rhs_panel, &T0, &C0, &C1, &C2, &C3);
+          peeled_kc_onestep(1, blA, blB, traits, &A1, &rhs_panel, &T0, &D0, &D1, &D2, &D3);
+          peeled_kc_onestep(2, blA, blB, traits, &A0, &rhs_panel, &T0, &C0, &C1, &C2, &C3);
+          peeled_kc_onestep(3, blA, blB, traits, &A1, &rhs_panel, &T0, &D0, &D1, &D2, &D3);
+          internal::prefetch(blB+(48+16));
+          peeled_kc_onestep(4, blA, blB, traits, &A0, &rhs_panel, &T0, &C0, &C1, &C2, &C3);
+          peeled_kc_onestep(5, blA, blB, traits, &A1, &rhs_panel, &T0, &D0, &D1, &D2, &D3);
+          peeled_kc_onestep(6, blA, blB, traits, &A0, &rhs_panel, &T0, &C0, &C1, &C2, &C3);
+          peeled_kc_onestep(7, blA, blB, traits, &A1, &rhs_panel, &T0, &D0, &D1, &D2, &D3);
+
+          blB += pk*4*RhsProgress;
+          blA += pk*LhsProgress;
+
+          EIGEN_ASM_COMMENT("end gebp micro kernel 1/half/quarterX4");
+        }
+        C0 = padd(C0,D0);
+        C1 = padd(C1,D1);
+        C2 = padd(C2,D2);
+        C3 = padd(C3,D3);
+
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          RhsPacketx4 rhs_panel;
+          RhsPacket T0;
+          peeled_kc_onestep(0, blA, blB, traits, &A0, &rhs_panel, &T0, &C0, &C1, &C2, &C3);
+          blB += 4*RhsProgress;
+          blA += LhsProgress;
+        }
+
+        ResPacket R0, R1;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+
+        R0 = r0.template loadPacket<ResPacket>(0);
+        R1 = r1.template loadPacket<ResPacket>(0);
+        traits.acc(C0, alphav, R0);
+        traits.acc(C1,  alphav, R1);
+        r0.storePacket(0, R0);
+        r1.storePacket(0, R1);
+
+        R0 = r2.template loadPacket<ResPacket>(0);
+        R1 = r3.template loadPacket<ResPacket>(0);
+        traits.acc(C2,  alphav, R0);
+        traits.acc(C3,  alphav, R1);
+        r2.storePacket(0, R0);
+        r3.storePacket(0, R1);
+      }
+
+      // Deal with remaining columns of the rhs
+      for(Index j2=packet_cols4; j2<cols; j2++)
+      {
+        // One column at a time
+        const LhsScalar* blA = &blockA[i*strideA+offsetA*(LhsProgress)];
+        prefetch(&blA[0]);
+
+        // gets res block as register
+        AccPacket C0;
+        traits.initAcc(C0);
+
+        LinearMapper r0 = res.getLinearMapper(i, j2);
+
+        // performs "inner" products
+        const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+        LhsPacket A0;
+
+        for(Index k= 0; k<peeled_kc; k+=pk)
+        {
+          EIGEN_ASM_COMMENT("begin gebp micro kernel 1/half/quarterX1");
+          RhsPacket B_0;
+
+#define EIGEN_GEBGP_ONESTEP(K)                                          \
+	      do {                                                      \
+		EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1/half/quarterX1"); \
+		EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+    /* FIXME: why unaligned???? */ \
+		traits.loadLhsUnaligned(&blA[(0+1*K)*LhsProgress], A0); \
+		traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);		\
+		traits.madd(A0, B_0, C0, B_0, fix<0>);				\
+		EIGEN_ASM_COMMENT("end step of gebp micro kernel 1/half/quarterX1"); \
+	      } while(false);
+
+          EIGEN_GEBGP_ONESTEP(0);
+          EIGEN_GEBGP_ONESTEP(1);
+          EIGEN_GEBGP_ONESTEP(2);
+          EIGEN_GEBGP_ONESTEP(3);
+          EIGEN_GEBGP_ONESTEP(4);
+          EIGEN_GEBGP_ONESTEP(5);
+          EIGEN_GEBGP_ONESTEP(6);
+          EIGEN_GEBGP_ONESTEP(7);
+
+          blB += pk*RhsProgress;
+          blA += pk*LhsProgress;
+
+          EIGEN_ASM_COMMENT("end gebp micro kernel 1/half/quarterX1");
+        }
+
+        // process remaining peeled loop
+        for(Index k=peeled_kc; k<depth; k++)
+        {
+          RhsPacket B_0;
+          EIGEN_GEBGP_ONESTEP(0);
+          blB += RhsProgress;
+          blA += LhsProgress;
+        }
+#undef EIGEN_GEBGP_ONESTEP
+        ResPacket R0;
+        ResPacket alphav = pset1<ResPacket>(alpha);
+        R0 = r0.template loadPacket<ResPacket>(0);
+        traits.acc(C0, alphav, R0);
+        r0.storePacket(0, R0);
+      }
+    }
+  }
+};
+
+template<int nr, Index LhsProgress, Index RhsProgress, typename LhsScalar, typename RhsScalar, typename ResScalar, typename AccPacket, typename LhsPacket, typename RhsPacket, typename ResPacket, typename GEBPTraits, typename LinearMapper, typename DataMapper>
+struct lhs_process_fraction_of_packet : lhs_process_one_packet<nr, LhsProgress, RhsProgress, LhsScalar, RhsScalar, ResScalar, AccPacket, LhsPacket, RhsPacket, ResPacket, GEBPTraits, LinearMapper, DataMapper>
+{
+
+EIGEN_STRONG_INLINE void peeled_kc_onestep(Index K, const LhsScalar* blA, const RhsScalar* blB, GEBPTraits traits, LhsPacket *A0, RhsPacket *B_0, RhsPacket *B1, RhsPacket *B2, RhsPacket *B3, AccPacket *C0, AccPacket *C1, AccPacket *C2, AccPacket *C3)
+  {
+        EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1X4");
+        EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!");
+        traits.loadLhsUnaligned(&blA[(0+1*K)*(LhsProgress)], *A0);
+        traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], *B_0, *B1, *B2, *B3);
+        traits.madd(*A0, *B_0, *C0, *B_0);
+        traits.madd(*A0, *B1,  *C1, *B1);
+        traits.madd(*A0, *B2,  *C2, *B2);
+        traits.madd(*A0, *B3,  *C3, *B3);
+        EIGEN_ASM_COMMENT("end step of gebp micro kernel 1X4");
+  }
+};
+
 template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 EIGEN_DONT_INLINE
 void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,ConjugateRhs>
@@ -903,10 +1415,12 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
     Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
     const Index peeled_mc3 = mr>=3*Traits::LhsProgress ? (rows/(3*LhsProgress))*(3*LhsProgress) : 0;
     const Index peeled_mc2 = mr>=2*Traits::LhsProgress ? peeled_mc3+((rows-peeled_mc3)/(2*LhsProgress))*(2*LhsProgress) : 0;
-    const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? (rows/(1*LhsProgress))*(1*LhsProgress) : 0;
+    const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? peeled_mc2+((rows-peeled_mc2)/(1*LhsProgress))*(1*LhsProgress) : 0;
+    const Index peeled_mc_half = mr>=LhsProgressHalf ? peeled_mc1+((rows-peeled_mc1)/(LhsProgressHalf))*(LhsProgressHalf) : 0;
+    const Index peeled_mc_quarter = mr>=LhsProgressQuarter ? peeled_mc_half+((rows-peeled_mc_half)/(LhsProgressQuarter))*(LhsProgressQuarter) : 0;
     enum { pk = 8 }; // NOTE Such a large peeling factor is important for large matrices (~ +5% when >1000 on Haswell)
     const Index peeled_kc  = depth & ~(pk-1);
-    const Index prefetch_res_offset = 32/sizeof(ResScalar);    
+    const int prefetch_res_offset = 32/sizeof(ResScalar);    
 //     const Index depth2     = depth & ~1;
 
     //---------- Process 3 * LhsProgress rows at once ----------
@@ -964,36 +1478,48 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           for(Index k=0; k<peeled_kc; k+=pk)
           {
             EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX4");
-            RhsPacket B_0, T0;
+            // 15 registers are taken (12 for acc, 2 for lhs).
+            RhsPanel15 rhs_panel;
+            RhsPacket T0;
             LhsPacket A2;
-
-#define EIGEN_GEBP_ONESTEP(K) \
-            do { \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4"); \
+            #if EIGEN_COMP_GNUC_STRICT && EIGEN_ARCH_ARM64 && defined(EIGEN_VECTORIZE_NEON) && !(EIGEN_GNUC_AT_LEAST(9,0))
+            // see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1633
+            // without this workaround A0, A1, and A2 are loaded in the same register,
+            // which is not good for pipelining
+            #define EIGEN_GEBP_3PX4_REGISTER_ALLOC_WORKAROUND __asm__  ("" : "+w,m" (A0), "+w,m" (A1), "+w,m" (A2));
+            #else
+            #define EIGEN_GEBP_3PX4_REGISTER_ALLOC_WORKAROUND
+            #endif
+#define EIGEN_GEBP_ONESTEP(K)                                                     \
+            do {                                                                  \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4");          \
               EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              internal::prefetch(blA+(3*K+16)*LhsProgress); \
-              if (EIGEN_ARCH_ARM) { internal::prefetch(blB+(4*K+16)*RhsProgress); } /* Bug 953 */ \
-              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
-              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
-              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
-              traits.loadRhs(blB + (0+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C0, T0); \
-              traits.madd(A1, B_0, C4, T0); \
-              traits.madd(A2, B_0, C8, B_0); \
-              traits.loadRhs(blB + (1+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C1, T0); \
-              traits.madd(A1, B_0, C5, T0); \
-              traits.madd(A2, B_0, C9, B_0); \
-              traits.loadRhs(blB + (2+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C2,  T0); \
-              traits.madd(A1, B_0, C6,  T0); \
-              traits.madd(A2, B_0, C10, B_0); \
-              traits.loadRhs(blB + (3+4*K)*Traits::RhsProgress, B_0); \
-              traits.madd(A0, B_0, C3 , T0); \
-              traits.madd(A1, B_0, C7,  T0); \
-              traits.madd(A2, B_0, C11, B_0); \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4"); \
-            } while(false)
+              internal::prefetch(blA + (3 * K + 16) * LhsProgress);               \
+              if (EIGEN_ARCH_ARM || EIGEN_ARCH_MIPS) {                            \
+                internal::prefetch(blB + (4 * K + 16) * RhsProgress);             \
+              } /* Bug 953 */                                                     \
+              traits.loadLhs(&blA[(0 + 3 * K) * LhsProgress], A0);                \
+              traits.loadLhs(&blA[(1 + 3 * K) * LhsProgress], A1);                \
+              traits.loadLhs(&blA[(2 + 3 * K) * LhsProgress], A2);                \
+              EIGEN_GEBP_3PX4_REGISTER_ALLOC_WORKAROUND \
+              traits.loadRhs(blB + (0+4*K) * Traits::RhsProgress, rhs_panel);     \
+              traits.madd(A0, rhs_panel, C0, T0, fix<0>);                         \
+              traits.madd(A1, rhs_panel, C4, T0, fix<0>);                         \
+              traits.madd(A2, rhs_panel, C8, T0, fix<0>);                         \
+              traits.updateRhs(blB + (1+4*K) * Traits::RhsProgress, rhs_panel);   \
+              traits.madd(A0, rhs_panel, C1, T0, fix<1>);                         \
+              traits.madd(A1, rhs_panel, C5, T0, fix<1>);                         \
+              traits.madd(A2, rhs_panel, C9, T0, fix<1>);                         \
+              traits.updateRhs(blB + (2+4*K) * Traits::RhsProgress, rhs_panel);   \
+              traits.madd(A0, rhs_panel, C2, T0, fix<2>);                         \
+              traits.madd(A1, rhs_panel, C6, T0, fix<2>);                         \
+              traits.madd(A2, rhs_panel, C10, T0, fix<2>);                        \
+              traits.updateRhs(blB + (3+4*K) * Traits::RhsProgress, rhs_panel);   \
+              traits.madd(A0, rhs_panel, C3, T0, fix<3>);                         \
+              traits.madd(A1, rhs_panel, C7, T0, fix<3>);                         \
+              traits.madd(A2, rhs_panel, C11, T0, fix<3>);                        \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4");            \
+            } while (false)
 
             internal::prefetch(blB);
             EIGEN_GEBP_ONESTEP(0);
@@ -1013,7 +1539,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           // process remaining peeled loop
           for(Index k=peeled_kc; k<depth; k++)
           {
-            RhsPacket B_0, T0;
+            RhsPanel15 rhs_panel;
+            RhsPacket T0;
             LhsPacket A2;
             EIGEN_GEBP_ONESTEP(0);
             blB += 4*RhsProgress;
@@ -1025,9 +1552,9 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           ResPacket R0, R1, R2;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
+          R0 = r0.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r0.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r0.template loadPacket<ResPacket>(2 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
           traits.acc(C4, alphav, R1);
           traits.acc(C8, alphav, R2);
@@ -1035,9 +1562,9 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           r0.storePacket(1 * Traits::ResPacketSize, R1);
           r0.storePacket(2 * Traits::ResPacketSize, R2);
 
-          R0 = r1.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r1.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r1.loadPacket(2 * Traits::ResPacketSize);
+          R0 = r1.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r1.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r1.template loadPacket<ResPacket>(2 * Traits::ResPacketSize);
           traits.acc(C1, alphav, R0);
           traits.acc(C5, alphav, R1);
           traits.acc(C9, alphav, R2);
@@ -1045,9 +1572,9 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           r1.storePacket(1 * Traits::ResPacketSize, R1);
           r1.storePacket(2 * Traits::ResPacketSize, R2);
 
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r2.loadPacket(2 * Traits::ResPacketSize);
+          R0 = r2.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r2.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r2.template loadPacket<ResPacket>(2 * Traits::ResPacketSize);
           traits.acc(C2, alphav, R0);
           traits.acc(C6, alphav, R1);
           traits.acc(C10, alphav, R2);
@@ -1055,9 +1582,9 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           r2.storePacket(1 * Traits::ResPacketSize, R1);
           r2.storePacket(2 * Traits::ResPacketSize, R2);
 
-          R0 = r3.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r3.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r3.loadPacket(2 * Traits::ResPacketSize);
+          R0 = r3.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r3.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r3.template loadPacket<ResPacket>(2 * Traits::ResPacketSize);
           traits.acc(C3, alphav, R0);
           traits.acc(C7, alphav, R1);
           traits.acc(C11, alphav, R2);
@@ -1093,20 +1620,20 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           {
             EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX1");
             RhsPacket B_0;
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do { \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1"); \
+#define EIGEN_GEBGP_ONESTEP(K)                                                    \
+            do {                                                                  \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1");          \
               EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
-              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
-              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
-              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);   \
-              traits.madd(A0, B_0, C0, B_0); \
-              traits.madd(A1, B_0, C4, B_0); \
-              traits.madd(A2, B_0, C8, B_0); \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1"); \
-            } while(false)
-        
+              traits.loadLhs(&blA[(0 + 3 * K) * LhsProgress], A0);                \
+              traits.loadLhs(&blA[(1 + 3 * K) * LhsProgress], A1);                \
+              traits.loadLhs(&blA[(2 + 3 * K) * LhsProgress], A2);                \
+              traits.loadRhs(&blB[(0 + K) * RhsProgress], B_0);                   \
+              traits.madd(A0, B_0, C0, B_0, fix<0>);                              \
+              traits.madd(A1, B_0, C4, B_0, fix<0>);                              \
+              traits.madd(A2, B_0, C8, B_0, fix<0>);                              \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1");            \
+            } while (false)
+
             EIGEN_GEBGP_ONESTEP(0);
             EIGEN_GEBGP_ONESTEP(1);
             EIGEN_GEBGP_ONESTEP(2);
@@ -1116,8 +1643,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
             EIGEN_GEBGP_ONESTEP(6);
             EIGEN_GEBGP_ONESTEP(7);
 
-            blB += pk*RhsProgress;
-            blA += pk*3*Traits::LhsProgress;
+            blB += int(pk) * int(RhsProgress);
+            blA += int(pk) * 3 * int(Traits::LhsProgress);
 
             EIGEN_ASM_COMMENT("end gebp micro kernel 3pX1");
           }
@@ -1134,9 +1661,9 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           ResPacket R0, R1, R2;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
+          R0 = r0.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r0.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r0.template loadPacket<ResPacket>(2 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
           traits.acc(C4, alphav, R1);
           traits.acc(C8, alphav, R2);
@@ -1195,26 +1722,34 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           for(Index k=0; k<peeled_kc; k+=pk)
           {
             EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX4");
-            RhsPacket B_0, B1, B2, B3, T0;
+            RhsPacketx4 rhs_panel;
+            RhsPacket T0;
+
+          // NOTE: the begin/end asm comments below work around bug 935!
+          // but they are not enough for gcc>=6 without FMA (bug 1637)
+          #if EIGEN_GNUC_AT_LEAST(6,0) && defined(EIGEN_VECTORIZE_SSE) && !(EIGEN_COMP_LCC)
+            #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND __asm__  ("" : [a0] "+x,m" (A0),[a1] "+x,m" (A1));
+          #else
+            #define EIGEN_GEBP_2PX4_SPILLING_WORKAROUND
+          #endif
+#define EIGEN_GEBGP_ONESTEP(K)                                            \
+            do {                                                          \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4");  \
+              traits.loadLhs(&blA[(0 + 2 * K) * LhsProgress], A0);        \
+              traits.loadLhs(&blA[(1 + 2 * K) * LhsProgress], A1);        \
+              traits.loadRhs(&blB[(0 + 4 * K) * RhsProgress], rhs_panel); \
+              traits.madd(A0, rhs_panel, C0, T0, fix<0>);                 \
+              traits.madd(A1, rhs_panel, C4, T0, fix<0>);                 \
+              traits.madd(A0, rhs_panel, C1, T0, fix<1>);                 \
+              traits.madd(A1, rhs_panel, C5, T0, fix<1>);                 \
+              traits.madd(A0, rhs_panel, C2, T0, fix<2>);                 \
+              traits.madd(A1, rhs_panel, C6, T0, fix<2>);                 \
+              traits.madd(A0, rhs_panel, C3, T0, fix<3>);                 \
+              traits.madd(A1, rhs_panel, C7, T0, fix<3>);                 \
+              EIGEN_GEBP_2PX4_SPILLING_WORKAROUND                         \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4");    \
+            } while (false)
 
-   #define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                    \
-              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                    \
-              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
-              traits.madd(A0, B_0, C0, T0);                                     \
-              traits.madd(A1, B_0, C4, B_0);                                    \
-              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);                                     \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4");          \
-            } while(false)
-            
             internal::prefetch(blB+(48+0));
             EIGEN_GEBGP_ONESTEP(0);
             EIGEN_GEBGP_ONESTEP(1);
@@ -1234,7 +1769,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           // process remaining peeled loop
           for(Index k=peeled_kc; k<depth; k++)
           {
-            RhsPacket B_0, B1, B2, B3, T0;
+            RhsPacketx4 rhs_panel;
+            RhsPacket T0;
             EIGEN_GEBGP_ONESTEP(0);
             blB += 4*RhsProgress;
             blA += 2*Traits::LhsProgress;
@@ -1244,10 +1780,10 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           ResPacket R0, R1, R2, R3;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r1.loadPacket(0 * Traits::ResPacketSize);
-          R3 = r1.loadPacket(1 * Traits::ResPacketSize);
+          R0 = r0.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r0.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r1.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R3 = r1.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
           traits.acc(C4, alphav, R1);
           traits.acc(C1, alphav, R2);
@@ -1257,10 +1793,10 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           r1.storePacket(0 * Traits::ResPacketSize, R2);
           r1.storePacket(1 * Traits::ResPacketSize, R3);
 
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
-          R2 = r3.loadPacket(0 * Traits::ResPacketSize);
-          R3 = r3.loadPacket(1 * Traits::ResPacketSize);
+          R0 = r2.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r2.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
+          R2 = r3.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R3 = r3.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
           traits.acc(C2,  alphav, R0);
           traits.acc(C6,  alphav, R1);
           traits.acc(C3,  alphav, R2);
@@ -1305,8 +1841,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
               traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                      \
               traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                      \
               traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                       \
-              traits.madd(A0, B_0, C0, B1);                                       \
-              traits.madd(A1, B_0, C4, B_0);                                      \
+              traits.madd(A0, B_0, C0, B1, fix<0>);                               \
+              traits.madd(A1, B_0, C4, B_0, fix<0>);                              \
               EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX1");            \
             } while(false)
         
@@ -1319,8 +1855,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
             EIGEN_GEBGP_ONESTEP(6);
             EIGEN_GEBGP_ONESTEP(7);
 
-            blB += pk*RhsProgress;
-            blA += pk*2*Traits::LhsProgress;
+            blB += int(pk) * int(RhsProgress);
+            blA += int(pk) * 2 * int(Traits::LhsProgress);
 
             EIGEN_ASM_COMMENT("end gebp micro kernel 2pX1");
           }
@@ -1337,8 +1873,8 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           ResPacket R0, R1;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R0 = r0.template loadPacket<ResPacket>(0 * Traits::ResPacketSize);
+          R1 = r0.template loadPacket<ResPacket>(1 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
           traits.acc(C4, alphav, R1);
           r0.storePacket(0 * Traits::ResPacketSize, R0);
@@ -1350,186 +1886,43 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
     //---------- Process 1 * LhsProgress rows at once ----------
     if(mr>=1*Traits::LhsProgress)
     {
-      // loops on each largest micro horizontal panel of lhs (1*LhsProgress x depth)
-      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*LhsProgress)
-      {
-        // loops on each largest micro vertical panel of rhs (depth * nr)
-        for(Index j2=0; j2<packet_cols4; j2+=nr)
-        {
-          // We select a 1*Traits::LhsProgress x nr micro block of res which is entirely
-          // stored into 1 x nr registers.
-          
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0, C1, C2, C3;
-          traits.initAcc(C0);
-          traits.initAcc(C1);
-          traits.initAcc(C2);
-          traits.initAcc(C3);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
-          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
-          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
-          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
-
-          r0.prefetch(prefetch_res_offset);
-          r1.prefetch(prefetch_res_offset);
-          r2.prefetch(prefetch_res_offset);
-          r3.prefetch(prefetch_res_offset);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-          prefetch(&blB[0]);
-          LhsPacket A0;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX4");
-            RhsPacket B_0, B1, B2, B3;
-               
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX4");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
-              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
-              traits.madd(A0, B_0, C0, B_0);                                    \
-              traits.madd(A0, B1,  C1, B1);                                     \
-              traits.madd(A0, B2,  C2, B2);                                     \
-              traits.madd(A0, B3,  C3, B3);                                     \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX4");          \
-            } while(false)
-            
-            internal::prefetch(blB+(48+0));
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            internal::prefetch(blB+(48+16));
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*4*RhsProgress;
-            blA += pk*1*LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX4");
-          }
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0, B1, B2, B3;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += 4*RhsProgress;
-            blA += 1*LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-
-          ResPacket R0, R1;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r1.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          traits.acc(C1,  alphav, R1);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-          r1.storePacket(0 * Traits::ResPacketSize, R1);
-
-          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
-          R1 = r3.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C2,  alphav, R0);
-          traits.acc(C3,  alphav, R1);
-          r2.storePacket(0 * Traits::ResPacketSize, R0);
-          r3.storePacket(0 * Traits::ResPacketSize, R1);
-        }
-
-        // Deal with remaining columns of the rhs
-        for(Index j2=packet_cols4; j2<cols; j2++)
-        {
-          // One column at a time
-          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
-          prefetch(&blA[0]);
-
-          // gets res block as register
-          AccPacket C0;
-          traits.initAcc(C0);
-
-          LinearMapper r0 = res.getLinearMapper(i, j2);
-
-          // performs "inner" products
-          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-          LhsPacket A0;
-
-          for(Index k=0; k<peeled_kc; k+=pk)
-          {
-            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX1");
-            RhsPacket B_0;
-        
-#define EIGEN_GEBGP_ONESTEP(K) \
-            do {                                                                \
-              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX1");        \
-              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
-              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
-              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                     \
-              traits.madd(A0, B_0, C0, B_0);                                    \
-              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX1");          \
-            } while(false);
-
-            EIGEN_GEBGP_ONESTEP(0);
-            EIGEN_GEBGP_ONESTEP(1);
-            EIGEN_GEBGP_ONESTEP(2);
-            EIGEN_GEBGP_ONESTEP(3);
-            EIGEN_GEBGP_ONESTEP(4);
-            EIGEN_GEBGP_ONESTEP(5);
-            EIGEN_GEBGP_ONESTEP(6);
-            EIGEN_GEBGP_ONESTEP(7);
-
-            blB += pk*RhsProgress;
-            blA += pk*1*Traits::LhsProgress;
-
-            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX1");
-          }
-
-          // process remaining peeled loop
-          for(Index k=peeled_kc; k<depth; k++)
-          {
-            RhsPacket B_0;
-            EIGEN_GEBGP_ONESTEP(0);
-            blB += RhsProgress;
-            blA += 1*Traits::LhsProgress;
-          }
-#undef EIGEN_GEBGP_ONESTEP
-          ResPacket R0;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          r0.storePacket(0 * Traits::ResPacketSize, R0);
-        }
-      }
+      lhs_process_one_packet<nr, LhsProgress, RhsProgress, LhsScalar, RhsScalar, ResScalar, AccPacket, LhsPacket, RhsPacket, ResPacket, Traits, LinearMapper, DataMapper> p;
+      p(res, blockA, blockB, alpha, peeled_mc2, peeled_mc1, strideA, strideB, offsetA, offsetB, prefetch_res_offset, peeled_kc, pk, cols, depth, packet_cols4);
+    }
+    //---------- Process LhsProgressHalf rows at once ----------
+    if((LhsProgressHalf < LhsProgress) && mr>=LhsProgressHalf)
+    {
+      lhs_process_fraction_of_packet<nr, LhsProgressHalf, RhsProgressHalf, LhsScalar, RhsScalar, ResScalar, AccPacketHalf, LhsPacketHalf, RhsPacketHalf, ResPacketHalf, HalfTraits, LinearMapper, DataMapper> p;
+      p(res, blockA, blockB, alpha, peeled_mc1, peeled_mc_half, strideA, strideB, offsetA, offsetB, prefetch_res_offset, peeled_kc, pk, cols, depth, packet_cols4);
+    }
+    //---------- Process LhsProgressQuarter rows at once ----------
+    if((LhsProgressQuarter < LhsProgressHalf) && mr>=LhsProgressQuarter)
+    {
+      lhs_process_fraction_of_packet<nr, LhsProgressQuarter, RhsProgressQuarter, LhsScalar, RhsScalar, ResScalar, AccPacketQuarter, LhsPacketQuarter, RhsPacketQuarter, ResPacketQuarter, QuarterTraits, LinearMapper, DataMapper> p;
+      p(res, blockA, blockB, alpha, peeled_mc_half, peeled_mc_quarter, strideA, strideB, offsetA, offsetB, prefetch_res_offset, peeled_kc, pk, cols, depth, packet_cols4);
     }
     //---------- Process remaining rows, 1 at once ----------
-    if(peeled_mc1<rows)
+    if(peeled_mc_quarter<rows)
     {
       // loop on each panel of the rhs
       for(Index j2=0; j2<packet_cols4; j2+=nr)
       {
         // loop on each row of the lhs (1*LhsProgress x depth)
-        for(Index i=peeled_mc1; i<rows; i+=1)
+        for(Index i=peeled_mc_quarter; i<rows; i+=1)
         {
           const LhsScalar* blA = &blockA[i*strideA+offsetA];
           prefetch(&blA[0]);
           const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
 
-          // The following piece of code wont work for 512 bit registers
-          // Moreover, if LhsProgress==8 it assumes that there is a half packet of the same size
-          // as nr (which is currently 4) for the return type.
-          typedef typename unpacket_traits<SResPacket>::half SResPacketHalf;
+          // If LhsProgress is 8 or 16, it assumes that there is a
+          // half or quarter packet, respectively, of the same size as
+          // nr (which is currently 4) for the return type.
+          const int SResPacketHalfSize = unpacket_traits<typename unpacket_traits<SResPacket>::half>::size;
+          const int SResPacketQuarterSize = unpacket_traits<typename unpacket_traits<typename unpacket_traits<SResPacket>::half>::half>::size;
           if ((SwappedTraits::LhsProgress % 4) == 0 &&
-              (SwappedTraits::LhsProgress <= 8) &&
-              (SwappedTraits::LhsProgress!=8 || unpacket_traits<SResPacketHalf>::size==nr))
+              (SwappedTraits::LhsProgress<=16) &&
+              (SwappedTraits::LhsProgress!=8  || SResPacketHalfSize==nr) &&
+              (SwappedTraits::LhsProgress!=16 || SResPacketQuarterSize==nr))
           {
             SAccPacket C0, C1, C2, C3;
             straits.initAcc(C0);
@@ -1552,15 +1945,15 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
 
               straits.loadRhsQuad(blA+0*spk, B_0);
               straits.loadRhsQuad(blA+1*spk, B_1);
-              straits.madd(A0,B_0,C0,B_0);
-              straits.madd(A1,B_1,C1,B_1);
+              straits.madd(A0,B_0,C0,B_0, fix<0>);
+              straits.madd(A1,B_1,C1,B_1, fix<0>);
 
               straits.loadLhsUnaligned(blB+2*SwappedTraits::LhsProgress, A0);
               straits.loadLhsUnaligned(blB+3*SwappedTraits::LhsProgress, A1);
               straits.loadRhsQuad(blA+2*spk, B_0);
               straits.loadRhsQuad(blA+3*spk, B_1);
-              straits.madd(A0,B_0,C2,B_0);
-              straits.madd(A1,B_1,C3,B_1);
+              straits.madd(A0,B_0,C2,B_0, fix<0>);
+              straits.madd(A1,B_1,C3,B_1, fix<0>);
 
               blB += 4*SwappedTraits::LhsProgress;
               blA += 4*spk;
@@ -1573,7 +1966,7 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
 
               straits.loadLhsUnaligned(blB, A0);
               straits.loadRhsQuad(blA, B_0);
-              straits.madd(A0,B_0,C0,B_0);
+              straits.madd(A0,B_0,C0,B_0, fix<0>);
 
               blB += SwappedTraits::LhsProgress;
               blA += spk;
@@ -1583,7 +1976,7 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
               // Special case where we have to first reduce the accumulation register C0
               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
-              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SRhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
 
               SResPacketHalf R = res.template gatherPacket<SResPacketHalf>(i, j2);
@@ -1596,16 +1989,25 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
                 SRhsPacketHalf b0;
                 straits.loadLhsUnaligned(blB, a0);
                 straits.loadRhs(blA, b0);
-                SAccPacketHalf c0 = predux_downto4(C0);
-                straits.madd(a0,b0,c0,b0);
+                SAccPacketHalf c0 = predux_half_dowto4(C0);
+                straits.madd(a0,b0,c0,b0, fix<0>);
                 straits.acc(c0, alphav, R);
               }
               else
               {
-                straits.acc(predux_downto4(C0), alphav, R);
+                straits.acc(predux_half_dowto4(C0), alphav, R);
               }
               res.scatterPacket(i, j2, R);
             }
+            else if (SwappedTraits::LhsProgress==16)
+            {
+              // Special case where we have to first reduce the
+              // accumulation register C0. We specialize the block in
+              // template form, so that LhsProgress < 16 paths don't
+              // fail to compile
+              last_row_process_16_packets<LhsScalar, RhsScalar, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs> p;
+	            p(res, straits, blA, blB, depth, endk, i, j2,alpha, C0);
+            }
             else
             {
               SResPacket R = res.template gatherPacket<SResPacket>(i, j2);
@@ -1628,14 +2030,14 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
 
               B_0 = blB[0];
               B_1 = blB[1];
-              CJMADD(cj,A0,B_0,C0,  B_0);
-              CJMADD(cj,A0,B_1,C1,  B_1);
-              
+              C0 = cj.pmadd(A0,B_0,C0);
+              C1 = cj.pmadd(A0,B_1,C1);
+
               B_0 = blB[2];
               B_1 = blB[3];
-              CJMADD(cj,A0,B_0,C2,  B_0);
-              CJMADD(cj,A0,B_1,C3,  B_1);
-              
+              C2 = cj.pmadd(A0,B_0,C2);
+              C3 = cj.pmadd(A0,B_1,C3);
+
               blB += 4;
             }
             res(i, j2 + 0) += alpha * C0;
@@ -1649,7 +2051,7 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
       for(Index j2=packet_cols4; j2<cols; j2++)
       {
         // loop on each row of the lhs (1*LhsProgress x depth)
-        for(Index i=peeled_mc1; i<rows; i+=1)
+        for(Index i=peeled_mc_quarter; i<rows; i+=1)
         {
           const LhsScalar* blA = &blockA[i*strideA+offsetA];
           prefetch(&blA[0]);
@@ -1660,7 +2062,7 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
           {
             LhsScalar A0 = blA[k];
             RhsScalar B_0 = blB[k];
-            CJMADD(cj, A0, B_0, C0, B_0);
+            C0 = cj.pmadd(A0, B_0, C0);
           }
           res(i, j2) += alpha * C0;
         }
@@ -1669,8 +2071,6 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
   }
 
 
-#undef CJMADD
-
 // pack a block of the lhs
 // The traversal is as follow (mr==4):
 //   0  4  8 12 ...
@@ -1685,19 +2085,24 @@ void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,Conjuga
 //
 //  32 33 34 35 ...
 //  36 36 38 39 ...
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
 {
   typedef typename DataMapper::LinearMapper LinearMapper;
   EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, ColMajor, Conjugate, PanelMode>
   ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
 {
-  typedef typename packet_traits<Scalar>::type Packet;
-  enum { PacketSize = packet_traits<Scalar>::size };
+  typedef typename unpacket_traits<Packet>::half HalfPacket;
+  typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
+  enum { PacketSize = unpacket_traits<Packet>::size,
+         HalfPacketSize = unpacket_traits<HalfPacket>::size,
+         QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
+         HasHalf = (int)HalfPacketSize < (int)PacketSize,
+         HasQuarter = (int)QuarterPacketSize < (int)HalfPacketSize};
 
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
   EIGEN_UNUSED_VARIABLE(stride);
@@ -1709,9 +2114,12 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Co
 
   const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
   const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-  const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
-  const Index peeled_mc0 = Pack2>=1*PacketSize ? peeled_mc1
-                         : Pack2>1             ? (rows/Pack2)*Pack2 : 0;
+  const Index peeled_mc1 = Pack1>=1*PacketSize ? peeled_mc2+((rows-peeled_mc2)/(1*PacketSize))*(1*PacketSize) : 0;
+  const Index peeled_mc_half = Pack1>=HalfPacketSize ? peeled_mc1+((rows-peeled_mc1)/(HalfPacketSize))*(HalfPacketSize) : 0;
+  const Index peeled_mc_quarter = Pack1>=QuarterPacketSize ? (rows/(QuarterPacketSize))*(QuarterPacketSize) : 0;
+  const Index last_lhs_progress = rows > peeled_mc_quarter ? (rows - peeled_mc_quarter) & ~1 : 0;
+  const Index peeled_mc0 = Pack2>=PacketSize ? peeled_mc_quarter
+                         : Pack2>1 && last_lhs_progress ? (rows/last_lhs_progress)*last_lhs_progress : 0;
 
   Index i=0;
 
@@ -1725,9 +2133,9 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Co
       for(Index k=0; k<depth; k++)
       {
         Packet A, B, C;
-        A = lhs.loadPacket(i+0*PacketSize, k);
-        B = lhs.loadPacket(i+1*PacketSize, k);
-        C = lhs.loadPacket(i+2*PacketSize, k);
+        A = lhs.template loadPacket<Packet>(i+0*PacketSize, k);
+        B = lhs.template loadPacket<Packet>(i+1*PacketSize, k);
+        C = lhs.template loadPacket<Packet>(i+2*PacketSize, k);
         pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
         pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
         pstore(blockA+count, cj.pconj(C)); count+=PacketSize;
@@ -1745,8 +2153,8 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Co
       for(Index k=0; k<depth; k++)
       {
         Packet A, B;
-        A = lhs.loadPacket(i+0*PacketSize, k);
-        B = lhs.loadPacket(i+1*PacketSize, k);
+        A = lhs.template loadPacket<Packet>(i+0*PacketSize, k);
+        B = lhs.template loadPacket<Packet>(i+1*PacketSize, k);
         pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
         pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
       }
@@ -1763,27 +2171,67 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Co
       for(Index k=0; k<depth; k++)
       {
         Packet A;
-        A = lhs.loadPacket(i+0*PacketSize, k);
+        A = lhs.template loadPacket<Packet>(i+0*PacketSize, k);
         pstore(blockA+count, cj.pconj(A));
         count+=PacketSize;
       }
       if(PanelMode) count += (1*PacketSize) * (stride-offset-depth);
     }
   }
-  // Pack scalars
+  // Pack half packets
+  if(HasHalf && Pack1>=HalfPacketSize)
+  {
+    for(; i<peeled_mc_half; i+=HalfPacketSize)
+    {
+      if(PanelMode) count += (HalfPacketSize) * offset;
+
+      for(Index k=0; k<depth; k++)
+      {
+        HalfPacket A;
+        A = lhs.template loadPacket<HalfPacket>(i+0*(HalfPacketSize), k);
+        pstoreu(blockA+count, cj.pconj(A));
+        count+=HalfPacketSize;
+      }
+      if(PanelMode) count += (HalfPacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack quarter packets
+  if(HasQuarter && Pack1>=QuarterPacketSize)
+  {
+    for(; i<peeled_mc_quarter; i+=QuarterPacketSize)
+    {
+      if(PanelMode) count += (QuarterPacketSize) * offset;
+
+      for(Index k=0; k<depth; k++)
+      {
+        QuarterPacket A;
+        A = lhs.template loadPacket<QuarterPacket>(i+0*(QuarterPacketSize), k);
+        pstoreu(blockA+count, cj.pconj(A));
+        count+=QuarterPacketSize;
+      }
+      if(PanelMode) count += (QuarterPacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack2 may be *smaller* than PacketSize—that happens for
+  // products like real * complex, where we have to go half the
+  // progress on the lhs in order to duplicate those operands to
+  // address both real & imaginary parts on the rhs. This portion will
+  // pack those half ones until they match the number expected on the
+  // last peeling loop at this point (for the rhs).
   if(Pack2<PacketSize && Pack2>1)
   {
-    for(; i<peeled_mc0; i+=Pack2)
+    for(; i<peeled_mc0; i+=last_lhs_progress)
     {
-      if(PanelMode) count += Pack2 * offset;
+      if(PanelMode) count += last_lhs_progress * offset;
 
       for(Index k=0; k<depth; k++)
-        for(Index w=0; w<Pack2; w++)
+        for(Index w=0; w<last_lhs_progress; w++)
           blockA[count++] = cj(lhs(i+w, k));
 
-      if(PanelMode) count += Pack2 * (stride-offset-depth);
+      if(PanelMode) count += last_lhs_progress * (stride-offset-depth);
     }
   }
+  // Pack scalars
   for(; i<rows; i++)
   {
     if(PanelMode) count += offset;
@@ -1793,19 +2241,24 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Co
   }
 }
 
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
 {
   typedef typename DataMapper::LinearMapper LinearMapper;
   EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, RowMajor, Conjugate, PanelMode>
   ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
 {
-  typedef typename packet_traits<Scalar>::type Packet;
-  enum { PacketSize = packet_traits<Scalar>::size };
+  typedef typename unpacket_traits<Packet>::half HalfPacket;
+  typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
+  enum { PacketSize = unpacket_traits<Packet>::size,
+         HalfPacketSize = unpacket_traits<HalfPacket>::size,
+         QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
+         HasHalf = (int)HalfPacketSize < (int)PacketSize,
+         HasQuarter = (int)QuarterPacketSize < (int)HalfPacketSize};
 
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
   EIGEN_UNUSED_VARIABLE(stride);
@@ -1813,37 +2266,51 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Ro
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
   Index count = 0;
+  bool gone_half = false, gone_quarter = false, gone_last = false;
 
-//   const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
-//   const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-//   const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
-
-  int pack = Pack1;
   Index i = 0;
+  int pack = Pack1;
+  int psize = PacketSize;
   while(pack>0)
   {
     Index remaining_rows = rows-i;
-    Index peeled_mc = i+(remaining_rows/pack)*pack;
+    Index peeled_mc = gone_last ? Pack2>1 ? (rows/pack)*pack : 0 : i+(remaining_rows/pack)*pack;
+    Index starting_pos = i;
     for(; i<peeled_mc; i+=pack)
     {
       if(PanelMode) count += pack * offset;
 
-      const Index peeled_k = (depth/PacketSize)*PacketSize;
       Index k=0;
-      if(pack>=PacketSize)
+      if(pack>=psize && psize >= QuarterPacketSize)
       {
-        for(; k<peeled_k; k+=PacketSize)
+        const Index peeled_k = (depth/psize)*psize;
+        for(; k<peeled_k; k+=psize)
         {
-          for (Index m = 0; m < pack; m += PacketSize)
+          for (Index m = 0; m < pack; m += psize)
           {
-            PacketBlock<Packet> kernel;
-            for (int p = 0; p < PacketSize; ++p) kernel.packet[p] = lhs.loadPacket(i+p+m, k);
-            ptranspose(kernel);
-            for (int p = 0; p < PacketSize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
+            if (psize == PacketSize) {
+              PacketBlock<Packet> kernel;
+              for (int p = 0; p < psize; ++p) kernel.packet[p] = lhs.template loadPacket<Packet>(i+p+m, k);
+              ptranspose(kernel);
+              for (int p = 0; p < psize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
+            } else if (HasHalf && psize == HalfPacketSize) {
+              gone_half = true;
+              PacketBlock<HalfPacket> kernel_half;
+              for (int p = 0; p < psize; ++p) kernel_half.packet[p] = lhs.template loadPacket<HalfPacket>(i+p+m, k);
+              ptranspose(kernel_half);
+              for (int p = 0; p < psize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel_half.packet[p]));
+            } else if (HasQuarter && psize == QuarterPacketSize) {
+              gone_quarter = true;
+              PacketBlock<QuarterPacket> kernel_quarter;
+              for (int p = 0; p < psize; ++p) kernel_quarter.packet[p] = lhs.template loadPacket<QuarterPacket>(i+p+m, k);
+              ptranspose(kernel_quarter);
+              for (int p = 0; p < psize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel_quarter.packet[p]));
+	    }
           }
-          count += PacketSize*pack;
+          count += psize*pack;
         }
       }
+
       for(; k<depth; k++)
       {
         Index w=0;
@@ -1866,9 +2333,28 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Ro
       if(PanelMode) count += pack * (stride-offset-depth);
     }
 
-    pack -= PacketSize;
-    if(pack<Pack2 && (pack+PacketSize)!=Pack2)
-      pack = Pack2;
+    pack -= psize;
+    Index left = rows - i;
+    if (pack <= 0) {
+      if (!gone_last &&
+          (starting_pos == i || left >= psize/2 || left >= psize/4) &&
+          ((psize/2 == HalfPacketSize && HasHalf && !gone_half) ||
+           (psize/2 == QuarterPacketSize && HasQuarter && !gone_quarter))) {
+        psize /= 2;
+        pack = psize;
+        continue;
+      }
+      // Pack2 may be *smaller* than PacketSize—that happens for
+      // products like real * complex, where we have to go half the
+      // progress on the lhs in order to duplicate those operands to
+      // address both real & imaginary parts on the rhs. This portion will
+      // pack those half ones until they match the number expected on the
+      // last peeling loop at this point (for the rhs).
+      if (Pack2 < PacketSize && !gone_last) {
+        gone_last = true;
+        psize = pack = left & ~1;
+      }
+    }
   }
 
   for(; i<rows; i++)
@@ -1924,7 +2410,7 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Co
 //       const Scalar* b6 = &rhs[(j2+6)*rhsStride];
 //       const Scalar* b7 = &rhs[(j2+7)*rhsStride];
 //       Index k=0;
-//       if(PacketSize==8) // TODO enbale vectorized transposition for PacketSize==4
+//       if(PacketSize==8) // TODO enable vectorized transposition for PacketSize==4
 //       {
 //         for(; k<peeled_k; k+=PacketSize) {
 //           PacketBlock<Packet> kernel;
@@ -1971,10 +2457,10 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Co
       {
         for(; k<peeled_k; k+=PacketSize) {
           PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
-          kernel.packet[0] = dm0.loadPacket(k);
-          kernel.packet[1%PacketSize] = dm1.loadPacket(k);
-          kernel.packet[2%PacketSize] = dm2.loadPacket(k);
-          kernel.packet[3%PacketSize] = dm3.loadPacket(k);
+          kernel.packet[0           ] = dm0.template loadPacket<Packet>(k);
+          kernel.packet[1%PacketSize] = dm1.template loadPacket<Packet>(k);
+          kernel.packet[2%PacketSize] = dm2.template loadPacket<Packet>(k);
+          kernel.packet[3%PacketSize] = dm3.template loadPacket<Packet>(k);
           ptranspose(kernel);
           pstoreu(blockB+count+0*PacketSize, cj.pconj(kernel.packet[0]));
           pstoreu(blockB+count+1*PacketSize, cj.pconj(kernel.packet[1%PacketSize]));
@@ -2015,94 +2501,104 @@ template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conj
 struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
 {
   typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename unpacket_traits<Packet>::half HalfPacket;
+  typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
   typedef typename DataMapper::LinearMapper LinearMapper;
-  enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
-};
-
-template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
-{
-  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride);
-  EIGEN_UNUSED_VARIABLE(offset);
-  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
-  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
-  Index count = 0;
-
-//   if(nr>=8)
-//   {
-//     for(Index j2=0; j2<packet_cols8; j2+=8)
-//     {
-//       // skip what we have before
-//       if(PanelMode) count += 8 * offset;
-//       for(Index k=0; k<depth; k++)
-//       {
-//         if (PacketSize==8) {
-//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
-//           pstoreu(blockB+count, cj.pconj(A));
-//         } else if (PacketSize==4) {
-//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
-//           Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
-//           pstoreu(blockB+count, cj.pconj(A));
-//           pstoreu(blockB+count+PacketSize, cj.pconj(B));
-//         } else {
-//           const Scalar* b0 = &rhs[k*rhsStride + j2];
-//           blockB[count+0] = cj(b0[0]);
-//           blockB[count+1] = cj(b0[1]);
-//           blockB[count+2] = cj(b0[2]);
-//           blockB[count+3] = cj(b0[3]);
-//           blockB[count+4] = cj(b0[4]);
-//           blockB[count+5] = cj(b0[5]);
-//           blockB[count+6] = cj(b0[6]);
-//           blockB[count+7] = cj(b0[7]);
-//         }
-//         count += 8;
-//       }
-//       // skip what we have after
-//       if(PanelMode) count += 8 * (stride-offset-depth);
-//     }
-//   }
-  if(nr>=4)
+  enum { PacketSize = packet_traits<Scalar>::size,
+         HalfPacketSize = unpacket_traits<HalfPacket>::size,
+		 QuarterPacketSize = unpacket_traits<QuarterPacket>::size};
+  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0)
   {
-    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
+    EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
+    EIGEN_UNUSED_VARIABLE(stride);
+    EIGEN_UNUSED_VARIABLE(offset);
+    eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+    const bool HasHalf = (int)HalfPacketSize < (int)PacketSize;
+    const bool HasQuarter = (int)QuarterPacketSize < (int)HalfPacketSize;
+    conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+    Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+    Index count = 0;
+
+  //   if(nr>=8)
+  //   {
+  //     for(Index j2=0; j2<packet_cols8; j2+=8)
+  //     {
+  //       // skip what we have before
+  //       if(PanelMode) count += 8 * offset;
+  //       for(Index k=0; k<depth; k++)
+  //       {
+  //         if (PacketSize==8) {
+  //           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+  //           pstoreu(blockB+count, cj.pconj(A));
+  //         } else if (PacketSize==4) {
+  //           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+  //           Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
+  //           pstoreu(blockB+count, cj.pconj(A));
+  //           pstoreu(blockB+count+PacketSize, cj.pconj(B));
+  //         } else {
+  //           const Scalar* b0 = &rhs[k*rhsStride + j2];
+  //           blockB[count+0] = cj(b0[0]);
+  //           blockB[count+1] = cj(b0[1]);
+  //           blockB[count+2] = cj(b0[2]);
+  //           blockB[count+3] = cj(b0[3]);
+  //           blockB[count+4] = cj(b0[4]);
+  //           blockB[count+5] = cj(b0[5]);
+  //           blockB[count+6] = cj(b0[6]);
+  //           blockB[count+7] = cj(b0[7]);
+  //         }
+  //         count += 8;
+  //       }
+  //       // skip what we have after
+  //       if(PanelMode) count += 8 * (stride-offset-depth);
+  //     }
+  //   }
+    if(nr>=4)
     {
-      // skip what we have before
-      if(PanelMode) count += 4 * offset;
-      for(Index k=0; k<depth; k++)
+      for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
       {
-        if (PacketSize==4) {
-          Packet A = rhs.loadPacket(k, j2);
-          pstoreu(blockB+count, cj.pconj(A));
-          count += PacketSize;
-        } else {
-          const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
-          blockB[count+0] = cj(dm0(0));
-          blockB[count+1] = cj(dm0(1));
-          blockB[count+2] = cj(dm0(2));
-          blockB[count+3] = cj(dm0(3));
-          count += 4;
+        // skip what we have before
+        if(PanelMode) count += 4 * offset;
+        for(Index k=0; k<depth; k++)
+        {
+          if (PacketSize==4) {
+            Packet A = rhs.template loadPacket<Packet>(k, j2);
+            pstoreu(blockB+count, cj.pconj(A));
+            count += PacketSize;
+          } else if (HasHalf && HalfPacketSize==4) {
+            HalfPacket A = rhs.template loadPacket<HalfPacket>(k, j2);
+            pstoreu(blockB+count, cj.pconj(A));
+            count += HalfPacketSize;
+          } else if (HasQuarter && QuarterPacketSize==4) {
+            QuarterPacket A = rhs.template loadPacket<QuarterPacket>(k, j2);
+            pstoreu(blockB+count, cj.pconj(A));
+            count += QuarterPacketSize;
+          } else {
+            const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
+            blockB[count+0] = cj(dm0(0));
+            blockB[count+1] = cj(dm0(1));
+            blockB[count+2] = cj(dm0(2));
+            blockB[count+3] = cj(dm0(3));
+            count += 4;
+          }
         }
+        // skip what we have after
+        if(PanelMode) count += 4 * (stride-offset-depth);
       }
-      // skip what we have after
-      if(PanelMode) count += 4 * (stride-offset-depth);
     }
-  }
-  // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols4; j2<cols; ++j2)
-  {
-    if(PanelMode) count += offset;
-    for(Index k=0; k<depth; k++)
+    // copy the remaining columns one at a time (nr==1)
+    for(Index j2=packet_cols4; j2<cols; ++j2)
     {
-      blockB[count] = cj(rhs(k, j2));
-      count += 1;
+      if(PanelMode) count += offset;
+      for(Index k=0; k<depth; k++)
+      {
+        blockB[count] = cj(rhs(k, j2));
+        count += 1;
+      }
+      if(PanelMode) count += stride-offset-depth;
     }
-    if(PanelMode) count += stride-offset-depth;
   }
-}
+};
 
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix.h
index ed4d3182b3..caa65fcccf 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -20,8 +20,9 @@ template<typename _LhsScalar, typename _RhsScalar> class level3_blocking;
 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>
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+  int ResInnerStride>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,ResInnerStride>
 {
   typedef gebp_traits<RhsScalar,LhsScalar> Traits;
 
@@ -30,7 +31,7 @@ struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLh
     Index rows, Index cols, Index depth,
     const LhsScalar* lhs, Index lhsStride,
     const RhsScalar* rhs, Index rhsStride,
-    ResScalar* res, Index resStride,
+    ResScalar* res, Index resIncr, Index resStride,
     ResScalar alpha,
     level3_blocking<RhsScalar,LhsScalar>& blocking,
     GemmParallelInfo<Index>* info = 0)
@@ -39,8 +40,8 @@ struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLh
     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);
+      ColMajor,ResInnerStride>
+    ::run(cols,rows,depth,rhs,rhsStride,lhs,lhsStride,res,resIncr,resStride,alpha,blocking,info);
   }
 };
 
@@ -49,8 +50,9 @@ struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLh
 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>
+  typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+  int ResInnerStride>
+struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride>
 {
 
 typedef gebp_traits<LhsScalar,RhsScalar> Traits;
@@ -59,23 +61,23 @@ typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScala
 static void run(Index rows, Index cols, Index depth,
   const LhsScalar* _lhs, Index lhsStride,
   const RhsScalar* _rhs, Index rhsStride,
-  ResScalar* _res, Index resStride,
+  ResScalar* _res, Index resIncr, Index resStride,
   ResScalar alpha,
   level3_blocking<LhsScalar,RhsScalar>& blocking,
   GemmParallelInfo<Index>* info = 0)
 {
   typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
   typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
-  typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
-  LhsMapper lhs(_lhs,lhsStride);
-  RhsMapper rhs(_rhs,rhsStride);
-  ResMapper res(_res, resStride);
+  typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor,Unaligned,ResInnerStride> ResMapper;
+  LhsMapper lhs(_lhs, lhsStride);
+  RhsMapper rhs(_rhs, rhsStride);
+  ResMapper res(_res, resStride, resIncr);
 
   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 = (std::min)(cols,blocking.nc());  // cache block size along the N direction
 
-  gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+  gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder> pack_lhs;
   gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
   gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
 
@@ -108,7 +110,7 @@ static void run(Index rows, Index cols, Index depth,
       // 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;
+      info[tid].users = threads;
 
       pack_lhs(blockA+info[tid].lhs_start*actual_kc, lhs.getSubMapper(info[tid].lhs_start,k), actual_kc, info[tid].lhs_length);
 
@@ -146,7 +148,9 @@ static void run(Index rows, Index cols, Index depth,
       // Release all the sub blocks A'_i of A' for the current thread,
       // i.e., we simply decrement the number of users by 1
       for(Index i=0; i<threads; ++i)
+#if !EIGEN_HAS_CXX11_ATOMIC
         #pragma omp atomic
+#endif
         info[i].users -= 1;
     }
   }
@@ -226,7 +230,7 @@ struct gemm_functor
     Gemm::run(rows, cols, m_lhs.cols(),
               &m_lhs.coeffRef(row,0), m_lhs.outerStride(),
               &m_rhs.coeffRef(0,col), m_rhs.outerStride(),
-              (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
+              (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.innerStride(), m_dest.outerStride(),
               m_actualAlpha, m_blocking, info);
   }
 
@@ -431,10 +435,10 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
     // to determine the following heuristic.
     // EIGEN_GEMM_TO_COEFFBASED_THRESHOLD is typically defined to 20 in GeneralProduct.h,
     // unless it has been specialized by the user or for a given architecture.
-    // Note that the condition rhs.rows()>0 was required because lazy produc is (was?) not happy with empty inputs.
+    // Note that the condition rhs.rows()>0 was required because lazy product is (was?) not happy with empty inputs.
     // I'm not sure it is still required.
     if((rhs.rows()+dst.rows()+dst.cols())<EIGEN_GEMM_TO_COEFFBASED_THRESHOLD && rhs.rows()>0)
-      lazyproduct::evalTo(dst, lhs, rhs);
+      lazyproduct::eval_dynamic(dst, lhs, rhs, internal::assign_op<typename Dst::Scalar,Scalar>());
     else
     {
       dst.setZero();
@@ -446,7 +450,7 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
   static void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     if((rhs.rows()+dst.rows()+dst.cols())<EIGEN_GEMM_TO_COEFFBASED_THRESHOLD && rhs.rows()>0)
-      lazyproduct::addTo(dst, lhs, rhs);
+      lazyproduct::eval_dynamic(dst, lhs, rhs, internal::add_assign_op<typename Dst::Scalar,Scalar>());
     else
       scaleAndAddTo(dst,lhs, rhs, Scalar(1));
   }
@@ -455,7 +459,7 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
   static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
   {
     if((rhs.rows()+dst.rows()+dst.cols())<EIGEN_GEMM_TO_COEFFBASED_THRESHOLD && rhs.rows()>0)
-      lazyproduct::subTo(dst, lhs, rhs);
+      lazyproduct::eval_dynamic(dst, lhs, rhs, internal::sub_assign_op<typename Dst::Scalar,Scalar>());
     else
       scaleAndAddTo(dst, lhs, rhs, Scalar(-1));
   }
@@ -467,11 +471,25 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
     if(a_lhs.cols()==0 || a_lhs.rows()==0 || a_rhs.cols()==0)
       return;
 
+    if (dst.cols() == 1)
+    {
+      // Fallback to GEMV if either the lhs or rhs is a runtime vector
+      typename Dest::ColXpr dst_vec(dst.col(0));
+      return internal::generic_product_impl<Lhs,typename Rhs::ConstColXpr,DenseShape,DenseShape,GemvProduct>
+        ::scaleAndAddTo(dst_vec, a_lhs, a_rhs.col(0), alpha);
+    }
+    else if (dst.rows() == 1)
+    {
+      // Fallback to GEMV if either the lhs or rhs is a runtime vector
+      typename Dest::RowXpr dst_vec(dst.row(0));
+      return internal::generic_product_impl<typename Lhs::ConstRowXpr,Rhs,DenseShape,DenseShape,GemvProduct>
+        ::scaleAndAddTo(dst_vec, a_lhs.row(0), a_rhs, alpha);
+    }
+
     typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
     typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
+    Scalar actualAlpha = combine_scalar_factors(alpha, a_lhs, a_rhs);
 
     typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
             Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
@@ -482,7 +500,8 @@ struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
         Index,
         LhsScalar, (ActualLhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
         RhsScalar, (ActualRhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
-        (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+        (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,
+        Dest::InnerStrideAtCompileTime>,
       ActualLhsTypeCleaned, ActualRhsTypeCleaned, Dest, BlockingType> GemmFunctor;
 
     BlockingType blocking(dst.rows(), dst.cols(), lhs.cols(), 1, true);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
index e436c50a42..6ba0d9bdb8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -25,51 +25,54 @@ namespace internal {
 **********************************************************************/
 
 // 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>
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int ResInnerStride, 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, int Version = Specialized>
+                              int ResStorageOrder, int ResInnerStride, int  UpLo, int Version = Specialized>
 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, int Version>
-struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo,Version>
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+                          int ResInnerStride, int  UpLo, int Version>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,ResInnerStride,UpLo,Version>
 {
   typedef typename ScalarBinaryOpTraits<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,
+                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resIncr, Index resStride,
                                       const ResScalar& alpha, level3_blocking<RhsScalar,LhsScalar>& blocking)
   {
     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,blocking);
+        ColMajor, ResInnerStride, UpLo==Lower?Upper:Lower>
+      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resIncr,resStride,alpha,blocking);
   }
 };
 
 template <typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs,
-                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
-struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Version>
+                          typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs,
+                          int ResInnerStride, int  UpLo, int Version>
+struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride,UpLo,Version>
 {
   typedef typename ScalarBinaryOpTraits<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,
+                                      const RhsScalar* _rhs, Index rhsStride,
+                                      ResScalar* _res, Index resIncr, Index resStride,
                                       const ResScalar& alpha, level3_blocking<LhsScalar,RhsScalar>& blocking)
   {
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
 
     typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
     typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
     LhsMapper lhs(_lhs,lhsStride);
     RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
+    ResMapper res(_res, resStride, resIncr);
 
     Index kc = blocking.kc();
     Index mc = (std::min)(size,blocking.mc());
@@ -84,10 +87,10 @@ struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,
     ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
 
-    gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder> pack_lhs;
     gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
     gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
-    tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
+    tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, ResInnerStride, UpLo> sybb;
 
     for(Index k2=0; k2<depth; k2+=kc)
     {
@@ -110,8 +113,7 @@ struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,
           gebp(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc,
                (std::min)(size,i2), alpha, -1, -1, 0, 0);
 
-
-        sybb(_res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
+        sybb(_res+resStride*i2 + resIncr*i2, resIncr, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
 
         if (UpLo==Upper)
         {
@@ -133,7 +135,7 @@ struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,
 //   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>
+template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjLhs, bool ConjRhs, int ResInnerStride, int UpLo>
 struct tribb_kernel
 {
   typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
@@ -142,11 +144,13 @@ struct tribb_kernel
   enum {
     BlockSize  = meta_least_common_multiple<EIGEN_PLAIN_ENUM_MAX(mr,nr),EIGEN_PLAIN_ENUM_MIN(mr,nr)>::ret
   };
-  void operator()(ResScalar* _res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
+  void operator()(ResScalar* _res, Index resIncr, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
   {
-    typedef blas_data_mapper<ResScalar, Index, ColMajor> ResMapper;
-    ResMapper res(_res, resStride);
-    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+    typedef blas_data_mapper<ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
+    typedef blas_data_mapper<ResScalar, Index, ColMajor, Unaligned> BufferMapper;
+    ResMapper res(_res, resStride, resIncr);
+    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel1;
+    gebp_kernel<LhsScalar, RhsScalar, Index, BufferMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel2;
 
     Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer((internal::constructor_without_unaligned_array_assert()));
 
@@ -158,31 +162,32 @@ struct tribb_kernel
       const RhsScalar* actual_b = blockB+j*depth;
 
       if(UpLo==Upper)
-        gebp_kernel(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0);
-
+        gebp_kernel1(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
+                     -1, -1, 0, 0);
+      
       // selfadjoint micro block
       {
         Index i = j;
         buffer.setZero();
         // 1 - apply the kernel on the temporary buffer
-        gebp_kernel(ResMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0);
+        gebp_kernel2(BufferMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+                     -1, -1, 0, 0);
+
         // 2 - triangular accumulation
         for(Index j1=0; j1<actualBlockSize; ++j1)
         {
-          ResScalar* r = &res(i, j + j1);
+          typename ResMapper::LinearMapper r = res.getLinearMapper(i,j+j1);
           for(Index i1=UpLo==Lower ? j1 : 0;
               UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
-            r[i1] += buffer(i1,j1);
+            r(i1) += buffer(i1,j1);
         }
       }
 
       if(UpLo==Lower)
       {
         Index i = j+actualBlockSize;
-        gebp_kernel(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i, 
-                    depth, actualBlockSize, alpha, -1, -1, 0, 0);
+        gebp_kernel1(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i, 
+                     depth, actualBlockSize, alpha, -1, -1, 0, 0);
       }
     }
   }
@@ -286,11 +291,12 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
     internal::general_matrix_matrix_triangular_product<Index,
       typename Lhs::Scalar, LhsIsRowMajor ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
       typename Rhs::Scalar, RhsIsRowMajor ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      IsRowMajor ? RowMajor : ColMajor, UpLo&(Lower|Upper)>
+      IsRowMajor ? RowMajor : ColMajor, MatrixType::InnerStrideAtCompileTime, UpLo&(Lower|Upper)>
       ::run(size, depth,
             &actualLhs.coeffRef(SkipDiag&&(UpLo&Lower)==Lower ? 1 : 0,0), actualLhs.outerStride(),
             &actualRhs.coeffRef(0,SkipDiag&&(UpLo&Upper)==Upper ? 1 : 0), actualRhs.outerStride(),
-            mat.data() + (SkipDiag ? (bool(IsRowMajor) != ((UpLo&Lower)==Lower) ? 1 : mat.outerStride() ) : 0), mat.outerStride(), actualAlpha, blocking);
+            mat.data() + (SkipDiag ? (bool(IsRowMajor) != ((UpLo&Lower)==Lower) ? mat.innerStride() : mat.outerStride() ) : 0),
+            mat.innerStride(), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
index 9176a13826..9a650ec23d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
@@ -37,10 +37,10 @@ namespace Eigen {
 
 namespace internal {
 
-template <typename Index, typename Scalar, int AStorageOrder, bool ConjugateA, int ResStorageOrder, int  UpLo>
+template <typename Index, typename Scalar, int AStorageOrder, bool ConjugateA, int ResStorageOrder, int UpLo>
 struct general_matrix_matrix_rankupdate :
        general_matrix_matrix_triangular_product<
-         Index,Scalar,AStorageOrder,ConjugateA,Scalar,AStorageOrder,ConjugateA,ResStorageOrder,UpLo,BuiltIn> {};
+         Index,Scalar,AStorageOrder,ConjugateA,Scalar,AStorageOrder,ConjugateA,ResStorageOrder,1,UpLo,BuiltIn> {};
 
 
 // try to go to BLAS specialization
@@ -48,19 +48,19 @@ struct general_matrix_matrix_rankupdate :
 template <typename Index, int LhsStorageOrder, bool ConjugateLhs, \
                           int RhsStorageOrder, bool ConjugateRhs, int  UpLo> \
 struct general_matrix_matrix_triangular_product<Index,Scalar,LhsStorageOrder,ConjugateLhs, \
-               Scalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Specialized> { \
+               Scalar,RhsStorageOrder,ConjugateRhs,ColMajor,1,UpLo,Specialized> { \
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const Scalar* lhs, Index lhsStride, \
-                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar, Scalar>& blocking) \
+                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resIncr, Index resStride, Scalar alpha, level3_blocking<Scalar, Scalar>& blocking) \
   { \
-    if ( lhs==rhs && ((UpLo&(Lower|Upper)==UpLo)) ) { \
+    if ( lhs==rhs && ((UpLo&(Lower|Upper))==UpLo) ) { \
       general_matrix_matrix_rankupdate<Index,Scalar,LhsStorageOrder,ConjugateLhs,ColMajor,UpLo> \
       ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
     } else { \
       general_matrix_matrix_triangular_product<Index, \
         Scalar, LhsStorageOrder, ConjugateLhs, \
         Scalar, RhsStorageOrder, ConjugateRhs, \
-        ColMajor, UpLo, BuiltIn> \
-      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
+        ColMajor, 1, UpLo, BuiltIn> \
+      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resIncr,resStride,alpha,blocking); \
     } \
   } \
 };
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
index b0f6b0d5b9..71abf4013d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
@@ -51,20 +51,22 @@ template< \
   typename Index, \
   int LhsStorageOrder, bool ConjugateLhs, \
   int RhsStorageOrder, bool ConjugateRhs> \
-struct general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor> \
+struct general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor,1> \
 { \
 typedef gebp_traits<EIGTYPE,EIGTYPE> Traits; \
 \
 static void run(Index rows, Index cols, Index depth, \
   const EIGTYPE* _lhs, Index lhsStride, \
   const EIGTYPE* _rhs, Index rhsStride, \
-  EIGTYPE* res, Index resStride, \
+  EIGTYPE* res, Index resIncr, Index resStride, \
   EIGTYPE alpha, \
   level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/, \
   GemmParallelInfo<Index>* /*info = 0*/) \
 { \
   using std::conj; \
 \
+  EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+  eigen_assert(resIncr == 1); \
   char transa, transb; \
   BlasIndex m, n, k, lda, ldb, ldc; \
   const EIGTYPE *a, *b; \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixVector.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixVector.h
index 41d8242e15..dfb6aebced 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -14,6 +14,54 @@ namespace Eigen {
 
 namespace internal {
 
+enum GEMVPacketSizeType {
+  GEMVPacketFull = 0,
+  GEMVPacketHalf,
+  GEMVPacketQuarter
+};
+
+template <int N, typename T1, typename T2, typename T3>
+struct gemv_packet_cond { typedef T3 type; };
+
+template <typename T1, typename T2, typename T3>
+struct gemv_packet_cond<GEMVPacketFull, T1, T2, T3> { typedef T1 type; };
+
+template <typename T1, typename T2, typename T3>
+struct gemv_packet_cond<GEMVPacketHalf, T1, T2, T3> { typedef T2 type; };
+
+template<typename LhsScalar, typename RhsScalar, int _PacketSize=GEMVPacketFull>
+class gemv_traits
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+
+#define PACKET_DECL_COND_PREFIX(prefix, name, packet_size)                        \
+  typedef typename gemv_packet_cond<packet_size,                                  \
+                                    typename packet_traits<name ## Scalar>::type, \
+                                    typename packet_traits<name ## Scalar>::half, \
+                                    typename unpacket_traits<typename packet_traits<name ## Scalar>::half>::half>::type \
+  prefix ## name ## Packet
+
+  PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
+  PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
+#undef PACKET_DECL_COND_PREFIX
+
+public:
+  enum {
+        Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
+        unpacket_traits<_RhsPacket>::vectorizable &&
+        int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
+        LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
+        RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
+        ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
+  };
+
+  typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
+  typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
+};
+
+
 /* Optimized col-major matrix * vector product:
  * This algorithm processes the matrix per vertical panels,
  * which are then processed horizontaly per chunck of 8*PacketSize x 1 vertical segments.
@@ -30,25 +78,25 @@ namespace internal {
 template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
 struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
+  typedef gemv_traits<LhsScalar,RhsScalar> Traits;
+  typedef gemv_traits<LhsScalar,RhsScalar,GEMVPacketHalf> HalfTraits;
+  typedef gemv_traits<LhsScalar,RhsScalar,GEMVPacketQuarter> QuarterTraits;
+
   typedef typename ScalarBinaryOpTraits<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 Traits::LhsPacket LhsPacket;
+  typedef typename Traits::RhsPacket RhsPacket;
+  typedef typename Traits::ResPacket ResPacket;
 
-typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-typedef typename packet_traits<ResScalar>::type  _ResPacket;
+  typedef typename HalfTraits::LhsPacket LhsPacketHalf;
+  typedef typename HalfTraits::RhsPacket RhsPacketHalf;
+  typedef typename HalfTraits::ResPacket ResPacketHalf;
 
-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 typename QuarterTraits::LhsPacket LhsPacketQuarter;
+  typedef typename QuarterTraits::RhsPacket RhsPacketQuarter;
+  typedef typename QuarterTraits::ResPacket ResPacketQuarter;
 
-EIGEN_DONT_INLINE static void run(
+EIGEN_DEVICE_FUNC EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
   const LhsMapper& lhs,
   const RhsMapper& rhs,
@@ -57,7 +105,7 @@ EIGEN_DONT_INLINE static void run(
 };
 
 template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
+EIGEN_DEVICE_FUNC EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
   const LhsMapper& alhs,
   const RhsMapper& rhs,
@@ -73,19 +121,33 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,C
 
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+  conj_helper<LhsPacketHalf,RhsPacketHalf,ConjugateLhs,ConjugateRhs> pcj_half;
+  conj_helper<LhsPacketQuarter,RhsPacketQuarter,ConjugateLhs,ConjugateRhs> pcj_quarter;
+
   const Index lhsStride = lhs.stride();
   // TODO: for padded aligned inputs, we could enable aligned reads
-  enum { LhsAlignment = Unaligned };
+  enum { LhsAlignment = Unaligned,
+         ResPacketSize = Traits::ResPacketSize,
+         ResPacketSizeHalf = HalfTraits::ResPacketSize,
+         ResPacketSizeQuarter = QuarterTraits::ResPacketSize,
+         LhsPacketSize = Traits::LhsPacketSize,
+         HasHalf = (int)ResPacketSizeHalf < (int)ResPacketSize,
+         HasQuarter = (int)ResPacketSizeQuarter < (int)ResPacketSizeHalf
+  };
 
   const Index n8 = rows-8*ResPacketSize+1;
   const Index n4 = rows-4*ResPacketSize+1;
   const Index n3 = rows-3*ResPacketSize+1;
   const Index n2 = rows-2*ResPacketSize+1;
   const Index n1 = rows-1*ResPacketSize+1;
+  const Index n_half = rows-1*ResPacketSizeHalf+1;
+  const Index n_quarter = rows-1*ResPacketSizeQuarter+1;
 
   // TODO: improve the following heuristic:
   const Index block_cols = cols<128 ? cols : (lhsStride*sizeof(LhsScalar)<32000?16:4);
   ResPacket palpha = pset1<ResPacket>(alpha);
+  ResPacketHalf palpha_half = pset1<ResPacketHalf>(alpha);
+  ResPacketQuarter palpha_quarter = pset1<ResPacketQuarter>(alpha);
 
   for(Index j2=0; j2<cols; j2+=block_cols)
   {
@@ -190,6 +252,28 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,C
       pstoreu(res+i+ResPacketSize*0, pmadd(c0,palpha,ploadu<ResPacket>(res+i+ResPacketSize*0)));
       i+=ResPacketSize;
     }
+    if(HasHalf && i<n_half)
+    {
+      ResPacketHalf c0 = pset1<ResPacketHalf>(ResScalar(0));
+      for(Index j=j2; j<jend; j+=1)
+      {
+        RhsPacketHalf b0 = pset1<RhsPacketHalf>(rhs(j,0));
+        c0 = pcj_half.pmadd(lhs.template load<LhsPacketHalf,LhsAlignment>(i+0,j),b0,c0);
+      }
+      pstoreu(res+i+ResPacketSizeHalf*0, pmadd(c0,palpha_half,ploadu<ResPacketHalf>(res+i+ResPacketSizeHalf*0)));
+      i+=ResPacketSizeHalf;
+    }
+    if(HasQuarter && i<n_quarter)
+    {
+      ResPacketQuarter c0 = pset1<ResPacketQuarter>(ResScalar(0));
+      for(Index j=j2; j<jend; j+=1)
+      {
+        RhsPacketQuarter b0 = pset1<RhsPacketQuarter>(rhs(j,0));
+        c0 = pcj_quarter.pmadd(lhs.template load<LhsPacketQuarter,LhsAlignment>(i+0,j),b0,c0);
+      }
+      pstoreu(res+i+ResPacketSizeQuarter*0, pmadd(c0,palpha_quarter,ploadu<ResPacketQuarter>(res+i+ResPacketSizeQuarter*0)));
+      i+=ResPacketSizeQuarter;
+    }
     for(;i<rows;++i)
     {
       ResScalar c0(0);
@@ -201,7 +285,7 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,C
 }
 
 /* Optimized row-major matrix * vector product:
- * This algorithm processes 4 rows at onces that allows to both reduce
+ * This algorithm processes 4 rows at once 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.
@@ -213,25 +297,25 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,C
 template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
 struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
-typedef typename ScalarBinaryOpTraits<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 gemv_traits<LhsScalar,RhsScalar> Traits;
+  typedef gemv_traits<LhsScalar,RhsScalar,GEMVPacketHalf> HalfTraits;
+  typedef gemv_traits<LhsScalar,RhsScalar,GEMVPacketQuarter> QuarterTraits;
+
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
-typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
-typedef typename packet_traits<RhsScalar>::type  _RhsPacket;
-typedef typename packet_traits<ResScalar>::type  _ResPacket;
+  typedef typename Traits::LhsPacket LhsPacket;
+  typedef typename Traits::RhsPacket RhsPacket;
+  typedef typename Traits::ResPacket 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 typename HalfTraits::LhsPacket LhsPacketHalf;
+  typedef typename HalfTraits::RhsPacket RhsPacketHalf;
+  typedef typename HalfTraits::ResPacket ResPacketHalf;
 
-EIGEN_DONT_INLINE static void run(
+  typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
+  typedef typename QuarterTraits::RhsPacket RhsPacketQuarter;
+  typedef typename QuarterTraits::ResPacket ResPacketQuarter;
+
+EIGEN_DEVICE_FUNC EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
   const LhsMapper& lhs,
   const RhsMapper& rhs,
@@ -240,7 +324,7 @@ EIGEN_DONT_INLINE static void run(
 };
 
 template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
+EIGEN_DEVICE_FUNC EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
   const LhsMapper& alhs,
   const RhsMapper& rhs,
@@ -254,6 +338,8 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,R
   eigen_internal_assert(rhs.stride()==1);
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
+  conj_helper<LhsPacketHalf,RhsPacketHalf,ConjugateLhs,ConjugateRhs> pcj_half;
+  conj_helper<LhsPacketQuarter,RhsPacketQuarter,ConjugateLhs,ConjugateRhs> pcj_quarter;
 
   // TODO: fine tune the following heuristic. The rationale is that if the matrix is very large,
   //       processing 8 rows at once might be counter productive wrt cache.
@@ -262,7 +348,16 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,R
   const Index n2 = rows-1;
 
   // TODO: for padded aligned inputs, we could enable aligned reads
-  enum { LhsAlignment = Unaligned };
+  enum { LhsAlignment = Unaligned,
+         ResPacketSize = Traits::ResPacketSize,
+         ResPacketSizeHalf = HalfTraits::ResPacketSize,
+         ResPacketSizeQuarter = QuarterTraits::ResPacketSize,
+         LhsPacketSize = Traits::LhsPacketSize,
+         LhsPacketSizeHalf = HalfTraits::LhsPacketSize,
+         LhsPacketSizeQuarter = QuarterTraits::LhsPacketSize,
+         HasHalf = (int)ResPacketSizeHalf < (int)ResPacketSize,
+         HasQuarter = (int)ResPacketSizeQuarter < (int)ResPacketSizeHalf
+  };
 
   Index i=0;
   for(; i<n8; i+=8)
@@ -383,6 +478,8 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,R
   for(; i<rows; ++i)
   {
     ResPacket c0 = pset1<ResPacket>(ResScalar(0));
+    ResPacketHalf c0_h = pset1<ResPacketHalf>(ResScalar(0));
+    ResPacketQuarter c0_q = pset1<ResPacketQuarter>(ResScalar(0));
     Index j=0;
     for(; j+LhsPacketSize<=cols; j+=LhsPacketSize)
     {
@@ -390,6 +487,22 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,R
       c0 = pcj.pmadd(lhs.template load<LhsPacket,LhsAlignment>(i,j),b0,c0);
     }
     ResScalar cc0 = predux(c0);
+    if (HasHalf) {
+      for(; j+LhsPacketSizeHalf<=cols; j+=LhsPacketSizeHalf)
+        {
+          RhsPacketHalf b0 = rhs.template load<RhsPacketHalf,Unaligned>(j,0);
+          c0_h = pcj_half.pmadd(lhs.template load<LhsPacketHalf,LhsAlignment>(i,j),b0,c0_h);
+        }
+      cc0 += predux(c0_h);
+    }
+    if (HasQuarter) {
+      for(; j+LhsPacketSizeQuarter<=cols; j+=LhsPacketSizeQuarter)
+        {
+          RhsPacketQuarter b0 = rhs.template load<RhsPacketQuarter,Unaligned>(j,0);
+          c0_q = pcj_quarter.pmadd(lhs.template load<LhsPacketQuarter,LhsAlignment>(i,j),b0,c0_q);
+        }
+      cc0 += predux(c0_q);
+    }
     for(; j<cols; ++j)
     {
       cc0 += cj.pmul(lhs(i,j), rhs(j,0));
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/Parallelizer.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/Parallelizer.h
index c2f084c82c..8f91879e45 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/Parallelizer.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/Parallelizer.h
@@ -10,6 +10,10 @@
 #ifndef EIGEN_PARALLELIZER_H
 #define EIGEN_PARALLELIZER_H
 
+#if EIGEN_HAS_CXX11_ATOMIC
+#include <atomic>
+#endif
+
 namespace Eigen {
 
 namespace internal {
@@ -17,7 +21,8 @@ namespace internal {
 /** \internal */
 inline void manage_multi_threading(Action action, int* v)
 {
-  static EIGEN_UNUSED int m_maxThreads = -1;
+  static int m_maxThreads = -1;
+  EIGEN_UNUSED_VARIABLE(m_maxThreads)
 
   if(action==SetAction)
   {
@@ -75,8 +80,17 @@ template<typename Index> struct GemmParallelInfo
 {
   GemmParallelInfo() : sync(-1), users(0), lhs_start(0), lhs_length(0) {}
 
+  // volatile is not enough on all architectures (see bug 1572)
+  // to guarantee that when thread A says to thread B that it is
+  // done with packing a block, then all writes have been really
+  // carried out... C++11 memory model+atomic guarantees this.
+#if EIGEN_HAS_CXX11_ATOMIC
+  std::atomic<Index> sync;
+  std::atomic<int> users;
+#else
   Index volatile sync;
   int volatile users;
+#endif
 
   Index lhs_start;
   Index lhs_length;
@@ -87,11 +101,14 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth,
 {
   // TODO when EIGEN_USE_BLAS is defined,
   // we should still enable OMP for other scalar types
-#if !(defined (EIGEN_HAS_OPENMP)) || defined (EIGEN_USE_BLAS)
+  // Without C++11, we have to disable GEMM's parallelization on
+  // non x86 architectures because there volatile is not enough for our purpose.
+  // See bug 1572.
+#if (! defined(EIGEN_HAS_OPENMP)) || defined(EIGEN_USE_BLAS) || ((!EIGEN_HAS_CXX11_ATOMIC) && !(EIGEN_ARCH_i386_OR_x86_64))
   // 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.
+  // parallelizer mechanism has to be redesigned anyway.
   EIGEN_UNUSED_VARIABLE(depth);
   EIGEN_UNUSED_VARIABLE(transpose);
   func(0,rows, 0,cols);
@@ -112,12 +129,12 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth,
   double work = static_cast<double>(rows) * static_cast<double>(cols) *
       static_cast<double>(depth);
   double kMinTaskSize = 50000;  // FIXME improve this heuristic.
-  pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, work / kMinTaskSize));
+  pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, static_cast<Index>( work / kMinTaskSize ) ));
 
   // compute the number of threads we are going to use
   Index threads = std::min<Index>(nbThreads(), pb_max_threads);
 
-  // if multi-threading is explicitely disabled, not useful, or if we already are in a parallel session,
+  // if multi-threading is explicitly disabled, not useful, or if we already are in a parallel session,
   // then abort multi-threading
   // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
   if((!Condition) || (threads==1) || (omp_get_num_threads()>1))
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
index da6f82abcd..33ecf10f61 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -45,14 +45,23 @@ struct symm_pack_lhs
   }
   void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
   {
-    enum { PacketSize = packet_traits<Scalar>::size };
+    typedef typename unpacket_traits<typename packet_traits<Scalar>::type>::half HalfPacket;
+    typedef typename unpacket_traits<typename unpacket_traits<typename packet_traits<Scalar>::type>::half>::half QuarterPacket;
+    enum { PacketSize = packet_traits<Scalar>::size,
+           HalfPacketSize = unpacket_traits<HalfPacket>::size,
+           QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
+           HasHalf = (int)HalfPacketSize < (int)PacketSize,
+           HasQuarter = (int)QuarterPacketSize < (int)HalfPacketSize};
+
     const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
     Index count = 0;
     //Index peeled_mc3 = (rows/Pack1)*Pack1;
     
     const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
     const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
-    const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+    const Index peeled_mc1 = Pack1>=1*PacketSize ? peeled_mc2+((rows-peeled_mc2)/(1*PacketSize))*(1*PacketSize) : 0;
+    const Index peeled_mc_half = Pack1>=HalfPacketSize ? peeled_mc1+((rows-peeled_mc1)/(HalfPacketSize))*(HalfPacketSize) : 0;
+    const Index peeled_mc_quarter = Pack1>=QuarterPacketSize ? peeled_mc_half+((rows-peeled_mc_half)/(QuarterPacketSize))*(QuarterPacketSize) : 0;
     
     if(Pack1>=3*PacketSize)
       for(Index i=0; i<peeled_mc3; i+=3*PacketSize)
@@ -66,8 +75,16 @@ struct symm_pack_lhs
       for(Index i=peeled_mc2; i<peeled_mc1; i+=1*PacketSize)
         pack<1*PacketSize>(blockA, lhs, cols, i, count);
 
+    if(HasHalf && Pack1>=HalfPacketSize)
+      for(Index i=peeled_mc1; i<peeled_mc_half; i+=HalfPacketSize)
+        pack<HalfPacketSize>(blockA, lhs, cols, i, count);
+
+    if(HasQuarter && Pack1>=QuarterPacketSize)
+      for(Index i=peeled_mc_half; i<peeled_mc_quarter; i+=QuarterPacketSize)
+        pack<QuarterPacketSize>(blockA, lhs, cols, i, count);
+
     // do the same with mr==1
-    for(Index i=peeled_mc1; i<rows; i++)
+    for(Index i=peeled_mc_quarter; i<rows; i++)
     {
       for(Index k=0; k<i; k++)
         blockA[count++] = lhs(i, k);                   // normal
@@ -277,20 +294,21 @@ struct symm_pack_rhs
 template <typename Scalar, typename Index,
           int LhsStorageOrder, bool LhsSelfAdjoint, bool ConjugateLhs,
           int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
-          int ResStorageOrder>
+          int ResStorageOrder, int ResInnerStride>
 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>
+          int RhsStorageOrder, bool RhsSelfAdjoint, bool ConjugateRhs,
+          int ResInnerStride>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,ConjugateLhs, RhsStorageOrder,RhsSelfAdjoint,ConjugateRhs,RowMajor,ResInnerStride>
 {
 
   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* res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     product_selfadjoint_matrix<Scalar, Index,
@@ -298,33 +316,35 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,Co
       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, blocking);
+      ColMajor,ResInnerStride>
+      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resIncr, resStride,  alpha, blocking);
   }
 };
 
 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>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor,ResInnerStride>
 {
 
   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* res,        Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor>::run(
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride>
+EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs, RhsStorageOrder,false,ConjugateRhs,ColMajor,ResInnerStride>::run(
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
+    Scalar* _res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = rows;
@@ -334,11 +354,11 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
     typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
     typedef const_blas_data_mapper<Scalar, Index, (LhsStorageOrder == RowMajor) ? ColMajor : RowMajor> LhsTransposeMapper;
     typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
     LhsMapper lhs(_lhs,lhsStride);
     LhsTransposeMapper lhs_transpose(_lhs,lhsStride);
     RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
+    ResMapper res(_res, resStride, resIncr);
 
     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
@@ -352,7 +372,7 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
     gebp_kernel<Scalar, Scalar, Index, ResMapper, 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, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+    gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
 
     for(Index k2=0; k2<size; k2+=kc)
     {
@@ -387,7 +407,7 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
       for(Index i2=k2+kc; i2<size; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,size)-i2;
-        gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+        gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder,false>()
           (blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
         gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
@@ -398,26 +418,28 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
 // 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>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride>
+struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor,ResInnerStride>
 {
 
   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* res,        Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs>
-EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor>::run(
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride>
+EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLhs, RhsStorageOrder,true,ConjugateRhs,ColMajor,ResInnerStride>::run(
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
+    Scalar* _res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = cols;
@@ -425,9 +447,9 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
     typedef gebp_traits<Scalar,Scalar> Traits;
 
     typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
     LhsMapper lhs(_lhs,lhsStride);
-    ResMapper res(_res,resStride);
+    ResMapper res(_res,resStride, resIncr);
 
     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
@@ -437,7 +459,7 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
 
     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder> pack_lhs;
     symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=0; k2<size; k2+=kc)
@@ -503,12 +525,13 @@ struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,RhsMode,false>
       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>
+      internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor,
+      Dest::InnerStrideAtCompileTime>
       ::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
+        &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),  // result info
         actualAlpha, blocking                   // alpha
       );
   }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
index 9a5318507a..61396dbdf6 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
@@ -44,16 +44,18 @@ namespace internal {
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor,1> \
 {\
 \
   static void run( \
     Index rows, Index cols, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
+    EIGTYPE* res,        Index resIncr, Index resStride, \
     EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
+    EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+    eigen_assert(resIncr == 1); \
     char side='L', uplo='L'; \
     BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
@@ -91,15 +93,17 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLh
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLhs,RhsStorageOrder,false,ConjugateRhs,ColMajor,1> \
 {\
   static void run( \
     Index rows, Index cols, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
+    EIGTYPE* res,        Index resIncr, Index resStride, \
     EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
+    EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+    eigen_assert(resIncr == 1); \
     char side='L', uplo='L'; \
     BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
@@ -167,16 +171,18 @@ EIGEN_BLAS_HEMM_L(scomplex, float, cf, chemm_)
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor,1> \
 {\
 \
   static void run( \
     Index rows, Index cols, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
+    EIGTYPE* res,        Index resIncr, Index resStride, \
     EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
+    EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+    eigen_assert(resIncr == 1); \
     char side='R', uplo='L'; \
     BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
@@ -213,15 +219,17 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateL
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
-struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor> \
+struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateLhs,RhsStorageOrder,true,ConjugateRhs,ColMajor,1> \
 {\
   static void run( \
     Index rows, Index cols, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
-    EIGTYPE* res,        Index resStride, \
+    EIGTYPE* res,        Index resIncr, Index resStride, \
     EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
+    EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+    eigen_assert(resIncr == 1); \
     char side='R', uplo='L'; \
     BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixVector.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixVector.h
index 3fd180e6c0..d38fd72b22 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -15,7 +15,7 @@ namespace Eigen {
 namespace internal {
 
 /* Optimized selfadjoint matrix * vector product:
- * This algorithm processes 2 columns at onces that allows to both reduce
+ * This algorithm processes 2 columns at once that allows to both reduce
  * the number of load/stores of the result by a factor 2 and to reduce
  * the instruction dependency.
  */
@@ -27,7 +27,8 @@ template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool Conju
 struct selfadjoint_matrix_vector_product
 
 {
-static EIGEN_DONT_INLINE void run(
+static EIGEN_DONT_INLINE EIGEN_DEVICE_FUNC
+void run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
   const Scalar*  rhs,
@@ -36,7 +37,8 @@ static EIGEN_DONT_INLINE void run(
 };
 
 template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
+EIGEN_DONT_INLINE EIGEN_DEVICE_FUNC
+void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
   const Scalar*  rhs,
@@ -62,8 +64,7 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
   Scalar cjAlpha = ConjugateRhs ? numext::conj(alpha) : alpha;
 
-
-  Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
+  Index bound = numext::maxi(Index(0), size-8) & 0xfffffffe;
   if (FirstTriangular)
     bound = size - bound;
 
@@ -175,7 +176,8 @@ struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,0,true>
   enum { LhsUpLo = LhsMode&(Upper|Lower) };
 
   template<typename Dest>
-  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC
+  void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
     typedef typename Dest::Scalar ResScalar;
     typedef typename Rhs::Scalar RhsScalar;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointProduct.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointProduct.h
index 39c5b59ffa..a21be80504 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointProduct.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointProduct.h
@@ -109,10 +109,10 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
     internal::general_matrix_matrix_triangular_product<Index,
       Scalar, OtherIsRowMajor ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
       Scalar, OtherIsRowMajor ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
-      IsRowMajor ? RowMajor : ColMajor, UpLo>
+      IsRowMajor ? RowMajor : ColMajor, MatrixType::InnerStrideAtCompileTime, UpLo>
       ::run(size, depth,
-            &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha, blocking);
+            actualOther.data(), actualOther.outerStride(), actualOther.data(), actualOther.outerStride(),
+            mat.data(), mat.innerStride(), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointRank2Update.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointRank2Update.h
index d395888e5c..f752a0bf09 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointRank2Update.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -24,7 +24,8 @@ 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, const Scalar& alpha)
+  static EIGEN_DEVICE_FUNC
+  void run(Scalar* mat, Index stride, const UType& u, const VType& v, const Scalar& alpha)
   {
     const Index size = u.size();
     for (Index i=0; i<size; ++i)
@@ -79,8 +80,8 @@ ::rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const
   if (IsRowMajor)
     actualAlpha = numext::conj(actualAlpha);
 
-  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type UType;
-  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type VType;
+  typedef typename internal::remove_all<typename internal::conj_expr_if<int(IsRowMajor) ^ int(UBlasTraits::NeedToConjugate), _ActualUType>::type>::type UType;
+  typedef typename internal::remove_all<typename internal::conj_expr_if<int(IsRowMajor) ^ int(VBlasTraits::NeedToConjugate), _ActualVType>::type>::type VType;
   internal::selfadjoint_rank2_update_selector<Scalar, Index, UType, VType,
     (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
     ::run(_expression().const_cast_derived().data(),_expression().outerStride(),UType(actualU),VType(actualV),actualAlpha);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix.h
index 539b6c0c6d..f0c60507ab 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -45,22 +45,24 @@ template <typename Scalar, typename Index,
           int Mode, bool LhsIsTriangular,
           int LhsStorageOrder, bool ConjugateLhs,
           int RhsStorageOrder, bool ConjugateRhs,
-          int ResStorageOrder, int Version = Specialized>
+          int ResStorageOrder, int ResInnerStride,
+          int Version = Specialized>
 struct product_triangular_matrix_matrix;
 
 template <typename Scalar, typename Index,
           int Mode, bool LhsIsTriangular,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride, int Version>
 struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
                                            LhsStorageOrder,ConjugateLhs,
-                                           RhsStorageOrder,ConjugateRhs,RowMajor,Version>
+                                           RhsStorageOrder,ConjugateRhs,RowMajor,ResInnerStride,Version>
 {
   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* res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     product_triangular_matrix_matrix<Scalar, Index,
@@ -70,18 +72,19 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
       ConjugateRhs,
       LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
       ConjugateLhs,
-      ColMajor>
-      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha, blocking);
+      ColMajor, ResInnerStride>
+      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resIncr, resStride, alpha, blocking);
   }
 };
 
 // implements col-major += alpha * op(triangular) * op(general)
 template <typename Scalar, typename Index, int Mode,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride, int Version>
 struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
                                            LhsStorageOrder,ConjugateLhs,
-                                           RhsStorageOrder,ConjugateRhs,ColMajor,Version>
+                                           RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride,Version>
 {
   
   typedef gebp_traits<Scalar,Scalar> Traits;
@@ -95,20 +98,21 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* res,        Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index, int Mode,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride, int Version>
 EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
                                                         LhsStorageOrder,ConjugateLhs,
-                                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
+                                                        RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride,Version>::run(
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
+    Scalar* _res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     // strip zeros
@@ -119,10 +123,10 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     
     typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
     typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
     LhsMapper lhs(_lhs,lhsStride);
     RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
+    ResMapper res(_res, resStride, resIncr);
 
     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
@@ -151,7 +155,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
       triangularBuffer.diagonal().setOnes();
 
     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder> pack_lhs;
     gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=IsLower ? depth : 0;
@@ -222,7 +226,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
         for(Index i2=start; i2<end; i2+=mc)
         {
           const Index actual_mc = (std::min)(i2+mc,end)-i2;
-          gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+          gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder,false>()
             (blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
 
           gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc,
@@ -235,10 +239,11 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
 // implements col-major += alpha * op(general) * op(triangular)
 template <typename Scalar, typename Index, int Mode,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride, int Version>
 struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
                                         LhsStorageOrder,ConjugateLhs,
-                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>
+                                        RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride,Version>
 {
   typedef gebp_traits<Scalar,Scalar> Traits;
   enum {
@@ -251,20 +256,21 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* res,        Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index, int Mode,
           int LhsStorageOrder, bool ConjugateLhs,
-          int RhsStorageOrder, bool ConjugateRhs, int Version>
+          int RhsStorageOrder, bool ConjugateRhs,
+          int ResInnerStride, int Version>
 EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
                                                         LhsStorageOrder,ConjugateLhs,
-                                                        RhsStorageOrder,ConjugateRhs,ColMajor,Version>::run(
+                                                        RhsStorageOrder,ConjugateRhs,ColMajor,ResInnerStride,Version>::run(
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* _res,        Index resStride,
+    Scalar* _res,       Index resIncr, Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     const Index PacketBytes = packet_traits<Scalar>::size*sizeof(Scalar);
@@ -276,10 +282,10 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     
     typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
     typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
-    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor, Unaligned, ResInnerStride> ResMapper;
     LhsMapper lhs(_lhs,lhsStride);
     RhsMapper rhs(_rhs,rhsStride);
-    ResMapper res(_res, resStride);
+    ResMapper res(_res, resStride, resIncr);
 
     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
@@ -299,7 +305,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
       triangularBuffer.diagonal().setOnes();
 
     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, LhsStorageOrder> pack_lhs;
     gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
     gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
 
@@ -400,7 +406,9 @@ struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
 {
   template<typename Dest> static void run(Dest& dst, const Lhs &a_lhs, const Rhs &a_rhs, const typename Dest::Scalar& alpha)
   {
-    typedef typename Dest::Scalar     Scalar;
+    typedef typename Lhs::Scalar  LhsScalar;
+    typedef typename Rhs::Scalar  RhsScalar;
+    typedef typename Dest::Scalar Scalar;
     
     typedef internal::blas_traits<Lhs> LhsBlasTraits;
     typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
@@ -412,8 +420,9 @@ struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
     typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
     typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
-                               * RhsBlasTraits::extractScalarFactor(a_rhs);
+    LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(a_lhs);
+    RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(a_rhs);
+    Scalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
 
     typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
               Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
@@ -430,14 +439,29 @@ struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
       Mode, LhsIsTriangular,
       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
+      (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
       ::run(
         stripedRows, stripedCols, stripedDepth,   // 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
+        &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
         actualAlpha, blocking
       );
+
+    // Apply correction if the diagonal is unit and a scalar factor was nested:
+    if ((Mode&UnitDiag)==UnitDiag)
+    {
+      if (LhsIsTriangular && lhs_alpha!=LhsScalar(1))
+      {
+        Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+        dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
+      }
+      else if ((!LhsIsTriangular) && rhs_alpha!=RhsScalar(1))
+      {
+        Index diagSize = (std::min)(rhs.rows(),rhs.cols());
+        dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
+      }
+    }
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
index a25197ab01..a98d12e4ae 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
@@ -46,7 +46,7 @@ template <typename Scalar, typename Index,
 struct product_triangular_matrix_matrix_trmm :
        product_triangular_matrix_matrix<Scalar,Index,Mode,
           LhsIsTriangular,LhsStorageOrder,ConjugateLhs,
-          RhsStorageOrder, ConjugateRhs, ResStorageOrder, BuiltIn> {};
+          RhsStorageOrder, ConjugateRhs, ResStorageOrder, 1, BuiltIn> {};
 
 
 // try to go to BLAS specialization
@@ -55,13 +55,15 @@ template <typename Index, int Mode, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
 struct product_triangular_matrix_matrix<Scalar,Index, Mode, LhsIsTriangular, \
-           LhsStorageOrder,ConjugateLhs, RhsStorageOrder,ConjugateRhs,ColMajor,Specialized> { \
+           LhsStorageOrder,ConjugateLhs, RhsStorageOrder,ConjugateRhs,ColMajor,1,Specialized> { \
   static 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, level3_blocking<Scalar,Scalar>& blocking) { \
+    const Scalar* _rhs, Index rhsStride, Scalar* res, Index resIncr, Index resStride, Scalar alpha, level3_blocking<Scalar,Scalar>& blocking) { \
+      EIGEN_ONLY_USED_FOR_DEBUG(resIncr); \
+      eigen_assert(resIncr == 1); \
       product_triangular_matrix_matrix_trmm<Scalar,Index,Mode, \
         LhsIsTriangular,LhsStorageOrder,ConjugateLhs, \
         RhsStorageOrder, ConjugateRhs, ColMajor>::run( \
-        _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+          _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
   } \
 };
 
@@ -115,8 +117,8 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
      if (((nthr==1) && (((std::max)(rows,depth)-diagSize)/(double)diagSize < 0.5))) { \
      /* Most likely no benefit to call TRMM or GEMM from BLAS */ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,true, \
-       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, 1, BuiltIn>::run( \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, 1, resStride, alpha, blocking); \
      /*std::cout << "TRMM_L: A is not square! Go to Eigen TRMM implementation!\n";*/ \
      } else { \
      /* Make sense to call GEMM */ \
@@ -124,8 +126,8 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
        MatrixLhs aa_tmp=lhsMap.template triangularView<Mode>(); \
        BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
        gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
-       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, gemm_blocking, 0); \
+       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor,1>::run( \
+       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, 1, resStride, alpha, gemm_blocking, 0); \
 \
      /*std::cout << "TRMM_L: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
      } \
@@ -232,8 +234,8 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
      if ((nthr==1) && (((std::max)(cols,depth)-diagSize)/(double)diagSize < 0.5)) { \
      /* Most likely no benefit to call TRMM or GEMM from BLAS*/ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,false, \
-       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
+       LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, 1, BuiltIn>::run( \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, 1, resStride, alpha, blocking); \
        /*std::cout << "TRMM_R: A is not square! Go to Eigen TRMM implementation!\n";*/ \
      } else { \
      /* Make sense to call GEMM */ \
@@ -241,8 +243,8 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
        MatrixRhs aa_tmp=rhsMap.template triangularView<Mode>(); \
        BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
        gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
-       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, gemm_blocking, 0); \
+       general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor,1>::run( \
+       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, 1, resStride, alpha, gemm_blocking, 0); \
 \
      /*std::cout << "TRMM_R: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
      } \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixVector.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixVector.h
index 4b292e74d0..76bfa159ce 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -221,8 +221,9 @@ template<int Mode> struct trmv_selector<Mode,ColMajor>
     typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
     typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
+    LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(lhs);
+    RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(rhs);
+    ResScalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
@@ -274,6 +275,12 @@ template<int Mode> struct trmv_selector<Mode,ColMajor>
       else
         dest = MappedDest(actualDestPtr, dest.size());
     }
+
+    if ( ((Mode&UnitDiag)==UnitDiag) && (lhs_alpha!=LhsScalar(1)) )
+    {
+      Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+      dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
+    }
   }
 };
 
@@ -295,8 +302,9 @@ template<int Mode> struct trmv_selector<Mode,RowMajor>
     typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
     typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
-                                  * RhsBlasTraits::extractScalarFactor(rhs);
+    LhsScalar lhs_alpha = LhsBlasTraits::extractScalarFactor(lhs);
+    RhsScalar rhs_alpha = RhsBlasTraits::extractScalarFactor(rhs);
+    ResScalar actualAlpha = alpha * lhs_alpha * rhs_alpha;
 
     enum {
       DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
@@ -326,6 +334,12 @@ template<int Mode> struct trmv_selector<Mode,RowMajor>
             actualRhsPtr,1,
             dest.data(),dest.innerStride(),
             actualAlpha);
+
+    if ( ((Mode&UnitDiag)==UnitDiag) && (lhs_alpha!=LhsScalar(1)) )
+    {
+      Index diagSize = (std::min)(lhs.rows(),lhs.cols());
+      dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
+    }
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix.h
index 223c38b865..6d879ba00f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -15,48 +15,48 @@ namespace Eigen {
 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>
+template <typename Scalar, typename Index, int Side, int Mode, bool Conjugate, int TriStorageOrder, int OtherInnerStride>
+struct triangular_solve_matrix<Scalar,Index,Side,Mode,Conjugate,TriStorageOrder,RowMajor,OtherInnerStride>
 {
   static void run(
     Index size, Index cols,
     const Scalar*  tri, Index triStride,
-    Scalar* _other, Index otherStride,
+    Scalar* _other, Index otherIncr, Index otherStride,
     level3_blocking<Scalar,Scalar>& blocking)
   {
     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, blocking);
+      TriStorageOrder==RowMajor ? ColMajor : RowMajor, ColMajor, OtherInnerStride>
+      ::run(size, cols, tri, triStride, _other, otherIncr, otherStride, blocking);
   }
 };
 
 /* 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>
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder,int OtherInnerStride>
+struct triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor,OtherInnerStride>
 {
   static EIGEN_DONT_INLINE void run(
     Index size, Index otherSize,
     const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
+    Scalar* _other, Index otherIncr, Index otherStride,
     level3_blocking<Scalar,Scalar>& blocking);
 };
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder, int OtherInnerStride>
+EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor,OtherInnerStride>::run(
     Index size, Index otherSize,
     const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
+    Scalar* _other, Index otherIncr, Index otherStride,
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index cols = otherSize;
 
     typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> TriMapper;
-    typedef blas_data_mapper<Scalar, Index, ColMajor> OtherMapper;
+    typedef blas_data_mapper<Scalar, Index, ColMajor, Unaligned, OtherInnerStride> OtherMapper;
     TriMapper tri(_tri, triStride);
-    OtherMapper other(_other, otherStride);
+    OtherMapper other(_other, otherStride, otherIncr);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
 
@@ -76,7 +76,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
 
     conj_if<Conjugate> conj;
     gebp_kernel<Scalar, Scalar, Index, OtherMapper, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+    gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, TriStorageOrder> pack_lhs;
     gemm_pack_rhs<Scalar, Index, OtherMapper, Traits::nr, ColMajor, false, true> pack_rhs;
 
     // the goal here is to subdivise the Rhs panels such that we keep some cache
@@ -128,19 +128,21 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
               {
                 Scalar b(0);
                 const Scalar* l = &tri(i,s);
-                Scalar* r = &other(s,j);
+                typename OtherMapper::LinearMapper r = other.getLinearMapper(s,j);
                 for (Index i3=0; i3<k; ++i3)
-                  b += conj(l[i3]) * r[i3];
+                  b += conj(l[i3]) * r(i3);
 
                 other(i,j) = (other(i,j) - b)*a;
               }
               else
               {
-                Scalar b = (other(i,j) *= a);
-                Scalar* r = &other(s,j);
-                const Scalar* l = &tri(s,i);
+                Scalar& otherij = other(i,j);
+                otherij *= a;
+                Scalar b = otherij;
+                typename OtherMapper::LinearMapper r = other.getLinearMapper(s,j);
+                typename TriMapper::LinearMapper l = tri.getLinearMapper(s,i);
                 for (Index i3=0;i3<rs;++i3)
-                  r[i3] -= b * conj(l[i3]);
+                  r(i3) -= b * conj(l(i3));
               }
             }
           }
@@ -185,28 +187,28 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
 
 /* Optimized triangular solver with multiple left hand sides and the triangular 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>
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder, int OtherInnerStride>
+struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor,OtherInnerStride>
 {
   static EIGEN_DONT_INLINE void run(
     Index size, Index otherSize,
     const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
+    Scalar* _other, Index otherIncr, Index otherStride,
     level3_blocking<Scalar,Scalar>& blocking);
 };
-template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
-EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>::run(
+template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder, int OtherInnerStride>
+EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor,OtherInnerStride>::run(
     Index size, Index otherSize,
     const Scalar* _tri, Index triStride,
-    Scalar* _other, Index otherStride,
+    Scalar* _other, Index otherIncr, Index otherStride,
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index rows = otherSize;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
-    typedef blas_data_mapper<Scalar, Index, ColMajor> LhsMapper;
+    typedef blas_data_mapper<Scalar, Index, ColMajor, Unaligned, OtherInnerStride> LhsMapper;
     typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> RhsMapper;
-    LhsMapper lhs(_other, otherStride);
+    LhsMapper lhs(_other, otherStride, otherIncr);
     RhsMapper rhs(_tri, triStride);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
@@ -229,7 +231,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
     gebp_kernel<Scalar, Scalar, Index, LhsMapper, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
     gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
     gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder,false,true> pack_rhs_panel;
-    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, typename Traits::LhsPacket4Packing, ColMajor, false, true> pack_lhs_panel;
 
     for(Index k2=IsLower ? size : 0;
         IsLower ? k2>0 : k2<size;
@@ -297,24 +299,24 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
             {
               Index j = IsLower ? absolute_j2+actualPanelWidth-k-1 : absolute_j2+k;
 
-              Scalar* r = &lhs(i2,j);
+              typename LhsMapper::LinearMapper r = lhs.getLinearMapper(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);
+                typename LhsMapper::LinearMapper a = lhs.getLinearMapper(i2,IsLower ? j+1+k3 : absolute_j2+k3);
                 for (Index i=0; i<actual_mc; ++i)
-                  r[i] -= a[i] * b;
+                  r(i) -= a(i) * b;
               }
               if((Mode & UnitDiag)==0)
               {
                 Scalar inv_rjj = RealScalar(1)/conj(rhs(j,j));
                 for (Index i=0; i<actual_mc; ++i)
-                  r[i] *= inv_rjj;
+                  r(i) *= inv_rjj;
               }
             }
 
             // pack the just computed part of lhs to A
-            pack_lhs_panel(blockA, LhsMapper(_other+absolute_j2*otherStride+i2, otherStride),
+            pack_lhs_panel(blockA, lhs.getSubMapper(i2,absolute_j2),
                            actualPanelWidth, actual_mc,
                            actual_kc, j2);
           }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
index f0775116ac..621194ce6c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
@@ -40,7 +40,7 @@ namespace internal {
 // implements LeftSide op(triangular)^-1 * general
 #define EIGEN_BLAS_TRSM_L(EIGTYPE, BLASTYPE, BLASFUNC) \
 template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
-struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor> \
+struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor,1> \
 { \
   enum { \
     IsLower = (Mode&Lower) == Lower, \
@@ -51,8 +51,10 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorage
   static void run( \
       Index size, Index otherSize, \
       const EIGTYPE* _tri, Index triStride, \
-      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
+      EIGTYPE* _other, Index otherIncr, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
   { \
+   EIGEN_ONLY_USED_FOR_DEBUG(otherIncr); \
+   eigen_assert(otherIncr == 1); \
    BlasIndex m = convert_index<BlasIndex>(size), n = convert_index<BlasIndex>(otherSize), lda, ldb; \
    char side = 'L', uplo, diag='N', transa; \
    /* Set alpha_ */ \
@@ -99,7 +101,7 @@ EIGEN_BLAS_TRSM_L(scomplex, float,  ctrsm_)
 // implements RightSide general * op(triangular)^-1
 #define EIGEN_BLAS_TRSM_R(EIGTYPE, BLASTYPE, BLASFUNC) \
 template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
-struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor> \
+struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor,1> \
 { \
   enum { \
     IsLower = (Mode&Lower) == Lower, \
@@ -110,8 +112,10 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorag
   static void run( \
       Index size, Index otherSize, \
       const EIGTYPE* _tri, Index triStride, \
-      EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
+      EIGTYPE* _other, Index otherIncr, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
   { \
+   EIGEN_ONLY_USED_FOR_DEBUG(otherIncr); \
+   eigen_assert(otherIncr == 1); \
    BlasIndex m = convert_index<BlasIndex>(otherSize), n = convert_index<BlasIndex>(size), lda, ldb; \
    char side = 'R', uplo, diag='N', transa; \
    /* Set alpha_ */ \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverVector.h b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverVector.h
index b994759b26..6473170169 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/products/TriangularSolverVector.h
@@ -58,7 +58,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
       {
         // let's directly call the low level product function because:
         // 1 - it is faster to compile
-        // 2 - it is slighlty faster at runtime
+        // 2 - it is slightly faster at runtime
         Index startRow = IsLower ? pi : pi-actualPanelWidth;
         Index startCol = IsLower ? 0 : pi;
 
@@ -77,7 +77,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         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))
+        if((!(Mode & UnitDiag)) && numext::not_equal_strict(rhs[i],RhsScalar(0)))
           rhs[i] /= cjLhs(i,i);
       }
     }
@@ -114,20 +114,23 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
       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);
+        if(numext::not_equal_strict(rhs[i],RhsScalar(0)))
+        {
+          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
+        // 2 - it is slightly faster at runtime
         general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
             r, actualPanelWidth,
             LhsMapper(&lhs.coeffRef(endBlock,startBlock), lhsStride),
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/BlasUtil.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/BlasUtil.h
old mode 100644
new mode 100755
index b1791fb3ac..e16a564980
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/BlasUtil.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/BlasUtil.h
@@ -24,14 +24,14 @@ struct gebp_kernel;
 template<typename Scalar, typename Index, typename DataMapper, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
 struct gemm_pack_rhs;
 
-template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, typename Packet, 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>
+  int ResStorageOrder, int ResInnerStride>
 struct general_matrix_matrix_product;
 
 template<typename Index,
@@ -39,90 +39,6 @@ template<typename Index,
          typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version=Specialized>
 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) const { return numext::conj(x); }
-  template<typename T>
-  inline T pconj(const T& x) const { return internal::pconj(x); }
-};
-
-template<> struct conj_if<false> {
-  template<typename T>
-  inline const T& operator()(const T& x) const { return x; }
-  template<typename T>
-  inline const T& pconj(const T& x) const { return x; }
-};
-
-// Generic implementation for custom complex types.
-template<typename LhsScalar, typename RhsScalar, bool ConjLhs, bool ConjRhs>
-struct conj_helper
-{
-  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType Scalar;
-
-  EIGEN_STRONG_INLINE Scalar pmadd(const LhsScalar& x, const RhsScalar& y, const Scalar& c) const
-  { return padd(c, pmul(x,y)); }
-
-  EIGEN_STRONG_INLINE Scalar pmul(const LhsScalar& x, const RhsScalar& y) const
-  { return conj_if<ConjLhs>()(x) *  conj_if<ConjRhs>()(y); }
-};
-
-template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
-{
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
-  EIGEN_DEVICE_FUNC 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(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::imag(x)*numext::real(y) - numext::real(x)*numext::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(numext::real(x)*numext::real(y) + numext::imag(x)*numext::imag(y), numext::real(x)*numext::imag(y) - numext::imag(x)*numext::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(numext::real(x)*numext::real(y) - numext::imag(x)*numext::imag(y), - numext::real(x)*numext::imag(y) - numext::imag(x)*numext::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_DEVICE_FUNC static EIGEN_STRONG_INLINE To run(const From& x) { return To(x); }
 };
@@ -155,13 +71,19 @@ class BlasVectorMapper {
   Scalar* m_data;
 };
 
-template<typename Scalar, typename Index, int AlignmentType>
-class BlasLinearMapper {
-  public:
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename packet_traits<Scalar>::half HalfPacket;
+template<typename Scalar, typename Index, int AlignmentType, int Incr=1>
+class BlasLinearMapper;
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data) : m_data(data) {}
+template<typename Scalar, typename Index, int AlignmentType>
+class BlasLinearMapper<Scalar,Index,AlignmentType>
+{
+public:
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data, Index incr=1)
+    : m_data(data)
+  {
+    EIGEN_ONLY_USED_FOR_DEBUG(incr);
+    eigen_assert(incr==1);
+  }
 
   EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
     internal::prefetch(&operator()(i));
@@ -171,33 +93,86 @@ class BlasLinearMapper {
     return m_data[i];
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
-    return ploadt<Packet, AlignmentType>(m_data + i);
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketType loadPacket(Index i) const {
+    return ploadt<PacketType, AlignmentType>(m_data + i);
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
-    return ploadt<HalfPacket, AlignmentType>(m_data + i);
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const PacketType &p) const {
+    pstoret<Scalar, PacketType, AlignmentType>(m_data + i, p);
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet &p) const {
-    pstoret<Scalar, Packet, AlignmentType>(m_data + i, p);
-  }
-
-  protected:
+protected:
   Scalar *m_data;
 };
 
 // Lightweight helper class to access matrix coefficients.
-template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned>
-class blas_data_mapper {
-  public:
-  typedef typename packet_traits<Scalar>::type Packet;
-  typedef typename packet_traits<Scalar>::half HalfPacket;
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned, int Incr = 1>
+class blas_data_mapper;
+
+// TMP to help PacketBlock store implementation.
+// There's currently no known use case for PacketBlock load.
+// The default implementation assumes ColMajor order.
+// It always store each packet sequentially one `stride` apart.
+template<typename Index, typename Scalar, typename Packet, int n, int idx, int StorageOrder>
+struct PacketBlockManagement
+{
+  PacketBlockManagement<Index, Scalar, Packet, n, idx - 1, StorageOrder> pbm;
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(Scalar *to, const Index stride, Index i, Index j, const PacketBlock<Packet, n> &block) const {
+    pbm.store(to, stride, i, j, block);
+    pstoreu<Scalar>(to + i + (j + idx)*stride, block.packet[idx]);
+  }
+};
 
+// PacketBlockManagement specialization to take care of RowMajor order without ifs.
+template<typename Index, typename Scalar, typename Packet, int n, int idx>
+struct PacketBlockManagement<Index, Scalar, Packet, n, idx, RowMajor>
+{
+  PacketBlockManagement<Index, Scalar, Packet, n, idx - 1, RowMajor> pbm;
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(Scalar *to, const Index stride, Index i, Index j, const PacketBlock<Packet, n> &block) const {
+    pbm.store(to, stride, i, j, block);
+    pstoreu<Scalar>(to + j + (i + idx)*stride, block.packet[idx]);
+  }
+};
+
+template<typename Index, typename Scalar, typename Packet, int n, int StorageOrder>
+struct PacketBlockManagement<Index, Scalar, Packet, n, -1, StorageOrder>
+{
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(Scalar *to, const Index stride, Index i, Index j, const PacketBlock<Packet, n> &block) const {
+    EIGEN_UNUSED_VARIABLE(to);
+    EIGEN_UNUSED_VARIABLE(stride);
+    EIGEN_UNUSED_VARIABLE(i);
+    EIGEN_UNUSED_VARIABLE(j);
+    EIGEN_UNUSED_VARIABLE(block);
+  }
+};
+
+template<typename Index, typename Scalar, typename Packet, int n>
+struct PacketBlockManagement<Index, Scalar, Packet, n, -1, RowMajor>
+{
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(Scalar *to, const Index stride, Index i, Index j, const PacketBlock<Packet, n> &block) const {
+    EIGEN_UNUSED_VARIABLE(to);
+    EIGEN_UNUSED_VARIABLE(stride);
+    EIGEN_UNUSED_VARIABLE(i);
+    EIGEN_UNUSED_VARIABLE(j);
+    EIGEN_UNUSED_VARIABLE(block);
+  }
+};
+
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType>
+class blas_data_mapper<Scalar,Index,StorageOrder,AlignmentType,1>
+{
+public:
   typedef BlasLinearMapper<Scalar, Index, AlignmentType> LinearMapper;
   typedef BlasVectorMapper<Scalar, Index> VectorMapper;
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride, Index incr=1)
+   : m_data(data), m_stride(stride)
+  {
+    EIGEN_ONLY_USED_FOR_DEBUG(incr);
+    eigen_assert(incr==1);
+  }
 
   EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>
   getSubMapper(Index i, Index j) const {
@@ -218,8 +193,9 @@ class blas_data_mapper {
     return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride];
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
-    return ploadt<Packet, AlignmentType>(&operator()(i, j));
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketType loadPacket(Index i, Index j) const {
+    return ploadt<PacketType, AlignmentType>(&operator()(i, j));
   }
 
   template <typename PacketT, int AlignmentT>
@@ -227,10 +203,6 @@ class blas_data_mapper {
     return ploadt<PacketT, AlignmentT>(&operator()(i, j));
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
-    return ploadt<HalfPacket, AlignmentType>(&operator()(i, j));
-  }
-
   template<typename SubPacket>
   EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
     pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
@@ -251,11 +223,167 @@ class blas_data_mapper {
     return internal::first_default_aligned(m_data, size);
   }
 
-  protected:
+  template<typename SubPacket, int n>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacketBlock(Index i, Index j, const PacketBlock<SubPacket, n> &block) const {
+    PacketBlockManagement<Index, Scalar, SubPacket, n, n-1, StorageOrder> pbm;
+    pbm.store(m_data, m_stride, i, j, block);
+  }
+protected:
   Scalar* EIGEN_RESTRICT m_data;
   const Index m_stride;
 };
 
+// Implementation of non-natural increment (i.e. inner-stride != 1)
+// The exposed API is not complete yet compared to the Incr==1 case
+// because some features makes less sense in this case.
+template<typename Scalar, typename Index, int AlignmentType, int Incr>
+class BlasLinearMapper
+{
+public:
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data,Index incr) : m_data(data), m_incr(incr) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
+    internal::prefetch(&operator()(i));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar& operator()(Index i) const {
+    return m_data[i*m_incr.value()];
+  }
+
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketType loadPacket(Index i) const {
+    return pgather<Scalar,PacketType>(m_data + i*m_incr.value(), m_incr.value());
+  }
+
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const PacketType &p) const {
+    pscatter<Scalar, PacketType>(m_data + i*m_incr.value(), p, m_incr.value());
+  }
+
+protected:
+  Scalar *m_data;
+  const internal::variable_if_dynamic<Index,Incr> m_incr;
+};
+
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType,int Incr>
+class blas_data_mapper
+{
+public:
+  typedef BlasLinearMapper<Scalar, Index, AlignmentType,Incr> LinearMapper;
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride, Index incr) : m_data(data), m_stride(stride), m_incr(incr) {}
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE blas_data_mapper
+  getSubMapper(Index i, Index j) const {
+    return blas_data_mapper(&operator()(i, j), m_stride, m_incr.value());
+  }
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
+    return LinearMapper(&operator()(i, j), m_incr.value());
+  }
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_ALWAYS_INLINE Scalar& operator()(Index i, Index j) const {
+    return m_data[StorageOrder==RowMajor ? j*m_incr.value() + i*m_stride : i*m_incr.value() + j*m_stride];
+  }
+
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketType loadPacket(Index i, Index j) const {
+    return pgather<Scalar,PacketType>(&operator()(i, j),m_incr.value());
+  }
+
+  template <typename PacketT, int AlignmentT>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE PacketT load(Index i, Index j) const {
+    return pgather<Scalar,PacketT>(&operator()(i, j),m_incr.value());
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
+    pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE SubPacket gatherPacket(Index i, Index j) const {
+    return pgather<Scalar, SubPacket>(&operator()(i, j), m_stride);
+  }
+
+  // storePacketBlock_helper defines a way to access values inside the PacketBlock, this is essentially required by the Complex types.
+  template<typename SubPacket, typename ScalarT, int n, int idx>
+  struct storePacketBlock_helper
+  {
+    storePacketBlock_helper<SubPacket, ScalarT, n, idx-1> spbh;
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>* sup, Index i, Index j, const PacketBlock<SubPacket, n>& block) const {
+      spbh.store(sup, i,j,block);
+      for(int l = 0; l < unpacket_traits<SubPacket>::size; l++)
+      {
+        ScalarT *v = &sup->operator()(i+l, j+idx);
+        *v = block.packet[idx][l];
+      }
+    }
+  };
+
+  template<typename SubPacket, int n, int idx>
+  struct storePacketBlock_helper<SubPacket, std::complex<float>, n, idx>
+  {
+    storePacketBlock_helper<SubPacket, std::complex<float>, n, idx-1> spbh;
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>* sup, Index i, Index j, const PacketBlock<SubPacket, n>& block) const {
+      spbh.store(sup,i,j,block);
+      for(int l = 0; l < unpacket_traits<SubPacket>::size; l++)
+      {
+        std::complex<float> *v = &sup->operator()(i+l, j+idx);
+        v->real(block.packet[idx].v[2*l+0]);
+        v->imag(block.packet[idx].v[2*l+1]);
+      }
+    }
+  };
+
+  template<typename SubPacket, int n, int idx>
+  struct storePacketBlock_helper<SubPacket, std::complex<double>, n, idx>
+  {
+    storePacketBlock_helper<SubPacket, std::complex<double>, n, idx-1> spbh;
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>* sup, Index i, Index j, const PacketBlock<SubPacket, n>& block) const {
+      spbh.store(sup,i,j,block);
+      for(int l = 0; l < unpacket_traits<SubPacket>::size; l++)
+      {
+        std::complex<double> *v = &sup->operator()(i+l, j+idx);
+        v->real(block.packet[idx].v[2*l+0]);
+        v->imag(block.packet[idx].v[2*l+1]);
+      }
+    }
+  };
+
+  template<typename SubPacket, typename ScalarT, int n>
+  struct storePacketBlock_helper<SubPacket, ScalarT, n, -1>
+  {
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>*, Index, Index, const PacketBlock<SubPacket, n>& ) const {
+    }
+  };
+
+  template<typename SubPacket, int n>
+  struct storePacketBlock_helper<SubPacket, std::complex<float>, n, -1>
+  {
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>*, Index, Index, const PacketBlock<SubPacket, n>& ) const {
+    }
+  };
+
+  template<typename SubPacket, int n>
+  struct storePacketBlock_helper<SubPacket, std::complex<double>, n, -1>
+  {
+    EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void store(const blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType, Incr>*, Index, Index, const PacketBlock<SubPacket, n>& ) const {
+    }
+  };
+  // This function stores a PacketBlock on m_data, this approach is really quite slow compare to Incr=1 and should be avoided when possible.
+  template<typename SubPacket, int n>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacketBlock(Index i, Index j, const PacketBlock<SubPacket, n>&block) const {
+    storePacketBlock_helper<SubPacket, Scalar, n, n-1> spb;
+    spb.store(this, i,j,block);
+  }
+protected:
+  Scalar* EIGEN_RESTRICT m_data;
+  const Index m_stride;
+  const internal::variable_if_dynamic<Index,Incr> m_incr;
+};
+
 // lightweight helper class to access matrix coefficients (const version)
 template<typename Scalar, typename Index, int StorageOrder>
 class const_blas_data_mapper : public blas_data_mapper<const Scalar, Index, StorageOrder> {
@@ -283,14 +411,15 @@ template<typename XprType> struct blas_traits
     HasUsableDirectAccess = (    (int(XprType::Flags)&DirectAccessBit)
                               && (   bool(XprType::IsVectorAtCompileTime)
                                   || int(inner_stride_at_compile_time<XprType>::ret) == 1)
-                             ) ?  1 : 0
+                             ) ?  1 : 0,
+    HasScalarFactor = false
   };
   typedef typename conditional<bool(HasUsableDirectAccess),
     ExtractType,
     typename _ExtractType::PlainObject
     >::type DirectLinearAccessType;
-  static inline ExtractType extract(const XprType& x) { return x; }
-  static inline const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
+  static inline EIGEN_DEVICE_FUNC ExtractType extract(const XprType& x) { return x; }
+  static inline EIGEN_DEVICE_FUNC const Scalar extractScalarFactor(const XprType&) { return Scalar(1); }
 };
 
 // pop conjugate
@@ -315,17 +444,23 @@ template<typename Scalar, typename NestedXpr, typename Plain>
 struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> >
  : blas_traits<NestedXpr>
 {
+  enum {
+    HasScalarFactor = true
+  };
   typedef blas_traits<NestedXpr> Base;
   typedef CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> XprType;
   typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
-  static inline Scalar extractScalarFactor(const XprType& x)
+  static inline EIGEN_DEVICE_FUNC ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
+  static inline EIGEN_DEVICE_FUNC Scalar extractScalarFactor(const XprType& x)
   { return x.lhs().functor().m_other * Base::extractScalarFactor(x.rhs()); }
 };
 template<typename Scalar, typename NestedXpr, typename Plain>
 struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > >
  : blas_traits<NestedXpr>
 {
+  enum {
+    HasScalarFactor = true
+  };
   typedef blas_traits<NestedXpr> Base;
   typedef CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > XprType;
   typedef typename Base::ExtractType ExtractType;
@@ -344,6 +479,9 @@ template<typename Scalar, typename NestedXpr>
 struct blas_traits<CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> >
  : blas_traits<NestedXpr>
 {
+  enum {
+    HasScalarFactor = true
+  };
   typedef blas_traits<NestedXpr> Base;
   typedef CwiseUnaryOp<scalar_opposite_op<Scalar>, NestedXpr> XprType;
   typedef typename Base::ExtractType ExtractType;
@@ -380,7 +518,7 @@ struct blas_traits<const T>
 
 template<typename T, bool HasUsableDirectAccess=blas_traits<T>::HasUsableDirectAccess>
 struct extract_data_selector {
-  static const typename T::Scalar* run(const T& m)
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static const typename T::Scalar* run(const T& m)
   {
     return blas_traits<T>::extract(m).data();
   }
@@ -391,11 +529,53 @@ 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)
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE const typename T::Scalar* extract_data(const T& m)
 {
   return extract_data_selector<T>::run(m);
 }
 
+/**
+ * \c combine_scalar_factors extracts and multiplies factors from GEMM and GEMV products.
+ * There is a specialization for booleans
+ */
+template<typename ResScalar, typename Lhs, typename Rhs>
+struct combine_scalar_factors_impl
+{
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static ResScalar run(const Lhs& lhs, const Rhs& rhs)
+  {
+    return blas_traits<Lhs>::extractScalarFactor(lhs) * blas_traits<Rhs>::extractScalarFactor(rhs);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static ResScalar run(const ResScalar& alpha, const Lhs& lhs, const Rhs& rhs)
+  {
+    return alpha * blas_traits<Lhs>::extractScalarFactor(lhs) * blas_traits<Rhs>::extractScalarFactor(rhs);
+  }
+};
+template<typename Lhs, typename Rhs>
+struct combine_scalar_factors_impl<bool, Lhs, Rhs>
+{
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static bool run(const Lhs& lhs, const Rhs& rhs)
+  {
+    return blas_traits<Lhs>::extractScalarFactor(lhs) && blas_traits<Rhs>::extractScalarFactor(rhs);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE static bool run(const bool& alpha, const Lhs& lhs, const Rhs& rhs)
+  {
+    return alpha && blas_traits<Lhs>::extractScalarFactor(lhs) && blas_traits<Rhs>::extractScalarFactor(rhs);
+  }
+};
+
+template<typename ResScalar, typename Lhs, typename Rhs>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE ResScalar combine_scalar_factors(const ResScalar& alpha, const Lhs& lhs, const Rhs& rhs)
+{
+  return combine_scalar_factors_impl<ResScalar,Lhs,Rhs>::run(alpha, lhs, rhs);
+}
+template<typename ResScalar, typename Lhs, typename Rhs>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE ResScalar combine_scalar_factors(const Lhs& lhs, const Rhs& rhs)
+{
+  return combine_scalar_factors_impl<ResScalar,Lhs,Rhs>::run(lhs, rhs);
+}
+
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/ConfigureVectorization.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/ConfigureVectorization.h
new file mode 100644
index 0000000000..73e8a65a54
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/ConfigureVectorization.h
@@ -0,0 +1,512 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2018 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2020, Arm Limited and Contributors
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CONFIGURE_VECTORIZATION_H
+#define EIGEN_CONFIGURE_VECTORIZATION_H
+
+//------------------------------------------------------------------------------------------
+// Static and dynamic alignment control
+//
+// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
+// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
+// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
+// a default value is automatically computed based on architecture, compiler, and OS.
+//
+// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
+// to be used to declare statically aligned buffers.
+//------------------------------------------------------------------------------------------
+
+
+/* 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.
+ * 
+ * FIXME: this code can be cleaned up once we switch to proper C++11 only.
+ */
+#if (defined EIGEN_CUDACC)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
+  #define EIGEN_ALIGNOF(x) __alignof(x)
+#elif EIGEN_HAS_ALIGNAS
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) alignas(n)
+  #define EIGEN_ALIGNOF(x) alignof(x)
+#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+  #define EIGEN_ALIGNOF(x) __alignof(x)
+#elif EIGEN_COMP_MSVC
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
+  #define EIGEN_ALIGNOF(x) __alignof(x)
+#elif EIGEN_COMP_SUNCC
+  // FIXME not sure about this one:
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
+  #define EIGEN_ALIGNOF(x) __alignof(x)
+#else
+  #error Please tell me what is the equivalent of alignas(n) and alignof(x) for your compiler
+#endif
+
+// If the user explicitly disable vectorization, then we also disable alignment
+#if defined(EIGEN_DONT_VECTORIZE)
+  #if defined(EIGEN_GPUCC)
+    // GPU code is always vectorized and requires memory alignment for
+    // statically allocated buffers.
+    #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
+  #else
+    #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
+  #endif
+#elif defined(__AVX512F__)
+  // 64 bytes static alignment is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
+#elif defined(__AVX__)
+  // 32 bytes static alignment is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
+#else
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
+#endif
+
+
+// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
+#define EIGEN_MIN_ALIGN_BYTES 16
+
+// Defined the boundary (in bytes) on which the data needs to be aligned. Note
+// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
+// aligned at all regardless of the value of this #define.
+
+#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN))  && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
+#endif
+
+// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprecated
+// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
+#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
+  #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
+    #undef EIGEN_MAX_STATIC_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+#endif
+
+#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // 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),
+  // try to keep heap alignment even when we have to disable static alignment.
+  #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64 || EIGEN_ARCH_MIPS)
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+  #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
+  // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
+  // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
+  // 4.8 and newer seem definitely unaffected.
+  #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 \
+  && !EIGEN_COMP_SUNCC \
+  && !EIGEN_OS_QNX
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+  #else
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+  #endif
+
+  #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+  #else
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+  #endif
+
+#endif
+
+// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_STATIC_ALIGN_BYTES
+#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
+#undef EIGEN_MAX_STATIC_ALIGN_BYTES
+#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+  #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+#endif
+
+// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 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 enable/disable alignment (by setting EIGEN_MAX_STATIC_ALIGN_BYTES)
+// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
+// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
+
+
+// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
+#define EIGEN_ALIGN8  EIGEN_ALIGN_TO_BOUNDARY(8)
+#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
+#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
+#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
+#else
+#define EIGEN_ALIGN_MAX
+#endif
+
+
+// Dynamic alignment control
+
+#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
+#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+  #ifdef EIGEN_MAX_ALIGN_BYTES
+    #undef EIGEN_MAX_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_ALIGN_BYTES 0
+#elif !defined(EIGEN_MAX_ALIGN_BYTES)
+  #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#else
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+
+#ifndef EIGEN_UNALIGNED_VECTORIZE
+#define EIGEN_UNALIGNED_VECTORIZE 1
+#endif
+
+//----------------------------------------------------------------------
+
+// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
+// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
+#if EIGEN_MAX_ALIGN_BYTES==0
+  #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+  #endif
+#endif
+
+
+// The following (except #include <malloc.h> and _M_IX86_FP ??) can likely be
+// removed as gcc 4.1 and msvc 2008 are not supported anyways.
+#if EIGEN_COMP_MSVC
+  #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
+  #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
+    // 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)) || EIGEN_ARCH_x86_64
+      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
+    #endif
+  #endif
+#else
+  #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
+    #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
+  #endif
+#endif
+
+#if !(defined(EIGEN_DONT_VECTORIZE) || defined(EIGEN_GPUCC))
+
+  #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
+    #ifdef __AVX__
+      #ifndef EIGEN_USE_SYCL 
+        #define EIGEN_VECTORIZE_AVX
+      #endif
+      #define EIGEN_VECTORIZE_SSE3
+      #define EIGEN_VECTORIZE_SSSE3
+      #define EIGEN_VECTORIZE_SSE4_1
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+    #ifdef __AVX2__
+      #ifndef EIGEN_USE_SYCL 
+        #define EIGEN_VECTORIZE_AVX2
+        #define EIGEN_VECTORIZE_AVX
+      #endif
+      #define EIGEN_VECTORIZE_SSE3
+      #define EIGEN_VECTORIZE_SSSE3
+      #define EIGEN_VECTORIZE_SSE4_1
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+    #if defined(__FMA__) || (EIGEN_COMP_MSVC && defined(__AVX2__))
+      // MSVC does not expose a switch dedicated for FMA
+      // For MSVC, AVX2 => FMA
+      #define EIGEN_VECTORIZE_FMA
+    #endif
+    #if defined(__AVX512F__)
+      #ifndef EIGEN_VECTORIZE_FMA
+      #if EIGEN_COMP_GNUC
+      #error Please add -mfma to your compiler flags: compiling with -mavx512f alone without SSE/AVX FMA is not supported (bug 1638).
+      #else
+      #error Please enable FMA in your compiler flags (e.g. -mfma): compiling with AVX512 alone without SSE/AVX FMA is not supported (bug 1638).
+      #endif
+      #endif
+      #ifndef EIGEN_USE_SYCL
+        #define EIGEN_VECTORIZE_AVX512
+        #define EIGEN_VECTORIZE_AVX2
+        #define EIGEN_VECTORIZE_AVX
+      #endif
+      #define EIGEN_VECTORIZE_FMA
+      #define EIGEN_VECTORIZE_SSE3
+      #define EIGEN_VECTORIZE_SSSE3
+      #define EIGEN_VECTORIZE_SSE4_1
+      #define EIGEN_VECTORIZE_SSE4_2
+      #ifndef EIGEN_USE_SYCL
+        #ifdef __AVX512DQ__
+          #define EIGEN_VECTORIZE_AVX512DQ
+        #endif
+        #ifdef __AVX512ER__
+          #define EIGEN_VECTORIZE_AVX512ER
+        #endif
+        #ifdef __AVX512BF16__
+          #define EIGEN_VECTORIZE_AVX512BF16
+        #endif
+      #endif
+    #endif
+
+    // Disable AVX support on broken xcode versions
+    #if defined(__apple_build_version__) && (__apple_build_version__ == 11000033 ) && ( __MAC_OS_X_VERSION_MIN_REQUIRED == 101500 )
+      // A nasty bug in the clang compiler shipped with xcode in a common compilation situation
+      // when XCode 11.0 and Mac deployment target macOS 10.15 is https://trac.macports.org/ticket/58776#no1
+      #ifdef EIGEN_VECTORIZE_AVX
+        #undef EIGEN_VECTORIZE_AVX
+        #warning "Disabling AVX support: clang compiler shipped with XCode 11.[012] generates broken assembly with -macosx-version-min=10.15 and AVX enabled. "
+        #ifdef EIGEN_VECTORIZE_AVX2
+          #undef EIGEN_VECTORIZE_AVX2
+        #endif
+        #ifdef EIGEN_VECTORIZE_FMA
+          #undef EIGEN_VECTORIZE_FMA
+        #endif
+        #ifdef EIGEN_VECTORIZE_AVX512
+          #undef EIGEN_VECTORIZE_AVX512
+        #endif
+        #ifdef EIGEN_VECTORIZE_AVX512DQ
+          #undef EIGEN_VECTORIZE_AVX512DQ
+        #endif
+        #ifdef EIGEN_VECTORIZE_AVX512ER
+          #undef EIGEN_VECTORIZE_AVX512ER
+        #endif
+      #endif
+      // NOTE: Confirmed test failures in XCode 11.0, and XCode 11.2 with  -macosx-version-min=10.15 and AVX
+      // NOTE using -macosx-version-min=10.15 with Xcode 11.0 results in runtime segmentation faults in many tests, 11.2 produce core dumps in 3 tests
+      // NOTE using -macosx-version-min=10.14 produces functioning and passing tests in all cases
+      // NOTE __clang_version__ "11.0.0 (clang-1100.0.33.8)"  XCode 11.0 <- Produces many segfault and core dumping tests
+      //                                                                    with  -macosx-version-min=10.15 and AVX
+      // NOTE __clang_version__ "11.0.0 (clang-1100.0.33.12)" XCode 11.2 <- Produces 3 core dumping tests with  
+      //                                                                    -macosx-version-min=10.15 and AVX
+    #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" {
+      // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
+      // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
+      #if EIGEN_COMP_ICC >= 1110
+        #include <immintrin.h>
+      #else
+        #include <mmintrin.h>
+        #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
+        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
+        #include <immintrin.h>
+        #endif
+      #endif
+    } // end extern "C"
+
+  #elif defined __VSX__
+
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_VSX
+    #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 __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) || (defined __ARM_NEON__)) && !(defined EIGEN_ARM64_USE_SVE)
+
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_NEON
+    #include <arm_neon.h>
+
+  // We currently require SVE to be enabled explicitly via EIGEN_ARM64_USE_SVE and
+  // will not select the backend automatically
+  #elif (defined __ARM_FEATURE_SVE) && (defined EIGEN_ARM64_USE_SVE)
+
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_SVE
+    #include <arm_sve.h>
+
+    // Since we depend on knowing SVE vector lengths at compile-time, we need
+    // to ensure a fixed lengths is set
+    #if defined __ARM_FEATURE_SVE_BITS
+      #define EIGEN_ARM64_SVE_VL __ARM_FEATURE_SVE_BITS
+    #else
+#error "Eigen requires a fixed SVE lector length but EIGEN_ARM64_SVE_VL is not set."
+#endif
+
+#elif (defined __s390x__ && defined __VEC__)
+
+#define EIGEN_VECTORIZE
+#define EIGEN_VECTORIZE_ZVECTOR
+#include <vecintrin.h>
+
+#elif defined __mips_msa
+
+// Limit MSA optimizations to little-endian CPUs for now.
+// TODO: Perhaps, eventually support MSA optimizations on big-endian CPUs?
+#if defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
+#if defined(__LP64__)
+#define EIGEN_MIPS_64
+#else
+#define EIGEN_MIPS_32
+#endif
+#define EIGEN_VECTORIZE
+#define EIGEN_VECTORIZE_MSA
+#include <msa.h>
+#endif
+
+#endif
+#endif
+
+// Following the Arm ACLE arm_neon.h should also include arm_fp16.h but not all
+// compilers seem to follow this. We therefore include it explicitly.
+// See also: https://bugs.llvm.org/show_bug.cgi?id=47955
+#if defined(EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC)
+  #include <arm_fp16.h>
+#endif
+
+#if defined(__F16C__) && (!defined(EIGEN_GPUCC) && (!EIGEN_COMP_CLANG || EIGEN_COMP_CLANG>=380))
+  // We can use the optimized fp16 to float and float to fp16 conversion routines
+  #define EIGEN_HAS_FP16_C
+
+  #if EIGEN_COMP_CLANG
+    // Workaround for clang: The FP16C intrinsics for clang are included by
+    // immintrin.h, as opposed to emmintrin.h as suggested by Intel:
+    // https://software.intel.com/sites/landingpage/IntrinsicsGuide/#othertechs=FP16C&expand=1711
+    #include <immintrin.h>
+  #endif
+#endif
+
+#if defined EIGEN_CUDACC
+  #define EIGEN_VECTORIZE_GPU
+  #include <vector_types.h>
+  #if EIGEN_CUDA_SDK_VER >= 70500
+    #define EIGEN_HAS_CUDA_FP16
+  #endif
+#endif
+
+#if defined(EIGEN_HAS_CUDA_FP16)
+  #include <cuda_runtime_api.h>
+  #include <cuda_fp16.h>
+#endif
+
+#if defined(EIGEN_HIPCC)
+  #define EIGEN_VECTORIZE_GPU
+  #include <hip/hip_vector_types.h>
+  #define EIGEN_HAS_HIP_FP16
+  #include <hip/hip_fp16.h>
+#endif
+
+
+/** \brief Namespace containing all symbols from the %Eigen library. */
+namespace Eigen {
+
+inline static const char *SimdInstructionSetsInUse(void) {
+#if defined(EIGEN_VECTORIZE_AVX512)
+  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_AVX)
+  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif 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_VSX)
+  return "VSX";
+#elif defined(EIGEN_VECTORIZE_NEON)
+  return "ARM NEON";
+#elif defined(EIGEN_VECTORIZE_SVE)
+  return "ARM SVE";
+#elif defined(EIGEN_VECTORIZE_ZVECTOR)
+  return "S390X ZVECTOR";
+#elif defined(EIGEN_VECTORIZE_MSA)
+  return "MIPS MSA";
+#else
+  return "None";
+#endif
+}
+
+} // end namespace Eigen
+
+
+#endif // EIGEN_CONFIGURE_VECTORIZATION_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/Constants.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/Constants.h
index 5d37e5d042..35dcaa7b38 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/Constants.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/Constants.h
@@ -3,6 +3,7 @@
 //
 // Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2020, Arm Limited and Contributors
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -156,7 +157,7 @@ const unsigned int DirectAccessBit = 0x40;
 /** \deprecated \ingroup flags
   *
   * means the first coefficient packet is guaranteed to be aligned.
-  * An expression cannot has the AlignedBit without the PacketAccessBit flag.
+  * An expression cannot have the AlignedBit without the PacketAccessBit flag.
   * In other words, this means we are allow to perform an aligned packet access to the first element regardless
   * of the expression kind:
   * \code
@@ -254,12 +255,6 @@ enum AlignmentType {
 #endif
 };
 
-/** \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. */
@@ -334,9 +329,20 @@ enum StorageOptions {
   * Enum for specifying whether to apply or solve on the left or right. */
 enum SideType {
   /** Apply transformation on the left. */
-  OnTheLeft = 1,  
+  OnTheLeft = 1,
   /** Apply transformation on the right. */
-  OnTheRight = 2  
+  OnTheRight = 2
+};
+
+/** \ingroup enums
+ * Enum for specifying NaN-propagation behavior, e.g. for coeff-wise min/max. */
+enum NaNPropagationOptions {
+  /**  Implementation defined behavior if NaNs are present. */
+  PropagateFast = 0,
+  /**  Always propagate NaNs. */
+  PropagateNaN,
+  /**  Always propagate not-NaNs. */
+  PropagateNumbers
 };
 
 /* the following used to be written as:
@@ -468,6 +474,8 @@ namespace Architecture
     AltiVec = 0x2,
     VSX = 0x3,
     NEON = 0x4,
+    MSA = 0x5,
+    SVE = 0x6,
 #if defined EIGEN_VECTORIZE_SSE
     Target = SSE
 #elif defined EIGEN_VECTORIZE_ALTIVEC
@@ -476,6 +484,10 @@ namespace Architecture
     Target = VSX
 #elif defined EIGEN_VECTORIZE_NEON
     Target = NEON
+#elif defined EIGEN_VECTORIZE_SVE
+    Target = SVE
+#elif defined EIGEN_VECTORIZE_MSA
+    Target = MSA
 #else
     Target = Generic
 #endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/DisableStupidWarnings.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/DisableStupidWarnings.h
old mode 100644
new mode 100755
index 8ef0f35940..e950749e7f
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/DisableStupidWarnings.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -4,6 +4,7 @@
 #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
@@ -19,7 +20,7 @@
   #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
     #pragma warning( push )
   #endif
-  #pragma warning( disable : 4100 4101 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
+  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
 
 #elif defined __INTEL_COMPILER
   // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
@@ -44,14 +45,33 @@
   #if __clang_major__ >= 3 && __clang_minor__ >= 5
     #pragma clang diagnostic ignored "-Wabsolute-value"
   #endif
+  #if __clang_major__ >= 10
+    #pragma clang diagnostic ignored "-Wimplicit-int-float-conversion"
+  #endif
+  #if ( defined(__ALTIVEC__) || defined(__VSX__) ) && __cplusplus < 201103L
+    // warning: generic selections are a C11-specific feature
+    // ignoring warnings thrown at vec_ctf in Altivec/PacketMath.h
+    #pragma clang diagnostic ignored "-Wc11-extensions"
+  #endif
 
-#elif defined __GNUC__ && __GNUC__>=6
+#elif defined __GNUC__
 
-  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+  #if (!defined(EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS)) &&  (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
     #pragma GCC diagnostic push
   #endif
-  #pragma GCC diagnostic ignored "-Wignored-attributes"
-
+  // g++ warns about local variables shadowing member functions, which is too strict
+  #pragma GCC diagnostic ignored "-Wshadow"
+  #if __GNUC__ == 4 && __GNUC_MINOR__ < 8
+    // Until g++-4.7 there are warnings when comparing unsigned int vs 0, even in templated functions:
+    #pragma GCC diagnostic ignored "-Wtype-limits"
+  #endif
+  #if __GNUC__>=6
+    #pragma GCC diagnostic ignored "-Wignored-attributes"
+  #endif
+  #if __GNUC__==7
+    // See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=89325
+    #pragma GCC diagnostic ignored "-Wattributes"
+  #endif
 #endif
 
 #if defined __NVCC__
@@ -74,6 +94,21 @@
   #pragma diag_suppress 2735
   #pragma diag_suppress 2737
   #pragma diag_suppress 2739
+  #pragma diag_suppress 2976
+  #pragma diag_suppress 2979
+  // Disable the "// __device__ annotation is ignored on a function(...) that is
+  //              explicitly defaulted on its first declaration" message.
+  // The __device__ annotation seems to actually be needed in some cases,
+  // otherwise resulting in kernel runtime errors.
+  #pragma diag_suppress 2977
 #endif
 
+#else
+// warnings already disabled:
+# ifndef EIGEN_WARNINGS_DISABLED_2
+#  define EIGEN_WARNINGS_DISABLED_2
+# elif defined(EIGEN_INTERNAL_DEBUGGING)
+#  error "Do not include \"DisableStupidWarnings.h\" recursively more than twice!"
+# endif
+
 #endif // not EIGEN_WARNINGS_DISABLED
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/ForwardDeclarations.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/ForwardDeclarations.h
index 1a48cff04d..2f9cc44917 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/ForwardDeclarations.h
@@ -47,11 +47,7 @@ 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 Derived, int Level> class DenseCoeffsBase;
 
 template<typename _Scalar, int _Rows, int _Cols,
          int _Options = AutoAlign |
@@ -84,6 +80,7 @@ template<typename ExpressionType> class SwapWrapper;
 
 template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false> class Block;
 template<typename XprType, typename RowIndices, typename ColIndices> class IndexedView;
+template<typename XprType, int Rows=Dynamic, int Cols=Dynamic, int Order=0> class Reshaped;
 
 template<typename MatrixType, int Size=Dynamic> class VectorBlock;
 template<typename MatrixType> class Transpose;
@@ -113,7 +110,7 @@ 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<int OuterStrideAtCompileTime, int InnerStrideAtCompileTime> class Stride;
 template<int Value = Dynamic> class InnerStride;
 template<int Value = Dynamic> class OuterStride;
 template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
@@ -134,6 +131,10 @@ template<typename Derived> class SolverBase;
 template<typename XprType> class InnerIterator;
 
 namespace internal {
+template<typename XprType> class generic_randaccess_stl_iterator;
+template<typename XprType> class pointer_based_stl_iterator;
+template<typename XprType, DirectionType Direction> class subvector_stl_iterator;
+template<typename XprType, DirectionType Direction> class subvector_stl_reverse_iterator;
 template<typename DecompositionType> struct kernel_retval_base;
 template<typename DecompositionType> struct kernel_retval;
 template<typename DecompositionType> struct image_retval_base;
@@ -179,14 +180,15 @@ template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRh
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_sum_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_difference_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_conj_product_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_min_op;
-template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_max_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar, int NaNPropagation=PropagateFast> struct scalar_min_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar, int NaNPropagation=PropagateFast> struct scalar_max_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 LhsScalar,typename RhsScalar=LhsScalar> struct scalar_absolute_difference_op;
 template<typename Scalar> struct scalar_sqrt_op;
 template<typename Scalar> struct scalar_rsqrt_op;
 template<typename Scalar> struct scalar_exp_op;
@@ -203,7 +205,7 @@ template<typename Scalar, typename NewType> struct scalar_cast_op;
 template<typename Scalar> struct scalar_random_op;
 template<typename Scalar> struct scalar_constant_op;
 template<typename Scalar> struct scalar_identity_op;
-template<typename Scalar,bool iscpx> struct scalar_sign_op;
+template<typename Scalar,bool is_complex, bool is_integer> struct scalar_sign_op;
 template<typename Scalar,typename ScalarExponent> struct scalar_pow_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_hypot_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
@@ -214,11 +216,27 @@ template<typename Scalar> struct scalar_lgamma_op;
 template<typename Scalar> struct scalar_digamma_op;
 template<typename Scalar> struct scalar_erf_op;
 template<typename Scalar> struct scalar_erfc_op;
+template<typename Scalar> struct scalar_ndtri_op;
 template<typename Scalar> struct scalar_igamma_op;
 template<typename Scalar> struct scalar_igammac_op;
 template<typename Scalar> struct scalar_zeta_op;
 template<typename Scalar> struct scalar_betainc_op;
 
+// Bessel functions in SpecialFunctions module
+template<typename Scalar> struct scalar_bessel_i0_op;
+template<typename Scalar> struct scalar_bessel_i0e_op;
+template<typename Scalar> struct scalar_bessel_i1_op;
+template<typename Scalar> struct scalar_bessel_i1e_op;
+template<typename Scalar> struct scalar_bessel_j0_op;
+template<typename Scalar> struct scalar_bessel_y0_op;
+template<typename Scalar> struct scalar_bessel_j1_op;
+template<typename Scalar> struct scalar_bessel_y1_op;
+template<typename Scalar> struct scalar_bessel_k0_op;
+template<typename Scalar> struct scalar_bessel_k0e_op;
+template<typename Scalar> struct scalar_bessel_k1_op;
+template<typename Scalar> struct scalar_bessel_k1e_op;
+
+
 } // end namespace internal
 
 struct IOFormat;
@@ -256,6 +274,7 @@ template<typename MatrixType> class HouseholderQR;
 template<typename MatrixType> class ColPivHouseholderQR;
 template<typename MatrixType> class FullPivHouseholderQR;
 template<typename MatrixType> class CompleteOrthogonalDecomposition;
+template<typename MatrixType> class SVDBase;
 template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
 template<typename MatrixType> class BDCSVD;
 template<typename MatrixType, int UpLo = Lower> class LLT;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/IndexedViewHelper.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/IndexedViewHelper.h
index ab01c857ff..f85de305f2 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/IndexedViewHelper.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/IndexedViewHelper.h
@@ -13,13 +13,6 @@
 
 namespace Eigen {
 
-/** \namespace Eigen::placeholders
-  * \ingroup Core_Module
-  *
-  * Namespace containing symbolic placeholder and identifiers
-  */
-namespace placeholders {
-
 namespace internal {
 struct symbolic_last_tag {};
 }
@@ -30,41 +23,40 @@ struct symbolic_last_tag {};
   * Can be used as a parameter to Eigen::seq and Eigen::seqN functions to symbolically reference the last element/row/columns
   * of the underlying vector or matrix once passed to DenseBase::operator()(const RowIndices&, const ColIndices&).
   *
-  * This symbolic placeholder support standard arithmetic operation.
+  * This symbolic placeholder supports standard arithmetic operations.
   *
   * A typical usage example would be:
   * \code
   * using namespace Eigen;
-  * using Eigen::placeholders::last;
+  * using Eigen::last;
   * VectorXd v(n);
   * v(seq(2,last-2)).setOnes();
   * \endcode
   *
   * \sa end
   */
-static const Symbolic::SymbolExpr<internal::symbolic_last_tag> last;
+static const symbolic::SymbolExpr<internal::symbolic_last_tag> last; // PLEASE use Eigen::last   instead of Eigen::placeholders::last
 
-/** \var end
+/** \var lastp1
   * \ingroup Core_Module
   *
-  * Can be used as a parameter to Eigen::seq and Eigen::seqN functions to symbolically reference the last+1 element/row/columns
-  * of the underlying vector or matrix once passed to DenseBase::operator()(const RowIndices&, const ColIndices&).
+  * Can be used as a parameter to Eigen::seq and Eigen::seqN functions to symbolically
+  * reference the last+1 element/row/columns of the underlying vector or matrix once
+  * passed to DenseBase::operator()(const RowIndices&, const ColIndices&).
   *
-  * This symbolic placeholder support standard arithmetic operation.
-  * It is essentially an alias to last+1
+  * This symbolic placeholder supports standard arithmetic operations.
+  * It is essentially an alias to last+fix<1>.
   *
   * \sa last
   */
 #ifdef EIGEN_PARSED_BY_DOXYGEN
-static const auto end = last+1;
+static const auto lastp1 = last+fix<1>;
 #else
 // Using a FixedExpr<1> expression is important here to make sure the compiler
 // can fully optimize the computation starting indices with zero overhead.
-static const Symbolic::AddExpr<Symbolic::SymbolExpr<internal::symbolic_last_tag>,Symbolic::ValueExpr<Eigen::internal::FixedInt<1> > > end(last+fix<1>());
+static const symbolic::AddExpr<symbolic::SymbolExpr<internal::symbolic_last_tag>,symbolic::ValueExpr<Eigen::internal::FixedInt<1> > > lastp1(last+fix<1>());
 #endif
 
-} // end namespace placeholders
-
 namespace internal {
 
  // Replace symbolic last/end "keywords" by their true runtime value
@@ -74,9 +66,9 @@ template<int N>
 FixedInt<N> eval_expr_given_size(FixedInt<N> x, Index /*size*/)   { return x; }
 
 template<typename Derived>
-Index eval_expr_given_size(const Symbolic::BaseExpr<Derived> &x, Index size)
+Index eval_expr_given_size(const symbolic::BaseExpr<Derived> &x, Index size)
 {
-  return x.derived().eval(placeholders::last=size-1);
+  return x.derived().eval(last=size-1);
 }
 
 // Extract increment/step at compile time
@@ -86,7 +78,7 @@ template<typename T, typename EnableIf = void> struct get_compile_time_incr {
 
 // Analogue of std::get<0>(x), but tailored for our needs.
 template<typename T>
-Index first(const T& x) { return x.first(); }
+EIGEN_CONSTEXPR Index first(const T& x) EIGEN_NOEXCEPT { return x.first(); }
 
 // IndexedViewCompatibleType/makeIndexedViewCompatible turn an arbitrary object of type T into something usable by MatrixSlice
 // The generic implementation is a no-op
@@ -108,8 +100,8 @@ struct SingleRange {
   };
   SingleRange(Index val) : m_value(val) {}
   Index operator[](Index) const { return m_value; }
-  Index size() const { return 1; }
-  Index first() const { return m_value; }
+  static EIGEN_CONSTEXPR Index size() EIGEN_NOEXCEPT { return 1; }
+  Index first() const EIGEN_NOEXCEPT { return m_value; }
   Index m_value;
 };
 
@@ -117,7 +109,7 @@ template<> struct get_compile_time_incr<SingleRange> {
   enum { value = 1 }; // 1 or 0 ??
 };
 
-// Turn a single index into something that looks like an array (i.e., that exposes a .size(), and operatro[](int) methods)
+// Turn a single index into something that looks like an array (i.e., that exposes a .size(), and operator[](int) methods)
 template<typename T, int XprSize>
 struct IndexedViewCompatibleType<T,XprSize,typename internal::enable_if<internal::is_integral<T>::value>::type> {
   // Here we could simply use Array, but maybe it's less work for the compiler to use
@@ -127,13 +119,13 @@ struct IndexedViewCompatibleType<T,XprSize,typename internal::enable_if<internal
 };
 
 template<typename T, int XprSize>
-struct IndexedViewCompatibleType<T, XprSize, typename enable_if<Symbolic::is_symbolic<T>::value>::type> {
+struct IndexedViewCompatibleType<T, XprSize, typename enable_if<symbolic::is_symbolic<T>::value>::type> {
   typedef SingleRange type;
 };
 
 
 template<typename T>
-typename enable_if<Symbolic::is_symbolic<T>::value,SingleRange>::type
+typename enable_if<symbolic::is_symbolic<T>::value,SingleRange>::type
 makeIndexedViewCompatible(const T& id, Index size, SpecializedType) {
   return eval_expr_given_size(id,size);
 }
@@ -149,9 +141,9 @@ template<int XprSize>
 struct AllRange {
   enum { SizeAtCompileTime = XprSize };
   AllRange(Index size = XprSize) : m_size(size) {}
-  Index operator[](Index i) const { return i; }
-  Index size() const { return m_size.value(); }
-  Index first() const { return 0; }
+  EIGEN_CONSTEXPR Index operator[](Index i) const EIGEN_NOEXCEPT { return i; }
+  EIGEN_CONSTEXPR Index size() const EIGEN_NOEXCEPT { return m_size.value(); }
+  EIGEN_CONSTEXPR Index first() const EIGEN_NOEXCEPT { return 0; }
   variable_if_dynamic<Index,XprSize> m_size;
 };
 
@@ -172,14 +164,21 @@ template<int Size> struct get_compile_time_incr<AllRange<Size> > {
 } // end namespace internal
 
 
-namespace placeholders {
-
 /** \var all
   * \ingroup Core_Module
   * Can be used as a parameter to DenseBase::operator()(const RowIndices&, const ColIndices&) to index all rows or columns
   */
-static const Eigen::internal::all_t all;
+static const Eigen::internal::all_t all; // PLEASE use Eigen::all instead of Eigen::placeholders::all
+
+
+namespace placeholders {
+  typedef symbolic::SymbolExpr<internal::symbolic_last_tag> last_t;
+  typedef symbolic::AddExpr<symbolic::SymbolExpr<internal::symbolic_last_tag>,symbolic::ValueExpr<Eigen::internal::FixedInt<1> > > end_t;
+  typedef Eigen::internal::all_t all_t;
 
+  EIGEN_DEPRECATED static const all_t  all  = Eigen::all;    // PLEASE use Eigen::all    instead of Eigen::placeholders::all
+  EIGEN_DEPRECATED static const last_t last = Eigen::last;   // PLEASE use Eigen::last   instead of Eigen::placeholders::last
+  EIGEN_DEPRECATED static const end_t  end  = Eigen::lastp1; // PLEASE use Eigen::lastp1 instead of Eigen::placeholders::end
 }
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/IntegralConstant.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/IntegralConstant.h
index 78a4705cdc..e0092f654d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/IntegralConstant.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/IntegralConstant.h
@@ -52,10 +52,12 @@ template<int N> class FixedInt
 {
 public:
   static const int value = N;
-  operator int() const { return value; }
+  EIGEN_CONSTEXPR operator int() const { return value; }
   FixedInt() {}
   FixedInt( VariableAndFixedInt<N> other) {
-    EIGEN_ONLY_USED_FOR_DEBUG(other);
+    #ifndef EIGEN_INTERNAL_DEBUGGING
+    EIGEN_UNUSED_VARIABLE(other);
+    #endif
     eigen_internal_assert(int(other)==N);
   }
 
@@ -75,7 +77,7 @@ template<int N> class FixedInt
   template<int M>
   FixedInt<N&M> operator&( FixedInt<M>) const { return FixedInt<N&M>(); }
 
-#if EIGEN_HAS_CXX14
+#if EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
   // Needed in C++14 to allow fix<N>():
   FixedInt operator() () const { return *this; }
 
@@ -136,7 +138,7 @@ template<int N,int Default> struct get_fixed_value<FixedInt<N>,Default> {
   static const int value = N;
 };
 
-#if !EIGEN_HAS_CXX14
+#if !EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
 template<int N,int Default> struct get_fixed_value<FixedInt<N> (*)(),Default> {
   static const int value = N;
 };
@@ -152,7 +154,7 @@ struct get_fixed_value<variable_if_dynamic<T,N>,Default> {
 };
 
 template<typename T> EIGEN_DEVICE_FUNC Index get_runtime_value(const T &x) { return x; }
-#if !EIGEN_HAS_CXX14
+#if !EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
 template<int N> EIGEN_DEVICE_FUNC Index get_runtime_value(FixedInt<N> (*)()) { return N; }
 #endif
 
@@ -164,7 +166,7 @@ template<typename T, int DynamicKey=Dynamic, typename EnableIf=void> struct clea
 // Convert any integral type (e.g., short, int, unsigned int, etc.) to Eigen::Index
 template<typename T, int DynamicKey> struct cleanup_index_type<T,DynamicKey,typename internal::enable_if<internal::is_integral<T>::value>::type> { typedef Index type; };
 
-#if !EIGEN_HAS_CXX14
+#if !EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
 // In c++98/c++11, fix<N> is a pointer to function that we better cleanup to a true FixedInt<N>:
 template<int N, int DynamicKey> struct cleanup_index_type<FixedInt<N> (*)(), DynamicKey> { typedef FixedInt<N> type; };
 #endif
@@ -182,7 +184,7 @@ template<int N, int DynamicKey> struct cleanup_index_type<std::integral_constant
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 
-#if EIGEN_HAS_CXX14
+#if EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
 template<int N>
 static const internal::FixedInt<N> fix{};
 #else
@@ -192,7 +194,7 @@ inline internal::FixedInt<N> fix() { return internal::FixedInt<N>(); }
 // The generic typename T is mandatory. Otherwise, a code like fix<N> could refer to either the function above or this next overload.
 // This way a code like fix<N> can only refer to the previous function.
 template<int N,typename T>
-inline internal::VariableAndFixedInt<N> fix(T val) { return internal::VariableAndFixedInt<N>(val); }
+inline internal::VariableAndFixedInt<N> fix(T val) { return internal::VariableAndFixedInt<N>(internal::convert_index<int>(val)); }
 #endif
 
 #else // EIGEN_PARSED_BY_DOXYGEN
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/MKL_support.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/MKL_support.h
old mode 100644
new mode 100755
index b7d6ecc76e..17963fad4d
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/MKL_support.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/MKL_support.h
@@ -55,7 +55,11 @@
 
 
 #if defined EIGEN_USE_MKL
-#   include <mkl.h> 
+#   if (!defined MKL_DIRECT_CALL) && (!defined EIGEN_MKL_NO_DIRECT_CALL)
+#       define MKL_DIRECT_CALL
+#       define MKL_DIRECT_CALL_JUST_SET
+#   endif
+#   include <mkl.h>
 /*Check IMKL version for compatibility: < 10.3 is not usable with Eigen*/
 #   ifndef INTEL_MKL_VERSION
 #       undef EIGEN_USE_MKL /* INTEL_MKL_VERSION is not even defined on older versions */
@@ -69,6 +73,9 @@
 #       undef   EIGEN_USE_MKL_VML
 #       undef   EIGEN_USE_LAPACKE_STRICT
 #       undef   EIGEN_USE_LAPACKE
+#       ifdef   MKL_DIRECT_CALL_JUST_SET
+#           undef MKL_DIRECT_CALL
+#       endif
 #   endif
 #endif
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/Macros.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/Macros.h
index 46b2659bdc..0edf97f3a5 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/Macros.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/Macros.h
@@ -11,15 +11,52 @@
 #ifndef EIGEN_MACROS_H
 #define EIGEN_MACROS_H
 
+//------------------------------------------------------------------------------------------
+// Eigen version and basic defaults
+//------------------------------------------------------------------------------------------
+
 #define EIGEN_WORLD_VERSION 3
-#define EIGEN_MAJOR_VERSION 3
-#define EIGEN_MINOR_VERSION 90
+#define EIGEN_MAJOR_VERSION 4
+#define EIGEN_MINOR_VERSION 0
 
 #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 EIGEN_DEFAULT_TO_ROW_MAJOR
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
+#else
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
+#endif
+
+#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#endif
+
+// Upperbound on the C++ version to use.
+// Expected values are 03, 11, 14, 17, etc.
+// By default, let's use an arbitrarily large C++ version.
+#ifndef EIGEN_MAX_CPP_VER
+#define EIGEN_MAX_CPP_VER 99
+#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 ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
+  */
+#ifndef EIGEN_FAST_MATH
+#define EIGEN_FAST_MATH 1
+#endif
+
+#ifndef EIGEN_STACK_ALLOCATION_LIMIT
+// 131072 == 128 KB
+#define EIGEN_STACK_ALLOCATION_LIMIT 131072
+#endif
+
+//------------------------------------------------------------------------------------------
 // Compiler identification, EIGEN_COMP_*
+//------------------------------------------------------------------------------------------
 
 /// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC
 #ifdef __GNUC__
@@ -35,6 +72,13 @@
   #define EIGEN_COMP_CLANG 0
 #endif
 
+/// \internal EIGEN_COMP_CASTXML set to 1 if being preprocessed by CastXML
+#if defined(__castxml__)
+  #define EIGEN_COMP_CASTXML 1
+#else
+  #define EIGEN_COMP_CASTXML 0
+#endif
+
 /// \internal EIGEN_COMP_LLVM set to 1 if the compiler backend is llvm
 #if defined(__llvm__)
   #define EIGEN_COMP_LLVM 1
@@ -70,14 +114,44 @@
   #define EIGEN_COMP_MSVC 0
 #endif
 
+#if defined(__NVCC__)
+#if defined(__CUDACC_VER_MAJOR__) && (__CUDACC_VER_MAJOR__ >= 9)
+  #define EIGEN_COMP_NVCC  ((__CUDACC_VER_MAJOR__ * 10000) + (__CUDACC_VER_MINOR__ * 100))
+#elif defined(__CUDACC_VER__)
+  #define EIGEN_COMP_NVCC __CUDACC_VER__
+#else
+  #error "NVCC did not define compiler version."
+#endif
+#else
+  #define EIGEN_COMP_NVCC 0
+#endif
+
 // For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC:
-//  name  ver   MSC_VER
-//  2008    9      1500
-//  2010   10      1600
-//  2012   11      1700
-//  2013   12      1800
-//  2015   14      1900
-//  "15"   15      1900
+//  name        ver   MSC_VER
+//  2008         9      1500
+//  2010        10      1600
+//  2012        11      1700
+//  2013        12      1800
+//  2015        14      1900
+//  "15"        15      1900
+//  2017-14.1   15.0    1910
+//  2017-14.11  15.3    1911
+//  2017-14.12  15.5    1912
+//  2017-14.13  15.6    1913
+//  2017-14.14  15.7    1914
+
+/// \internal EIGEN_COMP_MSVC_LANG set to _MSVC_LANG if the compiler is Microsoft Visual C++, 0 otherwise.
+#if defined(_MSVC_LANG)
+  #define EIGEN_COMP_MSVC_LANG _MSVC_LANG
+#else
+  #define EIGEN_COMP_MSVC_LANG 0
+#endif
+
+// For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC_LANG:
+// MSVC option                          Standard  MSVC_LANG
+// /std:c++14 (default as of VS 2019)   C++14     201402L
+// /std:c++17                           C++17     201703L
+// /std:c++latest                       >C++17    >201703L
 
 /// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC or clang-cl
 #if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC || EIGEN_COMP_LLVM || EIGEN_COMP_CLANG)
@@ -86,16 +160,21 @@
   #define EIGEN_COMP_MSVC_STRICT 0
 #endif
 
-/// \internal EIGEN_COMP_IBM set to 1 if the compiler is IBM XL C++
-#if defined(__IBMCPP__) || defined(__xlc__)
-  #define EIGEN_COMP_IBM 1
+/// \internal EIGEN_COMP_IBM set to xlc version if the compiler is IBM XL C++
+// XLC   version
+// 3.1   0x0301
+// 4.5   0x0405
+// 5.0   0x0500
+// 12.1  0x0C01
+#if defined(__IBMCPP__) || defined(__xlc__) || defined(__ibmxl__)
+  #define EIGEN_COMP_IBM __xlC__
 #else
   #define EIGEN_COMP_IBM 0
 #endif
 
-/// \internal EIGEN_COMP_PGI set to 1 if the compiler is Portland Group Compiler
+/// \internal EIGEN_COMP_PGI set to PGI version if the compiler is Portland Group Compiler
 #if defined(__PGI)
-  #define EIGEN_COMP_PGI 1
+  #define EIGEN_COMP_PGI (__PGIC__*100+__PGIC_MINOR__)
 #else
   #define EIGEN_COMP_PGI 0
 #endif
@@ -114,22 +193,15 @@
   #define EIGEN_COMP_EMSCRIPTEN 0
 #endif
 
-/// \internal EIGEN_COMP_LCC set to 1 if the compiler is LCC (Local (or Little) C Compiler)
-#if defined(__LCC__) && !(defined(__e2k__))
-  #define EIGEN_COMP_LCC 1
+/// \internal EIGEN_COMP_LCC set to 1 if the compiler is MCST-LCC (MCST eLbrus Compiler Collection)
+#if defined(__LCC__) && defined(__MCST__)
+  #define EIGEN_COMP_LCC (__LCC__*100+__LCC_MINOR__)
 #else
   #define EIGEN_COMP_LCC 0
 #endif
 
-/// \internal EIGEN_COMP_LCC_E2K set to 1 if the compiler is LCC (MCST eLbrus C Compiler)
-#if defined(__LCC__) && defined(__e2k__)
-  #define EIGEN_COMP_LCC_E2K 1
-#else
-  #define EIGEN_COMP_LCC_E2K 0
-#endif
-
 /// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.)
-#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN || EIGEN_COMP_LCC || EIGEN_COMP_LCC_E2K)
+#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN || EIGEN_COMP_LCC)
   #define EIGEN_COMP_GNUC_STRICT 1
 #else
   #define EIGEN_COMP_GNUC_STRICT 0
@@ -154,9 +226,13 @@
 #endif
 
 
+
+//------------------------------------------------------------------------------------------
 // Architecture identification, EIGEN_ARCH_*
+//------------------------------------------------------------------------------------------
+
 
-#if defined(__x86_64__) || defined(_M_X64) || defined(__amd64)
+#if defined(__x86_64__) || (defined(_M_X64) && !defined(_M_ARM64EC)) || defined(__amd64)
   #define EIGEN_ARCH_x86_64 1
 #else
   #define EIGEN_ARCH_x86_64 0
@@ -182,18 +258,61 @@
 #endif
 
 /// \internal EIGEN_ARCH_ARM64 set to 1 if the architecture is ARM64
-#if defined(__aarch64__)
+#if defined(__aarch64__) || defined(_M_ARM64) || defined(_M_ARM64EC)
   #define EIGEN_ARCH_ARM64 1
 #else
   #define EIGEN_ARCH_ARM64 0
 #endif
 
+/// \internal EIGEN_ARCH_ARM_OR_ARM64 set to 1 if the architecture is ARM or ARM64
 #if EIGEN_ARCH_ARM || EIGEN_ARCH_ARM64
   #define EIGEN_ARCH_ARM_OR_ARM64 1
 #else
   #define EIGEN_ARCH_ARM_OR_ARM64 0
 #endif
 
+/// \internal EIGEN_ARCH_ARMV8 set to 1 if the architecture is armv8 or greater.
+#if EIGEN_ARCH_ARM_OR_ARM64 && defined(__ARM_ARCH) && __ARM_ARCH >= 8
+#define EIGEN_ARCH_ARMV8 1
+#else
+#define EIGEN_ARCH_ARMV8 0
+#endif
+
+
+/// \internal EIGEN_HAS_ARM64_FP16 set to 1 if the architecture provides an IEEE
+/// compliant Arm fp16 type
+#if EIGEN_ARCH_ARM64
+  #ifndef EIGEN_HAS_ARM64_FP16
+    #if defined(__ARM_FP16_FORMAT_IEEE)
+      #define EIGEN_HAS_ARM64_FP16 1
+    #else
+      #define EIGEN_HAS_ARM64_FP16 0
+    #endif
+  #endif
+#endif
+
+/// \internal EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC set to 1 if the architecture
+/// supports Neon vector intrinsics for fp16.
+#if EIGEN_ARCH_ARM64
+  #ifndef EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC
+    #if defined(__ARM_FEATURE_FP16_VECTOR_ARITHMETIC)
+      #define EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC 1
+    #else
+      #define EIGEN_HAS_ARM64_FP16_VECTOR_ARITHMETIC 0
+    #endif
+  #endif
+#endif
+
+/// \internal EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC set to 1 if the architecture
+/// supports Neon scalar intrinsics for fp16.
+#if EIGEN_ARCH_ARM64
+  #ifndef EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC
+    #if defined(__ARM_FEATURE_FP16_SCALAR_ARITHMETIC)
+      #define EIGEN_HAS_ARM64_FP16_SCALAR_ARITHMETIC 1
+    #endif
+  #endif
+#endif
+
 /// \internal EIGEN_ARCH_MIPS set to 1 if the architecture is MIPS
 #if defined(__mips__) || defined(__mips)
   #define EIGEN_ARCH_MIPS 1
@@ -222,15 +341,11 @@
   #define EIGEN_ARCH_PPC 0
 #endif
 
-/// \internal EIGEN_ARCH_E2K set to 1 if the architecture is E2K (MCST Elbrus 2000)
-#if defined(__e2k__)
-  #define EIGEN_ARCH_E2K 1
-#else
-  #define EIGEN_ARCH_E2K 0
-#endif
 
 
+//------------------------------------------------------------------------------------------
 // Operating system identification, EIGEN_OS_*
+//------------------------------------------------------------------------------------------
 
 /// \internal EIGEN_OS_UNIX set to 1 if the OS is a unix variant
 #if defined(__unix__) || defined(__unix)
@@ -317,9 +432,17 @@
   #define EIGEN_OS_WIN_STRICT 0
 #endif
 
-/// \internal EIGEN_OS_SUN set to 1 if the OS is SUN
+/// \internal EIGEN_OS_SUN set to __SUNPRO_C if the OS is SUN
+// compiler  solaris   __SUNPRO_C
+// version   studio
+// 5.7       10        0x570
+// 5.8       11        0x580
+// 5.9       12        0x590
+// 5.10	     12.1      0x5100
+// 5.11	     12.2      0x5110
+// 5.12	     12.3      0x5120
 #if (defined(sun) || defined(__sun)) && !(defined(__SVR4) || defined(__svr4__))
-  #define EIGEN_OS_SUN 1
+  #define EIGEN_OS_SUN __SUNPRO_C
 #else
   #define EIGEN_OS_SUN 0
 #endif
@@ -332,25 +455,137 @@
 #endif
 
 
-#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
-  // see bug 89
-  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
-#else
-  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
+//------------------------------------------------------------------------------------------
+// Detect GPU compilers and architectures
+//------------------------------------------------------------------------------------------
+
+// NVCC is not supported as the target platform for HIPCC
+// Note that this also makes EIGEN_CUDACC and EIGEN_HIPCC mutually exclusive
+#if defined(__NVCC__) && defined(__HIPCC__)
+  #error "NVCC as the target platform for HIPCC is currently not supported."
 #endif
 
-// This macro can be used to prevent from macro expansion, e.g.:
-//   std::max EIGEN_NOT_A_MACRO(a,b)
-#define EIGEN_NOT_A_MACRO
+#if defined(__CUDACC__) && !defined(EIGEN_NO_CUDA)
+  // Means the compiler is either nvcc or clang with CUDA enabled
+  #define EIGEN_CUDACC __CUDACC__
+#endif
 
-#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
+#if defined(__CUDA_ARCH__) && !defined(EIGEN_NO_CUDA)
+  // Means we are generating code for the device
+  #define EIGEN_CUDA_ARCH __CUDA_ARCH__
+#endif
+
+#if defined(EIGEN_CUDACC)
+#include <cuda.h>
+  #define EIGEN_CUDA_SDK_VER (CUDA_VERSION * 10)
 #else
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
+  #define EIGEN_CUDA_SDK_VER 0
 #endif
 
-#ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
-#define EIGEN_DEFAULT_DENSE_INDEX_TYPE std::ptrdiff_t
+#if defined(__HIPCC__) && !defined(EIGEN_NO_HIP)
+  // Means the compiler is HIPCC (analogous to EIGEN_CUDACC, but for HIP)
+  #define EIGEN_HIPCC __HIPCC__
+
+  // We need to include hip_runtime.h here because it pulls in
+  // ++ hip_common.h which contains the define for  __HIP_DEVICE_COMPILE__
+  // ++ host_defines.h which contains the defines for the __host__ and __device__ macros
+  #include <hip/hip_runtime.h>
+
+  #if defined(__HIP_DEVICE_COMPILE__)
+    // analogous to EIGEN_CUDA_ARCH, but for HIP
+    #define EIGEN_HIP_DEVICE_COMPILE __HIP_DEVICE_COMPILE__
+  #endif
+
+  // For HIP (ROCm 3.5 and higher), we need to explicitly set the launch_bounds attribute
+  // value to 1024. The compiler assigns a default value of 256 when the attribute is not
+  // specified. This results in failures on the HIP platform, for cases when a GPU kernel
+  // without an explicit launch_bounds attribute is called with a threads_per_block value
+  // greater than 256.
+  //
+  // This is a regression in functioanlity and is expected to be fixed within the next
+  // couple of ROCm releases (compiler will go back to using 1024 value as the default)
+  //
+  // In the meantime, we will use a "only enabled for HIP" macro to set the launch_bounds
+  // attribute.
+
+  #define EIGEN_HIP_LAUNCH_BOUNDS_1024 __launch_bounds__(1024)
+
+#endif
+
+#if !defined(EIGEN_HIP_LAUNCH_BOUNDS_1024)
+#define EIGEN_HIP_LAUNCH_BOUNDS_1024
+#endif // !defined(EIGEN_HIP_LAUNCH_BOUNDS_1024)
+
+// Unify CUDA/HIPCC
+
+#if defined(EIGEN_CUDACC) || defined(EIGEN_HIPCC)
+//
+// If either EIGEN_CUDACC or EIGEN_HIPCC is defined, then define EIGEN_GPUCC
+//
+#define EIGEN_GPUCC
+//
+// EIGEN_HIPCC implies the HIP compiler and is used to tweak Eigen code for use in HIP kernels
+// EIGEN_CUDACC implies the CUDA compiler and is used to tweak Eigen code for use in CUDA kernels
+//
+// In most cases the same tweaks are required to the Eigen code to enable in both the HIP and CUDA kernels.
+// For those cases, the corresponding code should be guarded with
+//      #if defined(EIGEN_GPUCC)
+// instead of
+//      #if defined(EIGEN_CUDACC) || defined(EIGEN_HIPCC)
+//
+// For cases where the tweak is specific to HIP, the code should be guarded with
+//      #if defined(EIGEN_HIPCC)
+//
+// For cases where the tweak is specific to CUDA, the code should be guarded with
+//      #if defined(EIGEN_CUDACC)
+//
+#endif
+
+#if defined(EIGEN_CUDA_ARCH) || defined(EIGEN_HIP_DEVICE_COMPILE)
+//
+// If either EIGEN_CUDA_ARCH or EIGEN_HIP_DEVICE_COMPILE is defined, then define EIGEN_GPU_COMPILE_PHASE
+//
+#define EIGEN_GPU_COMPILE_PHASE
+//
+// GPU compilers (HIPCC, NVCC) typically do two passes over the source code,
+//   + one to compile the source for the "host" (ie CPU)
+//   + another to compile the source for the "device" (ie. GPU)
+//
+// Code that needs to enabled only during the either the "host" or "device" compilation phase
+// needs to be guarded with a macro that indicates the current compilation phase
+//
+// EIGEN_HIP_DEVICE_COMPILE implies the device compilation phase in HIP
+// EIGEN_CUDA_ARCH implies the device compilation phase in CUDA
+//
+// In most cases, the "host" / "device" specific code is the same for both HIP and CUDA
+// For those cases, the code should be guarded with
+//       #if defined(EIGEN_GPU_COMPILE_PHASE)
+// instead of
+//       #if defined(EIGEN_CUDA_ARCH) || defined(EIGEN_HIP_DEVICE_COMPILE)
+//
+// For cases where the tweak is specific to HIP, the code should be guarded with
+//      #if defined(EIGEN_HIP_DEVICE_COMPILE)
+//
+// For cases where the tweak is specific to CUDA, the code should be guarded with
+//      #if defined(EIGEN_CUDA_ARCH)
+//
+#endif
+
+#if defined(EIGEN_USE_SYCL) && defined(__SYCL_DEVICE_ONLY__)
+// EIGEN_USE_SYCL is a user-defined macro while __SYCL_DEVICE_ONLY__ is a compiler-defined macro.
+// In most cases we want to check if both macros are defined which can be done using the define below.
+#define SYCL_DEVICE_ONLY
+#endif
+
+//------------------------------------------------------------------------------------------
+// Detect Compiler/Architecture/OS specific features
+//------------------------------------------------------------------------------------------
+
+#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
+  // see bug 89
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
+#else
+  #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
 #endif
 
 // Cross compiler wrapper around LLVM's __has_builtin
@@ -368,26 +603,67 @@
 
 // Some old compilers do not support template specializations like:
 // template<typename T,int N> void foo(const T x[N]);
-#if !( EIGEN_COMP_CLANG && ((EIGEN_COMP_CLANG<309) || defined(__apple_build_version__)) || EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<49)
+#if !(   EIGEN_COMP_CLANG && (   (EIGEN_COMP_CLANG<309)                                                       \
+                              || (defined(__apple_build_version__) && (__apple_build_version__ < 9000000)))  \
+      || EIGEN_COMP_GNUC_STRICT && EIGEN_COMP_GNUC<49)
 #define EIGEN_HAS_STATIC_ARRAY_TEMPLATE 1
 #else
 #define EIGEN_HAS_STATIC_ARRAY_TEMPLATE 0
 #endif
 
-// Upperbound on the C++ version to use.
-// Expected values are 03, 11, 14, 17, etc.
-// By default, let's use an arbitrarily large C++ version.
-#ifndef EIGEN_MAX_CPP_VER
-#define EIGEN_MAX_CPP_VER 99
+// The macro EIGEN_CPLUSPLUS is a replacement for __cplusplus/_MSVC_LANG that
+// works for both platforms, indicating the C++ standard version number.
+//
+// With MSVC, without defining /Zc:__cplusplus, the __cplusplus macro will
+// report 199711L regardless of the language standard specified via /std.
+// We need to rely on _MSVC_LANG instead, which is only available after
+// VS2015.3.
+#if EIGEN_COMP_MSVC_LANG > 0
+#define EIGEN_CPLUSPLUS EIGEN_COMP_MSVC_LANG
+#elif EIGEN_COMP_MSVC >= 1900
+#define EIGEN_CPLUSPLUS 201103L
+#elif defined(__cplusplus)
+#define EIGEN_CPLUSPLUS __cplusplus
+#else
+#define EIGEN_CPLUSPLUS 0
+#endif
+
+// The macro EIGEN_COMP_CXXVER defines the c++ verson expected by the compiler.
+// For instance, if compiling with gcc and -std=c++17, then EIGEN_COMP_CXXVER
+// is defined to 17.
+#if EIGEN_CPLUSPLUS > 201703L
+  #define EIGEN_COMP_CXXVER 20
+#elif EIGEN_CPLUSPLUS > 201402L
+  #define EIGEN_COMP_CXXVER 17
+#elif EIGEN_CPLUSPLUS > 201103L
+  #define EIGEN_COMP_CXXVER 14
+#elif EIGEN_CPLUSPLUS >= 201103L
+  #define EIGEN_COMP_CXXVER 11
+#else
+  #define EIGEN_COMP_CXXVER 03
+#endif
+
+#ifndef EIGEN_HAS_CXX14_VARIABLE_TEMPLATES
+  #if defined(__cpp_variable_templates) && __cpp_variable_templates >= 201304 && EIGEN_MAX_CPP_VER>=14
+    #define EIGEN_HAS_CXX14_VARIABLE_TEMPLATES 1
+  #else
+    #define EIGEN_HAS_CXX14_VARIABLE_TEMPLATES 0
+  #endif
 #endif
 
-#if EIGEN_MAX_CPP_VER>=11 && (defined(__cplusplus) && (__cplusplus >= 201103L) || EIGEN_COMP_MSVC >= 1900)
+
+// The macros EIGEN_HAS_CXX?? defines a rough estimate of available c++ features
+// but in practice we should not rely on them but rather on the availabilty of
+// individual features as defined later.
+// This is why there is no EIGEN_HAS_CXX17.
+// FIXME: get rid of EIGEN_HAS_CXX14 and maybe even EIGEN_HAS_CXX11.
+#if EIGEN_MAX_CPP_VER>=11 && EIGEN_COMP_CXXVER>=11
 #define EIGEN_HAS_CXX11 1
 #else
 #define EIGEN_HAS_CXX11 0
 #endif
 
-#if EIGEN_MAX_CPP_VER>=14 && (defined(__cplusplus) && (__cplusplus > 201103L) || EIGEN_COMP_MSVC >= 1910)
+#if EIGEN_MAX_CPP_VER>=14 && EIGEN_COMP_CXXVER>=14
 #define EIGEN_HAS_CXX14 1
 #else
 #define EIGEN_HAS_CXX14 0
@@ -397,8 +673,7 @@
 #ifndef EIGEN_HAS_RVALUE_REFERENCES
 #if EIGEN_MAX_CPP_VER>=11 && \
     (__has_feature(cxx_rvalue_references) || \
-    (defined(__cplusplus) && __cplusplus >= 201103L) || \
-    (EIGEN_COMP_MSVC >= 1600))
+     (EIGEN_COMP_CXXVER >= 11) || (EIGEN_COMP_MSVC >= 1600))
   #define EIGEN_HAS_RVALUE_REFERENCES 1
 #else
   #define EIGEN_HAS_RVALUE_REFERENCES 0
@@ -406,12 +681,14 @@
 #endif
 
 // Does the compiler support C99?
+// Need to include <cmath> to make sure _GLIBCXX_USE_C99 gets defined
+#include <cmath>
 #ifndef EIGEN_HAS_C99_MATH
 #if EIGEN_MAX_CPP_VER>=11 && \
     ((defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901))       \
   || (defined(__GNUC__) && defined(_GLIBCXX_USE_C99)) \
   || (defined(_LIBCPP_VERSION) && !defined(_MSC_VER)) \
-  || (EIGEN_COMP_MSVC >= 1900) || defined(__SYCL_DEVICE_ONLY__))
+  || (EIGEN_COMP_MSVC >= 1900) || defined(SYCL_DEVICE_ONLY))
   #define EIGEN_HAS_C99_MATH 1
 #else
   #define EIGEN_HAS_C99_MATH 0
@@ -419,17 +696,57 @@
 #endif
 
 // Does the compiler support result_of?
+// result_of was deprecated in c++17 and removed in c++ 20
 #ifndef EIGEN_HAS_STD_RESULT_OF
-#if EIGEN_MAX_CPP_VER>=11 && ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)))
+#if EIGEN_HAS_CXX11 && EIGEN_COMP_CXXVER < 17
 #define EIGEN_HAS_STD_RESULT_OF 1
 #else
 #define EIGEN_HAS_STD_RESULT_OF 0
 #endif
 #endif
 
-// Does the compiler support type_trais?
+// Does the compiler support std::hash?
+#ifndef EIGEN_HAS_STD_HASH
+// The std::hash struct is defined in C++11 but is not labelled as a __device__
+// function and is not constexpr, so cannot be used on device.
+#if EIGEN_HAS_CXX11 && !defined(EIGEN_GPU_COMPILE_PHASE)
+#define EIGEN_HAS_STD_HASH 1
+#else
+#define EIGEN_HAS_STD_HASH 0
+#endif
+#endif  // EIGEN_HAS_STD_HASH
+
+#ifndef EIGEN_HAS_STD_INVOKE_RESULT
+#if EIGEN_MAX_CPP_VER >= 17 && EIGEN_COMP_CXXVER >= 17
+#define EIGEN_HAS_STD_INVOKE_RESULT 1
+#else
+#define EIGEN_HAS_STD_INVOKE_RESULT 0
+#endif
+#endif
+
+#ifndef EIGEN_HAS_ALIGNAS
+#if EIGEN_MAX_CPP_VER>=11 && EIGEN_HAS_CXX11 &&   \
+      (     __has_feature(cxx_alignas)            \
+        ||  EIGEN_HAS_CXX14                       \
+        || (EIGEN_COMP_MSVC >= 1800)              \
+        || (EIGEN_GNUC_AT_LEAST(4,8))             \
+        || (EIGEN_COMP_CLANG>=305)                \
+        || (EIGEN_COMP_ICC>=1500)                 \
+        || (EIGEN_COMP_PGI>=1500)                 \
+        || (EIGEN_COMP_SUNCC>=0x5130))
+#define EIGEN_HAS_ALIGNAS 1
+#else
+#define EIGEN_HAS_ALIGNAS 0
+#endif
+#endif
+
+// Does the compiler support type_traits?
+// - full support of type traits was added only to GCC 5.1.0.
+// - 20150626 corresponds to the last release of 4.x libstdc++
 #ifndef EIGEN_HAS_TYPE_TRAITS
-#if EIGEN_MAX_CPP_VER>=11 && (EIGEN_HAS_CXX11 || EIGEN_COMP_MSVC >= 1700)
+#if EIGEN_MAX_CPP_VER>=11 && (EIGEN_HAS_CXX11 || EIGEN_COMP_MSVC >= 1700) \
+  && ((!EIGEN_COMP_GNUC_STRICT) || EIGEN_GNUC_AT_LEAST(5, 1)) \
+  && ((!defined(__GLIBCXX__))   || __GLIBCXX__ > 20150626)
 #define EIGEN_HAS_TYPE_TRAITS 1
 #define EIGEN_INCLUDE_TYPE_TRAITS
 #else
@@ -439,12 +756,12 @@
 
 // Does the compiler support variadic templates?
 #ifndef EIGEN_HAS_VARIADIC_TEMPLATES
-#if EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) \
-  && (!defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (EIGEN_CUDACC_VER >= 80000) )
+#if EIGEN_MAX_CPP_VER>=11 && (EIGEN_COMP_CXXVER >= 11) \
+  && (!defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (EIGEN_COMP_NVCC >= 80000) )
     // ^^ Disable the use of variadic templates when compiling with versions of nvcc older than 8.0 on ARM devices:
     //    this prevents nvcc from crashing when compiling Eigen on Tegra X1
 #define EIGEN_HAS_VARIADIC_TEMPLATES 1
-#elif  EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) && defined(__SYCL_DEVICE_ONLY__)
+#elif  EIGEN_MAX_CPP_VER>=11 && (EIGEN_COMP_CXXVER >= 11) && defined(SYCL_DEVICE_ONLY)
 #define EIGEN_HAS_VARIADIC_TEMPLATES 1
 #else
 #define EIGEN_HAS_VARIADIC_TEMPLATES 0
@@ -453,28 +770,33 @@
 
 // Does the compiler fully support const expressions? (as in c++14)
 #ifndef EIGEN_HAS_CONSTEXPR
+  #if defined(EIGEN_CUDACC)
+  // Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
+    #if EIGEN_MAX_CPP_VER>=14 && (EIGEN_COMP_CXXVER >= 11 && (EIGEN_COMP_CLANG || EIGEN_COMP_NVCC >= 70500))
+      #define EIGEN_HAS_CONSTEXPR 1
+    #endif
+  #elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (EIGEN_COMP_CXXVER >= 14) || \
+    (EIGEN_GNUC_AT_LEAST(4,8) && (EIGEN_COMP_CXXVER >= 11)) || \
+    (EIGEN_COMP_CLANG >= 306 && (EIGEN_COMP_CXXVER >= 11)))
+    #define EIGEN_HAS_CONSTEXPR 1
+  #endif
 
-#if defined(EIGEN_CUDACC)
-// Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
-#if EIGEN_MAX_CPP_VER>=14 && (__cplusplus > 199711L && (EIGEN_COMP_CLANG || EIGEN_CUDACC_VER >= 70500))
-  #define EIGEN_HAS_CONSTEXPR 1
-#endif
-#elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (defined(__cplusplus) && __cplusplus >= 201402L) || \
-  (EIGEN_GNUC_AT_LEAST(4,8) && (__cplusplus > 199711L)) || \
-  (EIGEN_COMP_CLANG >= 306 && (__cplusplus > 199711L)))
-#define EIGEN_HAS_CONSTEXPR 1
-#endif
+  #ifndef EIGEN_HAS_CONSTEXPR
+    #define EIGEN_HAS_CONSTEXPR 0
+  #endif
 
-#ifndef EIGEN_HAS_CONSTEXPR
-#define EIGEN_HAS_CONSTEXPR 0
-#endif
+#endif // EIGEN_HAS_CONSTEXPR
 
+#if EIGEN_HAS_CONSTEXPR
+#define EIGEN_CONSTEXPR constexpr
+#else
+#define EIGEN_CONSTEXPR
 #endif
 
 // Does the compiler support C++11 math?
 // Let's be conservative and enable the default C++11 implementation only if we are sure it exists
 #ifndef EIGEN_HAS_CXX11_MATH
-  #if EIGEN_MAX_CPP_VER>=11 && ((__cplusplus > 201103L) || (__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC)  \
+  #if EIGEN_MAX_CPP_VER>=11 && ((EIGEN_COMP_CXXVER > 11) || (EIGEN_COMP_CXXVER == 11) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC)  \
       && (EIGEN_ARCH_i386_OR_x86_64) && (EIGEN_OS_GNULINUX || EIGEN_OS_WIN_STRICT || EIGEN_OS_MAC))
     #define EIGEN_HAS_CXX11_MATH 1
   #else
@@ -485,9 +807,8 @@
 // Does the compiler support proper C++11 containers?
 #ifndef EIGEN_HAS_CXX11_CONTAINERS
   #if    EIGEN_MAX_CPP_VER>=11 && \
-         ((__cplusplus > 201103L) \
-      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
-      || EIGEN_COMP_MSVC >= 1900)
+         ((EIGEN_COMP_CXXVER > 11) \
+      || ((EIGEN_COMP_CXXVER == 11) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC>=1400)))
     #define EIGEN_HAS_CXX11_CONTAINERS 1
   #else
     #define EIGEN_HAS_CXX11_CONTAINERS 0
@@ -498,24 +819,88 @@
 #ifndef EIGEN_HAS_CXX11_NOEXCEPT
   #if    EIGEN_MAX_CPP_VER>=11 && \
          (__has_feature(cxx_noexcept) \
-      || (__cplusplus > 201103L) \
-      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
-      || EIGEN_COMP_MSVC >= 1900)
+      || (EIGEN_COMP_CXXVER > 11) \
+      || ((EIGEN_COMP_CXXVER == 11) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC>=1400)))
     #define EIGEN_HAS_CXX11_NOEXCEPT 1
   #else
     #define EIGEN_HAS_CXX11_NOEXCEPT 0
   #endif
 #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 ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
-  */
-#ifndef EIGEN_FAST_MATH
-#define EIGEN_FAST_MATH 1
+#ifndef EIGEN_HAS_CXX11_ATOMIC
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+         (__has_feature(cxx_atomic) \
+      || (EIGEN_COMP_CXXVER > 11) \
+      || ((EIGEN_COMP_CXXVER == 11) && (EIGEN_COMP_MSVC==0 || EIGEN_COMP_MSVC >= 1700)))
+    #define EIGEN_HAS_CXX11_ATOMIC 1
+  #else
+    #define EIGEN_HAS_CXX11_ATOMIC 0
+  #endif
 #endif
 
+#ifndef EIGEN_HAS_CXX11_OVERRIDE_FINAL
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+       (EIGEN_COMP_CXXVER >= 11 || EIGEN_COMP_MSVC >= 1700)
+    #define EIGEN_HAS_CXX11_OVERRIDE_FINAL 1
+  #else
+    #define EIGEN_HAS_CXX11_OVERRIDE_FINAL 0
+  #endif
+#endif
+
+// NOTE: the required Apple's clang version is very conservative
+//       and it could be that XCode 9 works just fine.
+// NOTE: the MSVC version is based on https://en.cppreference.com/w/cpp/compiler_support
+//       and not tested.
+#ifndef EIGEN_HAS_CXX17_OVERALIGN
+#if EIGEN_MAX_CPP_VER>=17 && EIGEN_COMP_CXXVER>=17 && (                                 \
+           (EIGEN_COMP_MSVC >= 1912)                                                    \
+        || (EIGEN_GNUC_AT_LEAST(7,0))                                                   \
+        || ((!defined(__apple_build_version__)) && (EIGEN_COMP_CLANG>=500))             \
+        || (( defined(__apple_build_version__)) && (__apple_build_version__>=10000000)) \
+      )
+#define EIGEN_HAS_CXX17_OVERALIGN 1
+#else
+#define EIGEN_HAS_CXX17_OVERALIGN 0
+#endif
+#endif
+
+#if defined(EIGEN_CUDACC) && EIGEN_HAS_CONSTEXPR
+  // While available already with c++11, this is useful mostly starting with c++14 and relaxed constexpr rules
+  #if defined(__NVCC__)
+    // nvcc considers constexpr functions as __host__ __device__ with the option --expt-relaxed-constexpr
+    #ifdef __CUDACC_RELAXED_CONSTEXPR__
+      #define EIGEN_CONSTEXPR_ARE_DEVICE_FUNC
+    #endif
+  #elif defined(__clang__) && defined(__CUDA__) && __has_feature(cxx_relaxed_constexpr)
+    // clang++ always considers constexpr functions as implicitly __host__ __device__
+    #define EIGEN_CONSTEXPR_ARE_DEVICE_FUNC
+  #endif
+#endif
+
+// Does the compiler support the __int128 and __uint128_t extensions for 128-bit
+// integer arithmetic?
+//
+// Clang and GCC define __SIZEOF_INT128__ when these extensions are supported,
+// but we avoid using them in certain cases:
+//
+// * Building using Clang for Windows, where the Clang runtime library has
+//   128-bit support only on LP64 architectures, but Windows is LLP64.
+#ifndef EIGEN_HAS_BUILTIN_INT128
+#if defined(__SIZEOF_INT128__) && !(EIGEN_OS_WIN && EIGEN_COMP_CLANG)
+#define EIGEN_HAS_BUILTIN_INT128 1
+#else
+#define EIGEN_HAS_BUILTIN_INT128 0
+#endif
+#endif
+
+//------------------------------------------------------------------------------------------
+// Preprocessor programming helpers
+//------------------------------------------------------------------------------------------
+
+// This macro can be used to prevent from macro expansion, e.g.:
+//   std::max EIGEN_NOT_A_MACRO(a,b)
+#define EIGEN_NOT_A_MACRO
+
 #define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
 
 // concatenate two tokens
@@ -531,11 +916,13 @@
 // EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
 // but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
 // but GCC is still doing fine with just inline.
-#if EIGEN_COMP_MSVC || EIGEN_COMP_ICC
+#ifndef EIGEN_STRONG_INLINE
+#if (EIGEN_COMP_MSVC || EIGEN_COMP_ICC) && !defined(EIGEN_GPUCC)
 #define EIGEN_STRONG_INLINE __forceinline
 #else
 #define EIGEN_STRONG_INLINE inline
 #endif
+#endif
 
 // EIGEN_ALWAYS_INLINE is the stronget, it has the effect of making the function inline and adding every possible
 // attribute to maximize inlining. This should only be used when really necessary: in particular,
@@ -545,7 +932,7 @@
 //   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
 //    : function body not available
 //   See also bug 1367
-#if EIGEN_GNUC_AT_LEAST(4,2)
+#if EIGEN_GNUC_AT_LEAST(4,2) && !defined(SYCL_DEVICE_ONLY)
 #define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
 #else
 #define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
@@ -565,6 +952,37 @@
 #define EIGEN_PERMISSIVE_EXPR
 #endif
 
+// GPU stuff
+
+// Disable some features when compiling with GPU compilers (NVCC/clang-cuda/SYCL/HIPCC)
+#if defined(EIGEN_CUDACC) || defined(SYCL_DEVICE_ONLY) || defined(EIGEN_HIPCC)
+  // Do not try asserts on device code
+  #ifndef EIGEN_NO_DEBUG
+  #define EIGEN_NO_DEBUG
+  #endif
+
+  #ifdef EIGEN_INTERNAL_DEBUGGING
+  #undef EIGEN_INTERNAL_DEBUGGING
+  #endif
+
+  #ifdef EIGEN_EXCEPTIONS
+  #undef EIGEN_EXCEPTIONS
+  #endif
+#endif
+
+#if defined(SYCL_DEVICE_ONLY)
+  #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+  #endif
+  #define EIGEN_DEVICE_FUNC __attribute__((flatten)) __attribute__((always_inline))
+// All functions callable from CUDA/HIP code must be qualified with __device__
+#elif defined(EIGEN_GPUCC)
+    #define EIGEN_DEVICE_FUNC __host__ __device__
+#else
+  #define EIGEN_DEVICE_FUNC
+#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.
@@ -580,7 +998,11 @@
 
 // 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)
+  #ifdef SYCL_DEVICE_ONLY // used to silence the warning on SYCL device
+    #define eigen_plain_assert(x) EIGEN_UNUSED_VARIABLE(x)
+  #else
+    #define eigen_plain_assert(x)
+  #endif
 #else
   #if EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO
     namespace Eigen {
@@ -654,7 +1076,7 @@
 // Suppresses 'unused variable' warnings.
 namespace Eigen {
   namespace internal {
-    template<typename T> EIGEN_DEVICE_FUNC void ignore_unused_variable(const T&) {}
+    template<typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void ignore_unused_variable(const T&) {}
   }
 }
 #define EIGEN_UNUSED_VARIABLE(var) Eigen::internal::ignore_unused_variable(var);
@@ -668,177 +1090,84 @@ namespace Eigen {
 #endif
 
 
-#if EIGEN_COMP_MSVC
-  // NOTE MSVC often gives C4127 warnings with compiletime if statements. See bug 1362.
-  // This workaround is ugly, but it does the job.
-#  define EIGEN_CONST_CONDITIONAL(cond)  (void)0, cond
-#else
-#  define EIGEN_CONST_CONDITIONAL(cond)  cond
-#endif
-
-//------------------------------------------------------------------------------------------
-// Static and dynamic alignment control
-//
-// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
-// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
-// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
-// a default value is automatically computed based on architecture, compiler, and OS.
+// Acts as a barrier preventing operations involving `X` from crossing. This
+// occurs, for example, in the fast rounding trick where a magic constant is
+// added then subtracted, which is otherwise compiled away with -ffast-math.
 //
-// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
-// to be used to declare statically aligned buffers.
-//------------------------------------------------------------------------------------------
-
-
-/* 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 EIGEN_CUDACC)
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
-#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
-#elif EIGEN_COMP_MSVC
-  #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
-#elif EIGEN_COMP_SUNCC
-  // 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
-
-// If the user explicitly disable vectorization, then we also disable alignment
-#if defined(EIGEN_DONT_VECTORIZE)
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
-#elif defined(EIGEN_VECTORIZE_AVX512)
-  // 64 bytes static alignmeent is preferred only if really required
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
-#elif defined(__AVX__)
-  // 32 bytes static alignmeent is preferred only if really required
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
-#else
-  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
-#endif
-
-
-// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
-#define EIGEN_MIN_ALIGN_BYTES 16
-
-// Defined the boundary (in bytes) on which the data needs to be aligned. Note
-// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
-// aligned at all regardless of the value of this #define.
-
-#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN))  && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
-#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
-#endif
-
-// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprectated
-// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
-#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
-  #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
-    #undef EIGEN_MAX_STATIC_ALIGN_BYTES
-  #endif
-  #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
-#endif
-
-#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
-
-  // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
-
-  // 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),
-  // try to keep heap alignment even when we have to disable static alignment.
-  #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64 || EIGEN_ARCH_E2K)
-  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
-  #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
-  // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
-  // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
-  // 4.8 and newer seem definitely unaffected.
-  #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 \
-  && !EIGEN_COMP_SUNCC \
-  && !EIGEN_OS_QNX
-    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
-  #else
-    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
-  #endif
-
-  #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
-    #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+// See bug 1674
+#if !defined(EIGEN_OPTIMIZATION_BARRIER)
+  #if EIGEN_COMP_GNUC
+    // According to https://gcc.gnu.org/onlinedocs/gcc/Constraints.html:
+    //   X: Any operand whatsoever.
+    //   r: A register operand is allowed provided that it is in a general
+    //      register.
+    //   g: Any register, memory or immediate integer operand is allowed, except
+    //      for registers that are not general registers.
+    //   w: (AArch32/AArch64) Floating point register, Advanced SIMD vector
+    //      register or SVE vector register.
+    //   x: (SSE) Any SSE register.
+    //      (AArch64) Like w, but restricted to registers 0 to 15 inclusive.
+    //   v: (PowerPC) An Altivec vector register.
+    //   wa:(PowerPC) A VSX register.
+    //
+    // "X" (uppercase) should work for all cases, though this seems to fail for
+    // some versions of GCC for arm/aarch64 with
+    //   "error: inconsistent operand constraints in an 'asm'"
+    // Clang x86_64/arm/aarch64 seems to require "g" to support both scalars and
+    // vectors, otherwise
+    //   "error: non-trivial scalar-to-vector conversion, possible invalid
+    //    constraint for vector type"
+    //
+    // GCC for ppc64le generates an internal compiler error with x/X/g.
+    // GCC for AVX generates an internal compiler error with X.
+    //
+    // Tested on icc/gcc/clang for sse, avx, avx2, avx512dq
+    //           gcc for arm, aarch64,
+    //           gcc for ppc64le,
+    // both vectors and scalars.
+    //
+    // Note that this is restricted to plain types - this will not work
+    // directly for std::complex<T>, Eigen::half, Eigen::bfloat16. For these,
+    // you will need to apply to the underlying POD type.
+    #if EIGEN_ARCH_PPC && EIGEN_COMP_GNUC_STRICT
+      // This seems to be broken on clang.  Packet4f is loaded into a single
+      //   register rather than a vector, zeroing out some entries.  Integer
+      //   types also generate a compile error.
+      // General, Altivec, VSX.
+      #define EIGEN_OPTIMIZATION_BARRIER(X)  __asm__  ("" : "+r,v,wa" (X));
+    #elif EIGEN_ARCH_ARM_OR_ARM64
+      // General, NEON.
+      // Clang doesn't like "r",
+      //    error: non-trivial scalar-to-vector conversion, possible invalid
+      //           constraint for vector type
+      // GCC < 5 doesn't like "g",
+      //    error: 'asm' operand requires impossible reload
+      #if EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(5, 0)
+        #define EIGEN_OPTIMIZATION_BARRIER(X)  __asm__  ("" : "+r,w" (X));
+      #else
+        #define EIGEN_OPTIMIZATION_BARRIER(X)  __asm__  ("" : "+g,w" (X));
+      #endif
+    #elif EIGEN_ARCH_i386_OR_x86_64
+      // General, SSE.
+      #define EIGEN_OPTIMIZATION_BARRIER(X)  __asm__  ("" : "+g,x" (X));
+    #else
+      // Not implemented for other architectures.
+      #define EIGEN_OPTIMIZATION_BARRIER(X)
+    #endif
   #else
-    #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+    // Not implemented for other compilers.
+    #define EIGEN_OPTIMIZATION_BARRIER(X)
   #endif
-
-#endif
-
-// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_ALIGN_BYTES
-#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
-#undef EIGEN_MAX_STATIC_ALIGN_BYTES
-#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
-#endif
-
-#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
-  #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-#endif
-
-// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 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 enable/disable alignment (by settting EIGEN_MAX_STATIC_ALIGN_BYTES)
-// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
-// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
-
-
-// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
-#define EIGEN_ALIGN8  EIGEN_ALIGN_TO_BOUNDARY(8)
-#define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
-#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
-#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
-#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
-#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
-#else
-#define EIGEN_ALIGN_MAX
-#endif
-
-
-// Dynamic alignment control
-
-#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
-#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
 #endif
 
-#ifdef EIGEN_DONT_ALIGN
-  #ifdef EIGEN_MAX_ALIGN_BYTES
-    #undef EIGEN_MAX_ALIGN_BYTES
-  #endif
-  #define EIGEN_MAX_ALIGN_BYTES 0
-#elif !defined(EIGEN_MAX_ALIGN_BYTES)
-  #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
-#endif
-
-#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
-#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#if EIGEN_COMP_MSVC
+  // NOTE MSVC often gives C4127 warnings with compiletime if statements. See bug 1362.
+  // This workaround is ugly, but it does the job.
+#  define EIGEN_CONST_CONDITIONAL(cond)  (void)0, cond
 #else
-#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
-#endif
-
-
-#ifndef EIGEN_UNALIGNED_VECTORIZE
-#define EIGEN_UNALIGNED_VECTORIZE 1
+#  define EIGEN_CONST_CONDITIONAL(cond)  cond
 #endif
 
-//----------------------------------------------------------------------
-
-
 #ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
   #define EIGEN_RESTRICT
 #endif
@@ -846,10 +1175,6 @@ namespace Eigen {
   #define EIGEN_RESTRICT __restrict
 #endif
 
-#ifndef EIGEN_STACK_ALLOCATION_LIMIT
-// 131072 == 128 KB
-#define EIGEN_STACK_ALLOCATION_LIMIT 131072
-#endif
 
 #ifndef EIGEN_DEFAULT_IO_FORMAT
 #ifdef EIGEN_MAKING_DOCS
@@ -864,8 +1189,23 @@ namespace Eigen {
 // just an empty macro !
 #define EIGEN_EMPTY
 
-#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 || EIGEN_CUDACC_VER>0)
-  // for older MSVC versions, as well as 1900 && CUDA 8, using the base operator is sufficient (cf Bugs 1000, 1324)
+
+// When compiling CUDA/HIP device code with NVCC or HIPCC
+// pull in math functions from the global namespace.
+// In host mode, and when device code is compiled with clang,
+// use the std versions.
+#if (defined(EIGEN_CUDA_ARCH) && defined(__NVCC__)) || defined(EIGEN_HIP_DEVICE_COMPILE)
+  #define EIGEN_USING_STD(FUNC) using ::FUNC;
+#else
+  #define EIGEN_USING_STD(FUNC) using std::FUNC;
+#endif
+
+#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 || (EIGEN_COMP_MSVC == 1900 && EIGEN_COMP_NVCC))
+  // For older MSVC versions, as well as 1900 && CUDA 8, using the base operator is necessary,
+  //   otherwise we get duplicate definition errors
+  // For later MSVC versions, we require explicit operator= definition, otherwise we get
+  //   use of implicitly deleted operator errors.
+  // (cf Bugs 920, 1000, 1324, 2291)
   #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
     using Base::operator =;
 #elif EIGEN_COMP_CLANG // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
@@ -885,11 +1225,48 @@ namespace Eigen {
 #endif
 
 
+/**
+ * \internal
+ * \brief Macro to explicitly define the default copy constructor.
+ * This is necessary, because the implicit definition is deprecated if the copy-assignment is overridden.
+ */
+#if EIGEN_HAS_CXX11
+#define EIGEN_DEFAULT_COPY_CONSTRUCTOR(CLASS) EIGEN_DEVICE_FUNC CLASS(const CLASS&) = default;
+#else
+#define EIGEN_DEFAULT_COPY_CONSTRUCTOR(CLASS)
+#endif
+
+
+
 /** \internal
  * \brief Macro to manually inherit assignment operators.
  * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined.
+ * With C++11 or later this also default-implements the copy-constructor
+ */
+#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived)  \
+    EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(Derived)
+
+/** \internal
+ * \brief Macro to manually define default constructors and destructors.
+ * This is necessary when the copy constructor is re-defined.
+ * For empty helper classes this should usually be protected, to avoid accidentally creating empty objects.
+ *
+ * Hiding the default destructor lead to problems in C++03 mode together with boost::multiprecision
  */
-#define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived)
+#if EIGEN_HAS_CXX11
+#define EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(Derived)  \
+    EIGEN_DEVICE_FUNC Derived() = default; \
+    EIGEN_DEVICE_FUNC ~Derived() = default;
+#else
+#define EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(Derived)  \
+    EIGEN_DEVICE_FUNC Derived() {}; \
+    /* EIGEN_DEVICE_FUNC ~Derived() {}; */
+#endif
+
+
+
+
 
 /**
 * Just a side note. Commenting within defines works only by documenting
@@ -952,6 +1329,14 @@ namespace Eigen {
 
 #define EIGEN_IMPLIES(a,b) (!(a) || (b))
 
+#if EIGEN_HAS_BUILTIN(__builtin_expect) || EIGEN_COMP_GNUC
+#define EIGEN_PREDICT_FALSE(x) (__builtin_expect(x, false))
+#define EIGEN_PREDICT_TRUE(x) (__builtin_expect(false || (x), true))
+#else
+#define EIGEN_PREDICT_FALSE(x) (x)
+#define EIGEN_PREDICT_TRUE(x) (x)
+#endif
+
 // the expression type of a standard coefficient wise binary operation
 #define EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME) \
     CwiseBinaryOp< \
@@ -990,7 +1375,7 @@ namespace Eigen {
 #endif
 
 #define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME) \
-  template <typename T> EIGEN_DEVICE_FUNC inline \
+  template <typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE \
   EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type,OPNAME))\
   (METHOD)(const T& scalar) const { \
     typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type PromotedT; \
@@ -999,7 +1384,7 @@ namespace Eigen {
   }
 
 #define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
-  template <typename T> EIGEN_DEVICE_FUNC inline friend \
+  template <typename T> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE friend \
   EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type,Derived,OPNAME)) \
   (METHOD)(const T& scalar, const StorageBaseType& matrix) { \
     typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type PromotedT; \
@@ -1012,15 +1397,23 @@ namespace Eigen {
   EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME)
 
 
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_CUDA_ARCH) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL) && !defined(EIGEN_HIP_DEVICE_COMPILE)
+  #define EIGEN_EXCEPTIONS
+#endif
+
+
 #ifdef EIGEN_EXCEPTIONS
 #  define EIGEN_THROW_X(X) throw X
 #  define EIGEN_THROW throw
 #  define EIGEN_TRY try
 #  define EIGEN_CATCH(X) catch (X)
 #else
-#  ifdef EIGEN_CUDA_ARCH
+#  if defined(EIGEN_CUDA_ARCH)
 #    define EIGEN_THROW_X(X) asm("trap;")
 #    define EIGEN_THROW asm("trap;")
+#  elif defined(EIGEN_HIP_DEVICE_COMPILE)
+#    define EIGEN_THROW_X(X) asm("s_trap 0")
+#    define EIGEN_THROW asm("s_trap 0")
 #  else
 #    define EIGEN_THROW_X(X) std::abort()
 #    define EIGEN_THROW std::abort()
@@ -1040,7 +1433,47 @@ namespace Eigen {
 #   define EIGEN_NOEXCEPT
 #   define EIGEN_NOEXCEPT_IF(x)
 #   define EIGEN_NO_THROW throw()
-#   define EIGEN_EXCEPTION_SPEC(X) throw(X)
+#   if EIGEN_COMP_MSVC || EIGEN_COMP_CXXVER>=17
+      // MSVC does not support exception specifications (warning C4290),
+      // and they are deprecated in c++11 anyway. This is even an error in c++17.
+#     define EIGEN_EXCEPTION_SPEC(X) throw()
+#   else
+#     define EIGEN_EXCEPTION_SPEC(X) throw(X)
+#   endif
+#endif
+
+#if EIGEN_HAS_VARIADIC_TEMPLATES
+// The all function is used to enable a variadic version of eigen_assert which can take a parameter pack as its input.
+namespace Eigen {
+namespace internal {
+
+inline bool all(){ return true; }
+
+template<typename T, typename ...Ts>
+bool all(T t, Ts ... ts){ return t && all(ts...); }
+
+}
+}
+#endif
+
+#if EIGEN_HAS_CXX11_OVERRIDE_FINAL
+// provide override and final specifiers if they are available:
+#   define EIGEN_OVERRIDE override
+#   define EIGEN_FINAL final
+#else
+#   define EIGEN_OVERRIDE
+#   define EIGEN_FINAL
+#endif
+
+// Wrapping #pragma unroll in a macro since it is required for SYCL
+#if defined(SYCL_DEVICE_ONLY)
+  #if defined(_MSC_VER)
+    #define EIGEN_UNROLL_LOOP __pragma(unroll)
+  #else
+    #define EIGEN_UNROLL_LOOP _Pragma("unroll")
+  #endif
+#else
+  #define EIGEN_UNROLL_LOOP
 #endif
 
 #endif // EIGEN_MACROS_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/Memory.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/Memory.h
index c455f92a16..875318cdb1 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/Memory.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/Memory.h
@@ -70,7 +70,21 @@ inline void throw_std_bad_alloc()
     throw std::bad_alloc();
   #else
     std::size_t huge = static_cast<std::size_t>(-1);
+    #if defined(EIGEN_HIPCC)
+    //
+    // calls to "::operator new" are to be treated as opaque function calls (i.e no inlining),
+    // and as a consequence the code in the #else block triggers the hipcc warning :
+    // "no overloaded function has restriction specifiers that are compatible with the ambient context"
+    //
+    // "throw_std_bad_alloc" has the EIGEN_DEVICE_FUNC attribute, so it seems that hipcc expects
+    // the same on "operator new"
+    // Reverting code back to the old version in this #if block for the hipcc compiler
+    //
     new int[huge];
+    #else
+    void* unused = ::operator new(huge);
+    EIGEN_UNUSED_VARIABLE(unused);
+    #endif
   #endif
 }
 
@@ -83,19 +97,26 @@ inline void throw_std_bad_alloc()
 /** \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(std::size_t size)
+EIGEN_DEVICE_FUNC inline void* handmade_aligned_malloc(std::size_t size, std::size_t alignment = EIGEN_DEFAULT_ALIGN_BYTES)
 {
-  void *original = std::malloc(size+EIGEN_DEFAULT_ALIGN_BYTES);
+  eigen_assert(alignment >= sizeof(void*) && (alignment & (alignment-1)) == 0 && "Alignment must be at least sizeof(void*) and a power of 2");
+
+  EIGEN_USING_STD(malloc)
+  void *original = malloc(size+alignment);
+  
   if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(alignment-1))) + alignment);
   *(reinterpret_cast<void**>(aligned) - 1) = original;
   return aligned;
 }
 
 /** \internal Frees memory allocated with handmade_aligned_malloc */
-inline void handmade_aligned_free(void *ptr)
+EIGEN_DEVICE_FUNC inline void handmade_aligned_free(void *ptr)
 {
-  if (ptr) std::free(*(reinterpret_cast<void**>(ptr) - 1));
+  if (ptr) {
+    EIGEN_USING_STD(free)
+    free(*(reinterpret_cast<void**>(ptr) - 1));
+  }
 }
 
 /** \internal
@@ -156,9 +177,12 @@ EIGEN_DEVICE_FUNC inline void* aligned_malloc(std::size_t size)
 
   void *result;
   #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
-    result = std::malloc(size);
+
+    EIGEN_USING_STD(malloc)
+    result = malloc(size);
+
     #if EIGEN_DEFAULT_ALIGN_BYTES==16
-    eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade alignd memory allocator.");
+    eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade aligned memory allocator.");
     #endif
   #else
     result = handmade_aligned_malloc(size);
@@ -174,7 +198,10 @@ EIGEN_DEVICE_FUNC inline void* aligned_malloc(std::size_t size)
 EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
 {
   #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
-    std::free(ptr);
+
+    EIGEN_USING_STD(free)
+    free(ptr);
+
   #else
     handmade_aligned_free(ptr);
   #endif
@@ -187,7 +214,7 @@ EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
   */
 inline void* aligned_realloc(void *ptr, std::size_t new_size, std::size_t old_size)
 {
-  EIGEN_UNUSED_VARIABLE(old_size);
+  EIGEN_UNUSED_VARIABLE(old_size)
 
   void *result;
 #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
@@ -218,7 +245,9 @@ template<> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc<false>(std:
 {
   check_that_malloc_is_allowed();
 
-  void *result = std::malloc(size);
+  EIGEN_USING_STD(malloc)
+  void *result = malloc(size);
+
   if(!result && size)
     throw_std_bad_alloc();
   return result;
@@ -232,7 +261,8 @@ template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void
 
 template<> EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void *ptr)
 {
-  std::free(ptr);
+  EIGEN_USING_STD(free)
+  free(ptr);
 }
 
 template<bool Align> inline void* conditional_aligned_realloc(void* ptr, std::size_t new_size, std::size_t old_size)
@@ -331,7 +361,7 @@ template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned
 template<typename T> EIGEN_DEVICE_FUNC inline void aligned_delete(T *ptr, std::size_t size)
 {
   destruct_elements_of_array<T>(ptr, size);
-  aligned_free(ptr);
+  Eigen::internal::aligned_free(ptr);
 }
 
 /** \internal Deletes objects constructed with conditional_aligned_new
@@ -493,7 +523,8 @@ template<typename T> struct smart_copy_helper<T,true> {
     IntPtr size = IntPtr(end)-IntPtr(start);
     if(size==0) return;
     eigen_internal_assert(start!=0 && end!=0 && target!=0);
-    std::memcpy(target, start, size);
+    EIGEN_USING_STD(memcpy)
+    memcpy(target, start, size);
   }
 };
 
@@ -535,6 +566,17 @@ template<typename T> struct smart_memmove_helper<T,false> {
   }
 };
 
+#if EIGEN_HAS_RVALUE_REFERENCES
+template<typename T> EIGEN_DEVICE_FUNC T* smart_move(T* start, T* end, T* target)
+{
+  return std::move(start, end, target);
+}
+#else
+template<typename T> EIGEN_DEVICE_FUNC T* smart_move(T* start, T* end, T* target)
+{
+  return std::copy(start, end, target);
+}
+#endif
 
 /*****************************************************************************
 *** Implementation of runtime stack allocation (falling back to malloc)    ***
@@ -542,7 +584,7 @@ template<typename T> struct smart_memmove_helper<T,false> {
 
 // you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
 // to the appropriate stack allocation function
-#ifndef EIGEN_ALLOCA
+#if ! defined EIGEN_ALLOCA && ! defined EIGEN_GPU_COMPILE_PHASE
   #if EIGEN_OS_LINUX || EIGEN_OS_MAC || (defined alloca)
     #define EIGEN_ALLOCA alloca
   #elif EIGEN_COMP_MSVC
@@ -550,6 +592,15 @@ template<typename T> struct smart_memmove_helper<T,false> {
   #endif
 #endif
 
+// With clang -Oz -mthumb, alloca changes the stack pointer in a way that is
+// not allowed in Thumb2. -DEIGEN_STACK_ALLOCATION_LIMIT=0 doesn't work because
+// the compiler still emits bad code because stack allocation checks use "<=".
+// TODO: Eliminate after https://bugs.llvm.org/show_bug.cgi?id=23772
+// is fixed.
+#if defined(__clang__) && defined(__thumb__)
+  #undef EIGEN_ALLOCA
+#endif
+
 // 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 : noncopyable
@@ -561,12 +612,14 @@ template<typename T> class aligned_stack_memory_handler : noncopyable
      * 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.
      **/
+    EIGEN_DEVICE_FUNC
     aligned_stack_memory_handler(T* ptr, std::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);
     }
+    EIGEN_DEVICE_FUNC
     ~aligned_stack_memory_handler()
     {
       if(NumTraits<T>::RequireInitialization && m_ptr)
@@ -580,6 +633,60 @@ template<typename T> class aligned_stack_memory_handler : noncopyable
     bool m_deallocate;
 };
 
+#ifdef EIGEN_ALLOCA
+
+template<typename Xpr, int NbEvaluations,
+         bool MapExternalBuffer = nested_eval<Xpr,NbEvaluations>::Evaluate && Xpr::MaxSizeAtCompileTime==Dynamic
+         >
+struct local_nested_eval_wrapper
+{
+  static const bool NeedExternalBuffer = false;
+  typedef typename Xpr::Scalar Scalar;
+  typedef typename nested_eval<Xpr,NbEvaluations>::type ObjectType;
+  ObjectType object;
+
+  EIGEN_DEVICE_FUNC
+  local_nested_eval_wrapper(const Xpr& xpr, Scalar* ptr) : object(xpr)
+  {
+    EIGEN_UNUSED_VARIABLE(ptr);
+    eigen_internal_assert(ptr==0);
+  }
+};
+
+template<typename Xpr, int NbEvaluations>
+struct local_nested_eval_wrapper<Xpr,NbEvaluations,true>
+{
+  static const bool NeedExternalBuffer = true;
+  typedef typename Xpr::Scalar Scalar;
+  typedef typename plain_object_eval<Xpr>::type PlainObject;
+  typedef Map<PlainObject,EIGEN_DEFAULT_ALIGN_BYTES> ObjectType;
+  ObjectType object;
+
+  EIGEN_DEVICE_FUNC
+  local_nested_eval_wrapper(const Xpr& xpr, Scalar* ptr)
+    : object(ptr==0 ? reinterpret_cast<Scalar*>(Eigen::internal::aligned_malloc(sizeof(Scalar)*xpr.size())) : ptr, xpr.rows(), xpr.cols()),
+      m_deallocate(ptr==0)
+  {
+    if(NumTraits<Scalar>::RequireInitialization && object.data())
+      Eigen::internal::construct_elements_of_array(object.data(), object.size());
+    object = xpr;
+  }
+
+  EIGEN_DEVICE_FUNC
+  ~local_nested_eval_wrapper()
+  {
+    if(NumTraits<Scalar>::RequireInitialization && object.data())
+      Eigen::internal::destruct_elements_of_array(object.data(), object.size());
+    if(m_deallocate)
+      Eigen::internal::aligned_free(object.data());
+  }
+
+private:
+  bool m_deallocate;
+};
+
+#endif // EIGEN_ALLOCA
+
 template<typename T> class scoped_array : noncopyable
 {
   T* m_ptr;
@@ -607,9 +714,11 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
 } // end namespace internal
 
 /** \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 macro ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) declares, allocates,
+  * and construct an aligned buffer named NAME of SIZE elements of type TYPE on the stack
+  * if the size in bytes is smaller than EIGEN_STACK_ALLOCATION_LIMIT, and if stack allocation is supported by the platform
+  * (currently, this is Linux, OSX 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 null, then the declared variable is simply an alias for BUFFER, and no allocation/deletion occurs.
   * Here is an example:
@@ -620,6 +729,14 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
   * }
   * \endcode
   * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
+  *
+  * The macro ei_declare_local_nested_eval(XPR_T,XPR,N,NAME) is analogue to
+  * \code
+  *   typename internal::nested_eval<XPRT_T,N>::type NAME(XPR);
+  * \endcode
+  * with the advantage of using aligned stack allocation even if the maximal size of XPR at compile time is unknown.
+  * This is accomplished through alloca if this later is supported and if the required number of bytes
+  * is below EIGEN_STACK_ALLOCATION_LIMIT.
   */
 #ifdef EIGEN_ALLOCA
 
@@ -639,6 +756,13 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
                     : 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)
 
+
+  #define ei_declare_local_nested_eval(XPR_T,XPR,N,NAME) \
+    Eigen::internal::local_nested_eval_wrapper<XPR_T,N> EIGEN_CAT(NAME,_wrapper)(XPR, reinterpret_cast<typename XPR_T::Scalar*>( \
+      ( (Eigen::internal::local_nested_eval_wrapper<XPR_T,N>::NeedExternalBuffer) && ((sizeof(typename XPR_T::Scalar)*XPR.size())<=EIGEN_STACK_ALLOCATION_LIMIT) ) \
+        ? EIGEN_ALIGNED_ALLOCA( sizeof(typename XPR_T::Scalar)*XPR.size() ) : 0 ) ) ; \
+    typename Eigen::internal::local_nested_eval_wrapper<XPR_T,N>::ObjectType NAME(EIGEN_CAT(NAME,_wrapper).object)
+
 #else
 
   #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
@@ -646,6 +770,9 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
     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)
 
+
+#define ei_declare_local_nested_eval(XPR_T,XPR,N,NAME) typename Eigen::internal::nested_eval<XPR_T,N>::type NAME(XPR)
+
 #endif
 
 
@@ -653,32 +780,56 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
 *** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
 *****************************************************************************/
 
-#if EIGEN_MAX_ALIGN_BYTES!=0
+#if EIGEN_HAS_CXX17_OVERALIGN
+
+// C++17 -> no need to bother about alignment anymore :)
+
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign)
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size)
+
+#else
+
+// HIP does not support new/delete on device.
+#if EIGEN_MAX_ALIGN_BYTES!=0 && !defined(EIGEN_HIP_DEVICE_COMPILE)
   #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      EIGEN_DEVICE_FUNC \
       void* operator new(std::size_t size, const std::nothrow_t&) EIGEN_NO_THROW { \
         EIGEN_TRY { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
         EIGEN_CATCH (...) { return 0; } \
       }
   #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+      EIGEN_DEVICE_FUNC \
       void *operator new(std::size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
       } \
+      EIGEN_DEVICE_FUNC \
       void *operator new[](std::size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
       } \
+      EIGEN_DEVICE_FUNC \
       void operator delete(void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      EIGEN_DEVICE_FUNC \
       void operator delete[](void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      EIGEN_DEVICE_FUNC \
       void operator delete(void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      EIGEN_DEVICE_FUNC \
       void operator delete[](void * ptr, std::size_t /* sz */) EIGEN_NO_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. */ \
+      EIGEN_DEVICE_FUNC \
       static void *operator new(std::size_t size, void *ptr) { return ::operator new(size,ptr); } \
+      EIGEN_DEVICE_FUNC \
       static void *operator new[](std::size_t size, void* ptr) { return ::operator new[](size,ptr); } \
+      EIGEN_DEVICE_FUNC \
       void operator delete(void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete(memory,ptr); } \
+      EIGEN_DEVICE_FUNC \
       void operator delete[](void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete[](memory,ptr); } \
       /* nothrow-new (returns zero instead of std::bad_alloc) */ \
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      EIGEN_DEVICE_FUNC \
       void operator delete(void *ptr, const std::nothrow_t&) EIGEN_NO_THROW { \
         Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
       } \
@@ -688,8 +839,14 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
 #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(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%EIGEN_MAX_ALIGN_BYTES==0)))
+#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size)                        \
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(                                                             \
+        ((Size)!=Eigen::Dynamic) &&                                                                    \
+        (((EIGEN_MAX_ALIGN_BYTES>=16) && ((sizeof(Scalar)*(Size))%(EIGEN_MAX_ALIGN_BYTES  )==0)) ||    \
+         ((EIGEN_MAX_ALIGN_BYTES>=32) && ((sizeof(Scalar)*(Size))%(EIGEN_MAX_ALIGN_BYTES/2)==0)) ||    \
+         ((EIGEN_MAX_ALIGN_BYTES>=64) && ((sizeof(Scalar)*(Size))%(EIGEN_MAX_ALIGN_BYTES/4)==0))   )))
+
+#endif
 
 /****************************************************************************/
 
@@ -703,7 +860,7 @@ template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
 *  - 32 bytes alignment if AVX is enabled.
 *  - 64 bytes alignment if AVX512 is enabled.
 *
-* This can be controled using the \c EIGEN_MAX_ALIGN_BYTES macro as documented
+* This can be controlled using the \c EIGEN_MAX_ALIGN_BYTES macro as documented
 * \link TopicPreprocessorDirectivesPerformance there \endlink.
 *
 * Example:
@@ -744,6 +901,15 @@ class aligned_allocator : public std::allocator<T>
 
   ~aligned_allocator() {}
 
+  #if EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_LEAST(7,0)
+  // In gcc std::allocator::max_size() is bugged making gcc triggers a warning:
+  // eigen/Eigen/src/Core/util/Memory.h:189:12: warning: argument 1 value '18446744073709551612' exceeds maximum object size 9223372036854775807
+  // See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=87544
+  size_type max_size() const {
+    return (std::numeric_limits<std::ptrdiff_t>::max)()/sizeof(T);
+  }
+  #endif
+
   pointer allocate(size_type num, const void* /*hint*/ = 0)
   {
     internal::check_size_for_overflow<T>(num);
@@ -906,20 +1072,32 @@ 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
+  else if(max_std_funcs>=2)
     queryCacheSizes_intel_codes(l1,l2,l3);
+  else
+    l1 = l2 = l3 = 0;
 }
 
 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
+  
+  // First query the max supported function.
+  EIGEN_CPUID(abcd,0x80000000,0);
+  if(static_cast<numext::uint32_t>(abcd[0]) >= static_cast<numext::uint32_t>(0x80000006))
+  {
+    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
+  }
+  else
+  {
+    l1 = l2 = l3 = 0;
+  }
 }
 #endif
 
@@ -935,7 +1113,7 @@ inline void queryCacheSizes(int& l1, int& l2, int& l3)
 
   // identify the CPU vendor
   EIGEN_CPUID(abcd,0x0,0);
-  int max_std_funcs = abcd[1];
+  int max_std_funcs = abcd[0];
   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_))
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/Meta.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/Meta.h
old mode 100644
new mode 100755
index 0fa818008a..81ae2a32d1
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/Meta.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/Meta.h
@@ -11,13 +11,54 @@
 #ifndef EIGEN_META_H
 #define EIGEN_META_H
 
-#if defined(EIGEN_CUDA_ARCH)
-#include <cfloat>
-#include <math_constants.h>
+#if defined(EIGEN_GPU_COMPILE_PHASE)
+
+ #include <cfloat>
+
+ #if defined(EIGEN_CUDA_ARCH)
+  #include <math_constants.h>
+ #endif
+
+ #if defined(EIGEN_HIP_DEVICE_COMPILE)
+  #include "Eigen/src/Core/arch/HIP/hcc/math_constants.h"
+  #endif
+
 #endif
 
-#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+// Recent versions of ICC require <cstdint> for pointer types below.
+#define EIGEN_ICC_NEEDS_CSTDINT (EIGEN_COMP_ICC>=1600 && EIGEN_COMP_CXXVER >= 11)
+
+// Define portable (u)int{32,64} types
+#if EIGEN_HAS_CXX11 || EIGEN_ICC_NEEDS_CSTDINT
 #include <cstdint>
+namespace Eigen {
+namespace numext {
+typedef std::uint8_t  uint8_t;
+typedef std::int8_t   int8_t;
+typedef std::uint16_t uint16_t;
+typedef std::int16_t  int16_t;
+typedef std::uint32_t uint32_t;
+typedef std::int32_t  int32_t;
+typedef std::uint64_t uint64_t;
+typedef std::int64_t  int64_t;
+}
+}
+#else
+// Without c++11, all compilers able to compile Eigen also
+// provide the C99 stdint.h header file.
+#include <stdint.h>
+namespace Eigen {
+namespace numext {
+typedef ::uint8_t  uint8_t;
+typedef ::int8_t   int8_t;
+typedef ::uint16_t uint16_t;
+typedef ::int16_t  int16_t;
+typedef ::uint32_t uint32_t;
+typedef ::int32_t  int32_t;
+typedef ::uint64_t uint64_t;
+typedef ::int64_t  int64_t;
+}
+}
 #endif
 
 namespace Eigen {
@@ -43,26 +84,33 @@ namespace internal {
 
 // Only recent versions of ICC complain about using ptrdiff_t to hold pointers,
 // and older versions do not provide *intptr_t types.
-#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+#if EIGEN_ICC_NEEDS_CSTDINT
 typedef std::intptr_t  IntPtr;
 typedef std::uintptr_t UIntPtr;
 #else
 typedef std::ptrdiff_t IntPtr;
 typedef std::size_t UIntPtr;
 #endif
+#undef EIGEN_ICC_NEEDS_CSTDINT
 
 struct true_type {  enum { value = 1 }; };
 struct false_type { enum { value = 0 }; };
 
+template<bool Condition>
+struct bool_constant;
+
+template<>
+struct bool_constant<true> : true_type {};
+
+template<>
+struct bool_constant<false> : false_type {};
+
 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; };
 
@@ -97,7 +145,15 @@ 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<typename T, typename U> struct is_same { enum { value = 0 }; };
+template<typename T> struct is_same<T,T> { enum { value = 1 }; };
+
+template< class T >
+struct is_void : is_same<void, typename remove_const<T>::type> {};
+
 #if EIGEN_HAS_CXX11
+template<> struct is_arithmetic<signed long long>   { enum { value = true }; };
+template<> struct is_arithmetic<unsigned long long> { enum { value = true }; };
 using std::is_integral;
 #else
 template<typename T> struct is_integral               { enum { value = false }; };
@@ -111,8 +167,43 @@ template<> struct is_integral<signed int>             { enum { value = true }; }
 template<> struct is_integral<unsigned int>           { enum { value = true }; };
 template<> struct is_integral<signed long>            { enum { value = true }; };
 template<> struct is_integral<unsigned long>          { enum { value = true }; };
+#if EIGEN_COMP_MSVC
+template<> struct is_integral<signed __int64>         { enum { value = true }; };
+template<> struct is_integral<unsigned __int64>       { enum { value = true }; };
+#endif
 #endif
 
+#if EIGEN_HAS_CXX11
+using std::make_unsigned;
+#else
+// TODO: Possibly improve this implementation of make_unsigned.
+// It is currently used only by
+// template<typename Scalar> struct random_default_impl<Scalar, false, true>.
+template<typename> struct make_unsigned;
+template<> struct make_unsigned<char>             { typedef unsigned char type; };
+template<> struct make_unsigned<signed char>      { typedef unsigned char type; };
+template<> struct make_unsigned<unsigned char>    { typedef unsigned char type; };
+template<> struct make_unsigned<signed short>     { typedef unsigned short type; };
+template<> struct make_unsigned<unsigned short>   { typedef unsigned short type; };
+template<> struct make_unsigned<signed int>       { typedef unsigned int type; };
+template<> struct make_unsigned<unsigned int>     { typedef unsigned int type; };
+template<> struct make_unsigned<signed long>      { typedef unsigned long type; };
+template<> struct make_unsigned<unsigned long>    { typedef unsigned long type; };
+#if EIGEN_COMP_MSVC
+template<> struct make_unsigned<signed __int64>   { typedef unsigned __int64 type; };
+template<> struct make_unsigned<unsigned __int64> { typedef unsigned __int64 type; };
+#endif
+
+// Some platforms define int64_t as `long long` even for C++03, where
+// `long long` is not guaranteed by the standard. In this case we are missing
+// the definition for make_unsigned. If we just define it, we run into issues
+// where `long long` doesn't exist in some compilers for C++03. We therefore add
+// the specialization for these platforms only.
+#if EIGEN_OS_MAC || EIGEN_COMP_MINGW
+template<> struct make_unsigned<unsigned long long> { typedef unsigned long long type; };
+template<> struct make_unsigned<long long>          { typedef unsigned long long type; };
+#endif
+#endif
 
 template <typename T> struct add_const { typedef const T type; };
 template <typename T> struct add_const<T&> { typedef T& type; };
@@ -126,6 +217,11 @@ template<typename T> struct add_const_on_value_type<T*>        { typedef T const
 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; };
 
+#if EIGEN_HAS_CXX11
+
+using std::is_convertible;
+
+#else
 
 template<typename From, typename To>
 struct is_convertible_impl
@@ -139,16 +235,19 @@ struct is_convertible_impl
   struct yes {int a[1];};
   struct no  {int a[2];};
 
-  static yes test(const To&, int);
+  template<typename T>
+  static yes test(T, int);
+
+  template<typename T>
   static no  test(any_conversion, ...);
 
 public:
-  static From ms_from;
+  static typename internal::remove_reference<From>::type* ms_from;
 #ifdef __INTEL_COMPILER
   #pragma warning push
   #pragma warning ( disable : 2259 )
 #endif
-  enum { value = sizeof(test(ms_from, 0))==sizeof(yes) };
+  enum { value = sizeof(test<To>(*ms_from, 0))==sizeof(yes) };
 #ifdef __INTEL_COMPILER
   #pragma warning pop
 #endif
@@ -157,10 +256,17 @@ struct is_convertible_impl
 template<typename From, typename To>
 struct is_convertible
 {
-  enum { value = is_convertible_impl<typename remove_all<From>::type,
-                                     typename remove_all<To  >::type>::value };
+  enum { value = is_convertible_impl<From,To>::value };
 };
 
+template<typename T>
+struct is_convertible<T,T&> { enum { value = false }; };
+
+template<typename T>
+struct is_convertible<const T,const T&> { enum { value = true }; };
+
+#endif
+
 /** \internal Allows to enable/disable an overload
   * according to a compile time condition.
   */
@@ -169,7 +275,7 @@ template<bool Condition, typename T=void> struct enable_if;
 template<typename T> struct enable_if<true,T>
 { typedef T type; };
 
-#if defined(EIGEN_CUDA_ARCH)
+#if defined(EIGEN_GPU_COMPILE_PHASE) && !EIGEN_HAS_CXX11
 #if !defined(__FLT_EPSILON__)
 #define __FLT_EPSILON__ FLT_EPSILON
 #define __DBL_EPSILON__ DBL_EPSILON
@@ -180,7 +286,7 @@ namespace device {
 template<typename T> struct numeric_limits
 {
   EIGEN_DEVICE_FUNC
-  static T epsilon() { return 0; }
+  static EIGEN_CONSTEXPR T epsilon() { return 0; }
   static T (max)() { assert(false && "Highest not supported for this type"); }
   static T (min)() { assert(false && "Lowest not supported for this type"); }
   static T infinity() { assert(false && "Infinity not supported for this type"); }
@@ -188,91 +294,130 @@ template<typename T> struct numeric_limits
 };
 template<> struct numeric_limits<float>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static float epsilon() { return __FLT_EPSILON__; }
   EIGEN_DEVICE_FUNC
-  static float (max)() { return CUDART_MAX_NORMAL_F; }
-  EIGEN_DEVICE_FUNC
+  static float (max)() {
+  #if defined(EIGEN_CUDA_ARCH)
+    return CUDART_MAX_NORMAL_F;
+  #else
+    return HIPRT_MAX_NORMAL_F;
+  #endif
+  }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static float (min)() { return FLT_MIN; }
   EIGEN_DEVICE_FUNC
-  static float infinity() { return CUDART_INF_F; }
+  static float infinity() {
+  #if defined(EIGEN_CUDA_ARCH)
+    return CUDART_INF_F;
+  #else
+    return HIPRT_INF_F;
+  #endif
+  }
   EIGEN_DEVICE_FUNC
-  static float quiet_NaN() { return CUDART_NAN_F; }
+  static float quiet_NaN() {
+  #if defined(EIGEN_CUDA_ARCH)
+    return CUDART_NAN_F;
+  #else
+    return HIPRT_NAN_F;
+  #endif
+  }
 };
 template<> struct numeric_limits<double>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static double epsilon() { return __DBL_EPSILON__; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static double (max)() { return DBL_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static double (min)() { return DBL_MIN; }
   EIGEN_DEVICE_FUNC
-  static double infinity() { return CUDART_INF; }
+  static double infinity() {
+  #if defined(EIGEN_CUDA_ARCH)
+    return CUDART_INF;
+  #else
+    return HIPRT_INF;
+  #endif
+  }
   EIGEN_DEVICE_FUNC
-  static double quiet_NaN() { return CUDART_NAN; }
+  static double quiet_NaN() {
+  #if defined(EIGEN_CUDA_ARCH)
+    return CUDART_NAN;
+  #else
+    return HIPRT_NAN;
+  #endif
+  }
 };
 template<> struct numeric_limits<int>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int (max)() { return INT_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static int (min)() { return INT_MIN; }
 };
 template<> struct numeric_limits<unsigned int>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned int epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned int (max)() { return UINT_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned int (min)() { return 0; }
 };
 template<> struct numeric_limits<long>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long (max)() { return LONG_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long (min)() { return LONG_MIN; }
 };
 template<> struct numeric_limits<unsigned long>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long (max)() { return ULONG_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long (min)() { return 0; }
 };
 template<> struct numeric_limits<long long>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long long (max)() { return LLONG_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static long long (min)() { return LLONG_MIN; }
 };
 template<> struct numeric_limits<unsigned long long>
 {
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long long epsilon() { return 0; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long long (max)() { return ULLONG_MAX; }
-  EIGEN_DEVICE_FUNC
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
   static unsigned long long (min)() { return 0; }
 };
+template<> struct numeric_limits<bool>
+{
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static bool epsilon() { return false; }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  static bool (max)() { return true; }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR 
+  static bool (min)() { return false; }
+};
 
 }
 
-#endif
+#endif // defined(EIGEN_GPU_COMPILE_PHASE) && !EIGEN_HAS_CXX11
 
 /** \internal
-  * A base class do disable default copy ctor and copy assignement operator.
+  * A base class do disable default copy ctor and copy assignment operator.
   */
 class noncopyable
 {
@@ -331,19 +476,35 @@ template<typename T, std::size_t N> struct array_size<std::array<T,N> > {
   *
   */
 template<typename T>
-Index size(const T& x) { return x.size(); }
+EIGEN_CONSTEXPR Index size(const T& x) { return x.size(); }
 
 template<typename T,std::size_t N>
-Index size(const T (&) [N]) { return N; }
+EIGEN_CONSTEXPR Index size(const T (&) [N]) { return N; }
 
 /** \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.
+  * Convenient struct to get the result type of a nullary, unary, binary, or
+  * ternary functor.
+  * 
+  * Pre C++11:
+  * Supports both a Func::result_type member and templated
+  * Func::result<Func(ArgTypes...)>::type member.
+  * 
+  * If none of these members is provided, then the type of the first
+  * argument is returned.
+  * 
+  * Post C++11:
+  * This uses std::result_of. However, note the `type` member removes
+  * const and converts references/pointers to their corresponding value type.
   */
-#if EIGEN_HAS_STD_RESULT_OF
+#if EIGEN_HAS_STD_INVOKE_RESULT
+template<typename T> struct result_of;
+
+template<typename F, typename... ArgTypes>
+struct result_of<F(ArgTypes...)> {
+  typedef typename std::invoke_result<F, ArgTypes...>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+#elif EIGEN_HAS_STD_RESULT_OF
 template<typename T> struct result_of {
   typedef typename std::result_of<T>::type type1;
   typedef typename remove_all<type1>::type type;
@@ -355,6 +516,28 @@ struct has_none {int a[1];};
 struct has_std_result_type {int a[2];};
 struct has_tr1_result {int a[3];};
 
+template<typename Func, int SizeOf>
+struct nullary_result_of_select {};
+
+template<typename Func>
+struct nullary_result_of_select<Func, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
+
+template<typename Func>
+struct nullary_result_of_select<Func, sizeof(has_tr1_result)> {typedef typename Func::template result<Func()>::type type;};
+
+template<typename Func>
+struct result_of<Func()> {
+    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()>::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 nullary_result_of_select<Func, FunctorType>::type type;
+};
+
 template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
 struct unary_result_of_select {typedef typename internal::remove_all<ArgType>::type type;};
 
@@ -424,6 +607,45 @@ struct result_of<Func(ArgType0,ArgType1,ArgType2)> {
     enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
     typedef typename ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, FunctorType>::type type;
 };
+
+#endif
+
+#if EIGEN_HAS_STD_INVOKE_RESULT
+template<typename F, typename... ArgTypes>
+struct invoke_result {
+  typedef typename std::invoke_result<F, ArgTypes...>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+#elif EIGEN_HAS_CXX11
+template<typename F, typename... ArgTypes>
+struct invoke_result {
+  typedef typename result_of<F(ArgTypes...)>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+#else
+template<typename F, typename ArgType0 = void, typename ArgType1 = void, typename ArgType2 = void>
+struct invoke_result {
+  typedef typename result_of<F(ArgType0, ArgType1, ArgType2)>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+
+template<typename F>
+struct invoke_result<F, void, void, void> {
+  typedef typename result_of<F()>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+
+template<typename F, typename ArgType0>
+struct invoke_result<F, ArgType0, void, void> {
+  typedef typename result_of<F(ArgType0)>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+
+template<typename F, typename ArgType0, typename ArgType1>
+struct invoke_result<F, ArgType0, ArgType1, void> {
+  typedef typename result_of<F(ArgType0, ArgType1)>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
 #endif
 
 struct meta_yes { char a[1]; };
@@ -493,20 +715,25 @@ class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ?
 
 
 /** \internal Computes the least common multiple of two positive integer A and B
-  * at compile-time. It implements a naive algorithm testing all multiples of A.
-  * It thus works better if A>=B.
+  * at compile-time. 
   */
-template<int A, int B, int K=1, bool Done = ((A*K)%B)==0>
+template<int A, int B, int K=1, bool Done = ((A*K)%B)==0, bool Big=(A>=B)>
 struct meta_least_common_multiple
 {
   enum { ret = meta_least_common_multiple<A,B,K+1>::ret };
 };
+template<int A, int B, int K, bool Done>
+struct meta_least_common_multiple<A,B,K,Done,false>
+{
+  enum { ret = meta_least_common_multiple<B,A,K>::ret };
+};
 template<int A, int B, int K>
-struct meta_least_common_multiple<A,B,K,true>
+struct meta_least_common_multiple<A,B,K,true,true>
 {
   enum { ret = A*K };
 };
 
+
 /** \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
 {
@@ -519,17 +746,27 @@ template<typename T, typename U> struct scalar_product_traits
 // typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
 // };
 
+/** \internal Obtains a POD type suitable to use as storage for an object of a size
+  * of at most Len bytes, aligned as specified by \c Align.
+  */
+template<unsigned Len, unsigned Align>
+struct aligned_storage {
+  struct type {
+    EIGEN_ALIGN_TO_BOUNDARY(Align) unsigned char data[Len];
+  };
+};
+
 } // end namespace internal
 
 namespace numext {
-  
-#if defined(EIGEN_CUDA_ARCH)
+
+#if defined(EIGEN_GPU_COMPILE_PHASE)
 template<typename T> EIGEN_DEVICE_FUNC   void swap(T &a, T &b) { T tmp = b; b = a; a = tmp; }
 #else
 template<typename T> EIGEN_STRONG_INLINE void swap(T &a, T &b) { std::swap(a,b); }
 #endif
 
-#if defined(EIGEN_CUDA_ARCH)
+#if defined(EIGEN_GPU_COMPILE_PHASE) && !EIGEN_HAS_CXX11
 using internal::device::numeric_limits;
 #else
 using std::numeric_limits;
@@ -538,11 +775,36 @@ using std::numeric_limits;
 // Integer division with rounding up.
 // T is assumed to be an integer type with a>=0, and b>0
 template<typename T>
+EIGEN_DEVICE_FUNC
 T div_ceil(const T &a, const T &b)
 {
   return (a+b-1) / b;
 }
 
+// The aim of the following functions is to bypass -Wfloat-equal warnings
+// when we really want a strict equality comparison on floating points.
+template<typename X, typename Y> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool equal_strict(const X& x,const Y& y) { return x == y; }
+
+#if !defined(EIGEN_GPU_COMPILE_PHASE) || (!defined(EIGEN_CUDA_ARCH) && defined(EIGEN_CONSTEXPR_ARE_DEVICE_FUNC))
+template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool equal_strict(const float& x,const float& y) { return std::equal_to<float>()(x,y); }
+
+template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool equal_strict(const double& x,const double& y) { return std::equal_to<double>()(x,y); }
+#endif
+
+template<typename X, typename Y> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool not_equal_strict(const X& x,const Y& y) { return x != y; }
+
+#if !defined(EIGEN_GPU_COMPILE_PHASE) || (!defined(EIGEN_CUDA_ARCH) && defined(EIGEN_CONSTEXPR_ARE_DEVICE_FUNC))
+template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool not_equal_strict(const float& x,const float& y) { return std::not_equal_to<float>()(x,y); }
+
+template<> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+bool not_equal_strict(const double& x,const double& y) { return std::not_equal_to<double>()(x,y); }
+#endif
+
 } // end namespace numext
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/ReenableStupidWarnings.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/ReenableStupidWarnings.h
index 86b60f52f7..1ce6fd1b00 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/ReenableStupidWarnings.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -1,4 +1,8 @@
-#ifdef EIGEN_WARNINGS_DISABLED
+#ifdef EIGEN_WARNINGS_DISABLED_2
+// "DisableStupidWarnings.h" was included twice recursively: Do not reenable warnings yet!
+#  undef EIGEN_WARNINGS_DISABLED_2
+
+#elif defined(EIGEN_WARNINGS_DISABLED)
 #undef EIGEN_WARNINGS_DISABLED
 
 #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
@@ -8,7 +12,7 @@
     #pragma warning pop
   #elif defined __clang__
     #pragma clang diagnostic pop
-  #elif defined __GNUC__ && __GNUC__>=6
+  #elif defined __GNUC__  &&  (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
     #pragma GCC diagnostic pop
   #endif
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/ReshapedHelper.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/ReshapedHelper.h
new file mode 100644
index 0000000000..412432132c
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/ReshapedHelper.h
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2017 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+#ifndef EIGEN_RESHAPED_HELPER_H
+#define EIGEN_RESHAPED_HELPER_H
+
+namespace Eigen {
+
+enum AutoSize_t   { AutoSize };
+const int AutoOrder = 2;
+
+namespace internal {
+
+template<typename SizeType,typename OtherSize, int TotalSize>
+struct get_compiletime_reshape_size {
+  enum { value = get_fixed_value<SizeType>::value };
+};
+
+template<typename SizeType>
+Index get_runtime_reshape_size(SizeType size, Index /*other*/, Index /*total*/) {
+  return internal::get_runtime_value(size);
+}
+
+template<typename OtherSize, int TotalSize>
+struct get_compiletime_reshape_size<AutoSize_t,OtherSize,TotalSize> {
+  enum {
+    other_size = get_fixed_value<OtherSize>::value,
+    value = (TotalSize==Dynamic || other_size==Dynamic) ? Dynamic : TotalSize / other_size };
+};
+
+inline Index get_runtime_reshape_size(AutoSize_t /*size*/, Index other, Index total) {
+  return total/other;
+}
+
+template<int Flags, int Order>
+struct get_compiletime_reshape_order {
+  enum { value = Order == AutoOrder ? Flags & RowMajorBit : Order };
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_RESHAPED_HELPER_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/StaticAssert.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/StaticAssert.h
index cb16789005..c45de59016 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/StaticAssert.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/StaticAssert.h
@@ -24,9 +24,10 @@
  *
  */
 
+#ifndef EIGEN_STATIC_ASSERT
 #ifndef EIGEN_NO_STATIC_ASSERT
 
-  #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
+  #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (EIGEN_COMP_CXXVER >= 11) || (EIGEN_COMP_MSVC >= 1600))
 
     // if native static_assert is enabled, let's use it
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
@@ -101,7 +102,11 @@
         THIS_TYPE_IS_NOT_SUPPORTED=1,
         STORAGE_KIND_MUST_MATCH=1,
         STORAGE_INDEX_MUST_MATCH=1,
-        CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY=1
+        CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY=1,
+        SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY=1,
+        INVALID_TEMPLATE_PARAMETER=1,
+        GPU_TENSOR_CONTRACTION_DOES_NOT_SUPPORT_OUTPUT_KERNELS=1,
+        THE_ARRAY_SIZE_SHOULD_EQUAL_WITH_PACKET_SIZE=1
       };
     };
 
@@ -131,7 +136,7 @@
   #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
 
 #endif // EIGEN_NO_STATIC_ASSERT
-
+#endif // EIGEN_STATIC_ASSERT
 
 // static assertion failing if the type \a TYPE is not a vector type
 #define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
@@ -180,7 +185,7 @@
      )
 
 #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
-    EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
+    EIGEN_STATIC_ASSERT(!Eigen::NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
 
 
 // static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
@@ -190,8 +195,8 @@
     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), \
+      EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Eigen::Dynamic) && \
+                          (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Eigen::Dynamic), \
                           THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
 
 #define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/SymbolicIndex.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/SymbolicIndex.h
index bb6349eb9f..354dd9add3 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/SymbolicIndex.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/SymbolicIndex.h
@@ -12,7 +12,7 @@
 
 namespace Eigen {
 
-/** \namespace Eigen::Symbolic
+/** \namespace Eigen::symbolic
   * \ingroup Core_Module
   *
   * This namespace defines a set of classes and functions to build and evaluate symbolic expressions of scalar type Index.
@@ -20,9 +20,9 @@ namespace Eigen {
   *
   * \code
   * // First step, defines symbols:
-  * struct x_tag {};  static const Symbolic::SymbolExpr<x_tag> x;
-  * struct y_tag {};  static const Symbolic::SymbolExpr<y_tag> y;
-  * struct z_tag {};  static const Symbolic::SymbolExpr<z_tag> z;
+  * struct x_tag {};  static const symbolic::SymbolExpr<x_tag> x;
+  * struct y_tag {};  static const symbolic::SymbolExpr<y_tag> y;
+  * struct z_tag {};  static const symbolic::SymbolExpr<z_tag> z;
   *
   * // Defines an expression:
   * auto expr = (x+3)/y+z;
@@ -35,10 +35,10 @@ namespace Eigen {
   * std::cout << expr98.eval(x=6) << "\n";
   * \endcode
   *
-  * It is currently only used internally to define and minipulate the placeholders::last and placeholders::end symbols in Eigen::seq and Eigen::seqN.
+  * It is currently only used internally to define and manipulate the Eigen::last and Eigen::lastp1 symbols in Eigen::seq and Eigen::seqN.
   *
   */
-namespace Symbolic {
+namespace symbolic {
 
 template<typename Tag> class Symbol;
 template<typename Arg0> class NegateExpr;
@@ -65,7 +65,7 @@ class ValueExpr<internal::FixedInt<N> > {
 public:
   ValueExpr() {}
   template<typename T>
-  Index eval_impl(const T&) const { return N; }
+  EIGEN_CONSTEXPR Index eval_impl(const T&) const { return N; }
 };
 
 
@@ -187,17 +187,10 @@ class BaseExpr
 
 template<typename T>
 struct is_symbolic {
-  // BaseExpr has no conversion ctor, so we only have to check whether T can be staticaly cast to its base class BaseExpr<T>.
+  // BaseExpr has no conversion ctor, so we only have to check whether T can be statically cast to its base class BaseExpr<T>.
   enum { value = internal::is_convertible<T,BaseExpr<T> >::value };
 };
 
-// Specialization for functions, because is_convertible fails in this case.
-// Useful in c++98/11 mode when testing is_symbolic<decltype(fix<N>)>
-template<typename T>
-struct is_symbolic<T (*)()> {
-  enum { value = false };
-};
-
 /** Represents the actual value of a symbol identified by its tag
   *
   * It is the return type of SymbolValue::operator=, and most of the time this is only way it is used.
@@ -293,7 +286,7 @@ class QuotientExpr : public BaseExpr<QuotientExpr<Arg0,Arg1> >
   Arg1 m_arg1;
 };
 
-} // end namespace Symbolic
+} // end namespace symbolic
 
 } // end namespace Eigen
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Core/util/XprHelper.h b/examples/ThirdPartyLibs/Eigen/src/Core/util/XprHelper.h
index 10328be0d6..71c32b8a11 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Core/util/XprHelper.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Core/util/XprHelper.h
@@ -39,14 +39,22 @@ template<typename T> struct is_valid_index_type
 {
   enum { value =
 #if EIGEN_HAS_TYPE_TRAITS
-   internal::is_integral<T>::value || std::is_enum<T>::value
+    internal::is_integral<T>::value || std::is_enum<T>::value
+#elif EIGEN_COMP_MSVC
+    internal::is_integral<T>::value || __is_enum(T)
 #else
-  // without C++11, we use is_convertible to Index instead of is_integral in order to treat enums as Index.
-  internal::is_convertible<T,Index>::value
+    // without C++11, we use is_convertible to Index instead of is_integral in order to treat enums as Index.
+    internal::is_convertible<T,Index>::value && !internal::is_same<T,float>::value && !is_same<T,double>::value
 #endif
   };
 };
 
+// true if both types are not valid index types
+template<typename RowIndices, typename ColIndices>
+struct valid_indexed_view_overload {
+  enum { value = !(internal::is_valid_index_type<RowIndices>::value && internal::is_valid_index_type<ColIndices>::value) };
+};
+
 // promote_scalar_arg is an helper used in operation between an expression and a scalar, like:
 //    expression * scalar
 // Its role is to determine how the type T of the scalar operand should be promoted given the scalar type ExprScalar of the given expression.
@@ -102,6 +110,9 @@ class no_assignment_operator
 {
   private:
     no_assignment_operator& operator=(const no_assignment_operator&);
+  protected:
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(no_assignment_operator)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(no_assignment_operator)
 };
 
 /** \internal return the index type with the largest number of bits */
@@ -118,19 +129,21 @@ struct promote_index_type
 template<typename T, int Value> class variable_if_dynamic
 {
   public:
-    EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
+    EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(variable_if_dynamic)
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
-    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE operator T() const { return T(Value); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    operator T() const { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    void setValue(T v) const { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
 };
 
 template<typename T> class variable_if_dynamic<T, Dynamic>
 {
     T m_value;
-    EIGEN_DEVICE_FUNC variable_if_dynamic() { eigen_assert(false); }
   public:
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value) : m_value(value) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value = 0) EIGEN_NO_THROW : m_value(value) {}
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T value() const { return m_value; }
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE operator T() const { return m_value; }
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
@@ -143,8 +156,10 @@ template<typename T, int Value> class variable_if_dynamicindex
   public:
     EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamicindex)
     EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
-    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
-    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+    T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    void setValue(T) {}
 };
 
 template<typename T> class variable_if_dynamicindex<T, DynamicIndex>
@@ -169,16 +184,7 @@ template<typename T> struct functor_traits
 
 template<typename T> struct packet_traits;
 
-template<typename T> struct unpacket_traits
-{
-  typedef T type;
-  typedef T half;
-  enum
-  {
-    size = 1,
-    alignment = 1
-  };
-};
+template<typename T> struct unpacket_traits;
 
 template<int Size, typename PacketType,
          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
@@ -397,7 +403,7 @@ template<typename T> struct plain_matrix_type_row_major
   typedef Matrix<typename traits<T>::Scalar,
                 Rows,
                 Cols,
-                (MaxCols==1&&MaxRows!=1) ? RowMajor : ColMajor,
+                (MaxCols==1&&MaxRows!=1) ? ColMajor : RowMajor,
                 MaxRows,
                 MaxCols
           > type;
@@ -414,7 +420,7 @@ struct ref_selector
     T const&,
     const T
   >::type type;
-  
+
   typedef typename conditional<
     bool(traits<T>::Flags & NestByRefBit),
     T &,
@@ -452,7 +458,7 @@ template<typename T, int n, typename PlainObject = typename plain_object_eval<T>
 {
   enum {
     ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
-    CoeffReadCost = evaluator<T>::CoeffReadCost,  // NOTE What if an evaluator evaluate itself into a tempory?
+    CoeffReadCost = evaluator<T>::CoeffReadCost,  // NOTE What if an evaluator evaluate itself into a temporary?
                                                   //      Then CoeffReadCost will be small (e.g., 1) but we still have to evaluate, especially if n>1.
                                                   //      This situation is already taken care by the EvalBeforeNestingBit flag, which is turned ON
                                                   //      for all evaluator creating a temporary. This flag is then propagated by the parent evaluators.
@@ -593,14 +599,14 @@ template<typename ExpressionType, typename Scalar = typename ExpressionType::Sca
 struct plain_row_type
 {
   typedef Matrix<Scalar, 1, ExpressionType::ColsAtCompileTime,
-                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
+                 int(ExpressionType::PlainObject::Options) | int(RowMajor), 1, ExpressionType::MaxColsAtCompileTime> MatrixRowType;
   typedef Array<Scalar, 1, ExpressionType::ColsAtCompileTime,
-                 ExpressionType::PlainObject::Options | RowMajor, 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
+                 int(ExpressionType::PlainObject::Options) | int(RowMajor), 1, ExpressionType::MaxColsAtCompileTime> ArrayRowType;
 
   typedef typename conditional<
     is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
     MatrixRowType,
-    ArrayRowType 
+    ArrayRowType
   >::type type;
 };
 
@@ -615,7 +621,7 @@ struct plain_col_type
   typedef typename conditional<
     is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
     MatrixColType,
-    ArrayColType 
+    ArrayColType
   >::type type;
 };
 
@@ -631,7 +637,7 @@ struct plain_diag_type
   typedef typename conditional<
     is_same< typename traits<ExpressionType>::XprKind, MatrixXpr >::value,
     MatrixDiagType,
-    ArrayDiagType 
+    ArrayDiagType
   >::type type;
 };
 
@@ -668,17 +674,32 @@ template<typename T> struct is_diagonal<DiagonalWrapper<T> >
 template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
 { enum { ret = true }; };
 
+
+template<typename T> struct is_identity
+{ enum { value = false }; };
+
+template<typename T> struct is_identity<CwiseNullaryOp<internal::scalar_identity_op<typename T::Scalar>, T> >
+{ enum { value = true }; };
+
+
 template<typename S1, typename S2> struct glue_shapes;
 template<> struct glue_shapes<DenseShape,TriangularShape> { typedef TriangularShape type;  };
 
 template<typename T1, typename T2>
-bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<has_direct_access<T1>::ret&&has_direct_access<T2>::ret, T1>::type * = 0)
+struct possibly_same_dense {
+  enum { value = has_direct_access<T1>::ret && has_direct_access<T2>::ret && is_same<typename T1::Scalar,typename T2::Scalar>::value };
+};
+
+template<typename T1, typename T2>
+EIGEN_DEVICE_FUNC
+bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<possibly_same_dense<T1,T2>::value>::type * = 0)
 {
   return (mat1.data()==mat2.data()) && (mat1.innerStride()==mat2.innerStride()) && (mat1.outerStride()==mat2.outerStride());
 }
 
 template<typename T1, typename T2>
-bool is_same_dense(const T1 &, const T2 &, typename enable_if<!(has_direct_access<T1>::ret&&has_direct_access<T2>::ret), T1>::type * = 0)
+EIGEN_DEVICE_FUNC
+bool is_same_dense(const T1 &, const T2 &, typename enable_if<!possibly_same_dense<T1,T2>::value>::type * = 0)
 {
   return false;
 }
@@ -732,7 +753,7 @@ std::string demangle_flags(int f)
   if(f&DirectAccessBit)             res += " | Direct";
   if(f&NestByRefBit)                res += " | NestByRef";
   if(f&NoPreferredStorageOrderBit)  res += " | NoPreferredStorageOrderBit";
-  
+
   return res;
 }
 #endif
@@ -829,7 +850,7 @@ struct ScalarBinaryOpTraits<void,void,BinaryOp>
 #define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
   EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
     YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    
+
 } // end namespace Eigen
 
 #endif // EIGEN_XPRHELPER_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexEigenSolver.h
index dc5fae06a3..081e918f13 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -214,7 +214,7 @@ template<typename _MatrixType> class ComplexEigenSolver
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     ComputationInfo info() const
     {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexSchur.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexSchur.h
index 7f38919f77..fc71468f8d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -212,7 +212,7 @@ template<typename _MatrixType> class ComplexSchur
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     ComputationInfo info() const
     {
@@ -300,10 +300,13 @@ typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::compu
   ComplexScalar trace = t.coeff(0,0) + t.coeff(1,1);
   ComplexScalar eival1 = (trace + disc) / RealScalar(2);
   ComplexScalar eival2 = (trace - disc) / RealScalar(2);
-
-  if(numext::norm1(eival1) > numext::norm1(eival2))
+  RealScalar eival1_norm = numext::norm1(eival1);
+  RealScalar eival2_norm = numext::norm1(eival2);
+  // A division by zero can only occur if eival1==eival2==0.
+  // In this case, det==0, and all we have to do is checking that eival2_norm!=0
+  if(eival1_norm > eival2_norm)
     eival2 = det / eival1;
-  else
+  else if(eival2_norm!=RealScalar(0))
     eival1 = det / eival2;
 
   // choose the eigenvalue closest to the bottom entry of the diagonal
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/EigenSolver.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/EigenSolver.h
index f205b185de..572b29e4e9 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/EigenSolver.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/EigenSolver.h
@@ -110,7 +110,7 @@ template<typename _MatrixType> class EigenSolver
       *
       * \sa compute() for an example.
       */
-    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_eigenvectorsOk(false), m_realSchur(), m_matT(), m_tmp() {}
 
     /** \brief Default constructor with memory preallocation
       *
@@ -277,7 +277,7 @@ template<typename _MatrixType> class EigenSolver
     template<typename InputType>
     EigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
 
-    /** \returns NumericalIssue if the input contains INF or NaN values or overflow occured. Returns Success otherwise. */
+    /** \returns NumericalIssue if the input contains INF or NaN values or overflow occurred. Returns Success otherwise. */
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
index 36a91dffc0..87d789b3f4 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
@@ -311,7 +311,6 @@ GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixTyp
     // Aliases:
     Map<VectorType> v(reinterpret_cast<Scalar*>(m_tmp.data()), size);
     ComplexVectorType &cv = m_tmp;
-    const MatrixType &mZ = m_realQZ.matrixZ();
     const MatrixType &mS = m_realQZ.matrixS();
     const MatrixType &mT = m_realQZ.matrixT();
 
@@ -351,7 +350,7 @@ GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixTyp
               }
             }
           }
-          m_eivec.col(i).real().noalias() = mZ.transpose() * v;
+          m_eivec.col(i).real().noalias() = m_realQZ.matrixZ().transpose() * v;
           m_eivec.col(i).real().normalize();
           m_eivec.col(i).imag().setConstant(0);
         }
@@ -400,7 +399,7 @@ GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixTyp
                               / (alpha*mT.coeffRef(j,j) - static_cast<Scalar>(beta*mS.coeffRef(j,j)));
             }
           }
-          m_eivec.col(i+1).noalias() = (mZ.transpose() * cv);
+          m_eivec.col(i+1).noalias() = (m_realQZ.matrixZ().transpose() * cv);
           m_eivec.col(i+1).normalize();
           m_eivec.col(i) = m_eivec.col(i+1).conjugate();
         }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
index 5f6bb82898..d0f9091beb 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -121,7 +121,7 @@ class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixT
       *
       * \returns    Reference to \c *this
       *
-      * Accoring to \p options, this function computes eigenvalues and (if requested)
+      * According 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$
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/HessenbergDecomposition.h
index f647f69b06..1f21139346 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -267,7 +267,7 @@ template<typename _MatrixType> class HessenbergDecomposition
 
   private:
 
-    typedef Matrix<Scalar, 1, Size, Options | RowMajor, 1, MaxSize> VectorType;
+    typedef Matrix<Scalar, 1, Size, int(Options) | int(RowMajor), 1, MaxSize> VectorType;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     static void _compute(MatrixType& matA, CoeffVectorType& hCoeffs, VectorType& temp);
 
@@ -315,7 +315,7 @@ void HessenbergDecomposition<MatrixType>::_compute(MatrixType& matA, CoeffVector
 
     // A = A H'
     matA.rightCols(remainingSize)
-        .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1).conjugate(), numext::conj(h), &temp.coeffRef(0));
+        .applyHouseholderOnTheRight(matA.col(i).tail(remainingSize-1), numext::conj(h), &temp.coeffRef(0));
   }
 }
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
index dbbd4806ad..66e5a3dbb0 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
@@ -66,7 +66,6 @@ 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());
 }
 
@@ -88,7 +87,6 @@ template<typename MatrixType, unsigned int UpLo>
 EIGEN_DEVICE_FUNC 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();
 }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealQZ.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealQZ.h
index b3a910dd9f..509130184b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealQZ.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealQZ.h
@@ -90,8 +90,9 @@ namespace Eigen {
         m_Z(size, size),
         m_workspace(size*2),
         m_maxIters(400),
-        m_isInitialized(false)
-        { }
+        m_isInitialized(false),
+        m_computeQZ(true)
+      {}
 
       /** \brief Constructor; computes real QZ decomposition of given matrices
        * 
@@ -108,9 +109,11 @@ namespace Eigen {
         m_Z(A.rows(),A.cols()),
         m_workspace(A.rows()*2),
         m_maxIters(400),
-        m_isInitialized(false) {
-          compute(A, B, computeQZ);
-        }
+        m_isInitialized(false),
+        m_computeQZ(true)
+      {
+        compute(A, B, computeQZ);
+      }
 
       /** \brief Returns matrix Q in the QZ decomposition. 
        *
@@ -161,7 +164,7 @@ namespace Eigen {
 
       /** \brief Reports whether previous computation was successful.
        *
-       * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+       * \returns \c Success if computation was successful, \c NoConvergence otherwise.
        */
       ComputationInfo info() const
       {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealSchur.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealSchur.h
index f5c86041da..7304ef3449 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealSchur.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/RealSchur.h
@@ -190,7 +190,7 @@ template<typename _MatrixType> class RealSchur
     RealSchur& computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU);
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     ComputationInfo info() const
     {
@@ -236,7 +236,7 @@ template<typename _MatrixType> class RealSchur
     typedef Matrix<Scalar,3,1> Vector3s;
 
     Scalar computeNormOfT();
-    Index findSmallSubdiagEntry(Index iu);
+    Index findSmallSubdiagEntry(Index iu, const Scalar& considerAsZero);
     void splitOffTwoRows(Index iu, bool computeU, const 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);
@@ -270,8 +270,13 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>
   // Step 1. Reduce to Hessenberg form
   m_hess.compute(matrix.derived()/scale);
 
-  // Step 2. Reduce to real Schur form  
-  computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
+  // Step 2. Reduce to real Schur form
+  // Note: we copy m_hess.matrixQ() into m_matU here and not in computeFromHessenberg
+  //       to be able to pass our working-space buffer for the Householder to Dense evaluation.
+  m_workspaceVector.resize(matrix.cols());
+  if(computeU)
+    m_hess.matrixQ().evalTo(m_matU, m_workspaceVector);
+  computeFromHessenberg(m_hess.matrixH(), m_matU, computeU);
 
   m_matT *= scale;
   
@@ -284,13 +289,13 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMa
   using std::abs;
 
   m_matT = matrixH;
-  if(computeU)
+  m_workspaceVector.resize(m_matT.cols());
+  if(computeU && !internal::is_same_dense(m_matU,matrixQ))
     m_matU = matrixQ;
   
   Index maxIters = m_maxIters;
   if (maxIters == -1)
     maxIters = m_maxIterationsPerRow * matrixH.rows();
-  m_workspaceVector.resize(m_matT.cols());
   Scalar* workspace = &m_workspaceVector.coeffRef(0);
 
   // The matrix m_matT is divided in three parts. 
@@ -302,12 +307,16 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMa
   Index totalIter = 0; // iteration count for whole matrix
   Scalar exshift(0);   // sum of exceptional shifts
   Scalar norm = computeNormOfT();
+  // sub-diagonal entries smaller than considerAsZero will be treated as zero.
+  // We use eps^2 to enable more precision in small eigenvalues.
+  Scalar considerAsZero = numext::maxi<Scalar>( norm * numext::abs2(NumTraits<Scalar>::epsilon()),
+                                                (std::numeric_limits<Scalar>::min)() );
 
-  if(norm!=0)
+  if(norm!=Scalar(0))
   {
     while (iu >= 0)
     {
-      Index il = findSmallSubdiagEntry(iu);
+      Index il = findSmallSubdiagEntry(iu,considerAsZero);
 
       // Check for convergence
       if (il == iu) // One root found
@@ -327,7 +336,7 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMa
       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;
+        Vector3s firstHouseholderVector = Vector3s::Zero(), shiftInfo;
         computeShift(iu, iter, exshift, shiftInfo);
         iter = iter + 1;
         totalIter = totalIter + 1;
@@ -364,14 +373,17 @@ inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
 
 /** \internal Look for single small sub-diagonal element and returns its index */
 template<typename MatrixType>
-inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
+inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu, const Scalar& considerAsZero)
 {
   using std::abs;
   Index res = iu;
   while (res > 0)
   {
     Scalar s = abs(m_matT.coeff(res-1,res-1)) + abs(m_matT.coeff(res,res));
-    if (abs(m_matT.coeff(res,res-1)) <= NumTraits<Scalar>::epsilon() * s)
+
+    s = numext::maxi<Scalar>(s * NumTraits<Scalar>::epsilon(), considerAsZero);
+    
+    if (abs(m_matT.coeff(res,res-1)) <= s)
       break;
     res--;
   }
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index 9ddd553f2f..14692365ff 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -20,7 +20,9 @@ class GeneralizedSelfAdjointEigenSolver;
 
 namespace internal {
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
+
 template<typename MatrixType, typename DiagType, typename SubDiagType>
+EIGEN_DEVICE_FUNC
 ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
 }
 
@@ -42,10 +44,14 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
   * \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
+  * eigenvectors as its columns, then \f$ A = V D V^{-1} \f$. This is called the
   * eigendecomposition.
   *
+  * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
+  * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
+  * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
+  * equal to its transpose, \f$ V^{-1} = V^T \f$.
+  *
   * 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.
@@ -119,7 +125,10 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
         : m_eivec(),
           m_eivalues(),
           m_subdiag(),
-          m_isInitialized(false)
+          m_hcoeffs(),
+          m_info(InvalidInput),
+          m_isInitialized(false),
+          m_eigenvectorsOk(false)
     { }
 
     /** \brief Constructor, pre-allocates memory for dynamic-size matrices.
@@ -139,7 +148,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
         : m_eivec(size, size),
           m_eivalues(size),
           m_subdiag(size > 1 ? size - 1 : 1),
-          m_isInitialized(false)
+          m_hcoeffs(size > 1 ? size - 1 : 1),
+          m_isInitialized(false),
+          m_eigenvectorsOk(false)
     {}
 
     /** \brief Constructor; computes eigendecomposition of given matrix.
@@ -163,7 +174,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       : m_eivec(matrix.rows(), matrix.cols()),
         m_eivalues(matrix.cols()),
         m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_isInitialized(false)
+        m_hcoeffs(matrix.cols() > 1 ? matrix.cols() - 1 : 1),
+        m_isInitialized(false),
+        m_eigenvectorsOk(false)
     {
       compute(matrix.derived(), options);
     }
@@ -250,6 +263,11 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * 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$.
       *
+      * For a selfadjoint matrix, \f$ V \f$ is unitary, meaning its inverse is equal
+      * to its adjoint, \f$ V^{-1} = V^{\dagger} \f$. If \f$ A \f$ is real, then
+      * \f$ V \f$ is also real and therefore orthogonal, meaning its inverse is
+      * equal to its transpose, \f$ V^{-1} = V^T \f$.
+      *
       * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
       *
@@ -337,7 +355,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
+      * \returns \c Success if computation was successful, \c NoConvergence otherwise.
       */
     EIGEN_DEVICE_FUNC
     ComputationInfo info() const
@@ -354,7 +372,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     static const int m_maxIterations = 30;
 
   protected:
-    static void check_template_parameters()
+    static EIGEN_DEVICE_FUNC
+    void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
@@ -362,6 +381,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     EigenvectorsType m_eivec;
     RealVectorType m_eivalues;
     typename TridiagonalizationType::SubDiagonalType m_subdiag;
+    typename TridiagonalizationType::CoeffVectorType m_hcoeffs;
     ComputationInfo m_info;
     bool m_isInitialized;
     bool m_eigenvectorsOk;
@@ -403,7 +423,7 @@ ::compute(const EigenBase<InputType>& a_matrix, int options)
   
   const InputType &matrix(a_matrix.derived());
   
-  using std::abs;
+  EIGEN_USING_STD(abs);
   eigen_assert(matrix.cols() == matrix.rows());
   eigen_assert((options&~(EigVecMask|GenEigMask))==0
           && (options&EigVecMask)!=EigVecMask
@@ -434,7 +454,8 @@ ::compute(const EigenBase<InputType>& a_matrix, int options)
   if(scale==RealScalar(0)) scale = RealScalar(1);
   mat.template triangularView<Lower>() /= scale;
   m_subdiag.resize(n-1);
-  internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
+  m_hcoeffs.resize(n-1);
+  internal::tridiagonalization_inplace(mat, diag, m_subdiag, m_hcoeffs, computeEigenvectors);
 
   m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
   
@@ -479,10 +500,9 @@ namespace internal {
   * \returns \c Success or \c NoConvergence
   */
 template<typename MatrixType, typename DiagType, typename SubDiagType>
+EIGEN_DEVICE_FUNC
 ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
 {
-  using std::abs;
-
   ComputationInfo info;
   typedef typename MatrixType::Scalar Scalar;
 
@@ -493,15 +513,23 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
   
   typedef typename DiagType::RealScalar RealScalar;
   const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
-  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
-  
+  const RealScalar precision_inv = RealScalar(1)/NumTraits<RealScalar>::epsilon();
   while (end>0)
   {
-    for (Index i = start; i<end; ++i)
-      if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
-        subdiag[i] = 0;
+    for (Index i = start; i<end; ++i) {
+      if (numext::abs(subdiag[i]) < considerAsZero) {
+        subdiag[i] = RealScalar(0);
+      } else {
+        // abs(subdiag[i]) <= epsilon * sqrt(abs(diag[i]) + abs(diag[i+1]))
+        // Scaled to prevent underflows.
+        const RealScalar scaled_subdiag = precision_inv * subdiag[i];
+        if (scaled_subdiag * scaled_subdiag <= (numext::abs(diag[i])+numext::abs(diag[i+1]))) {
+          subdiag[i] = RealScalar(0);
+        }
+      }
+    }
 
-    // find the largest unreduced block
+    // find the largest unreduced block at the end of the matrix.
     while (end>0 && subdiag[end-1]==RealScalar(0))
     {
       end--;
@@ -535,7 +563,7 @@ ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag
       diag.segment(i,n-i).minCoeff(&k);
       if (k > 0)
       {
-        std::swap(diag[i], diag[k+i]);
+        numext::swap(diag[i], diag[k+i]);
         if(computeEigenvectors)
           eivec.col(i).swap(eivec.col(k+i));
       }
@@ -566,10 +594,10 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    EIGEN_USING_STD_MATH(sqrt)
-    EIGEN_USING_STD_MATH(atan2)
-    EIGEN_USING_STD_MATH(cos)
-    EIGEN_USING_STD_MATH(sin)
+    EIGEN_USING_STD(sqrt)
+    EIGEN_USING_STD(atan2)
+    EIGEN_USING_STD(cos)
+    EIGEN_USING_STD(sin)
     const Scalar s_inv3 = Scalar(1)/Scalar(3);
     const Scalar s_sqrt3 = sqrt(Scalar(3));
 
@@ -605,7 +633,8 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   EIGEN_DEVICE_FUNC
   static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
   {
-    using std::abs;
+    EIGEN_USING_STD(abs);
+    EIGEN_USING_STD(sqrt);
     Index i0;
     // Find non-zero column i0 (by construction, there must exist a non zero coefficient on the diagonal):
     mat.diagonal().cwiseAbs().maxCoeff(&i0);
@@ -616,8 +645,8 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     VectorType c0, c1;
     n0 = (c0 = representative.cross(mat.col((i0+1)%3))).squaredNorm();
     n1 = (c1 = representative.cross(mat.col((i0+2)%3))).squaredNorm();
-    if(n0>n1) res = c0/std::sqrt(n0);
-    else      res = c1/std::sqrt(n1);
+    if(n0>n1) res = c0/sqrt(n0);
+    else      res = c1/sqrt(n1);
 
     return true;
   }
@@ -719,7 +748,7 @@ struct direct_selfadjoint_eigenvalues<SolverType,2,false>
   EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    using std::sqrt;
+    EIGEN_USING_STD(sqrt);
     const Scalar t0 = Scalar(0.5) * sqrt( numext::abs2(m(0,0)-m(1,1)) + Scalar(4)*numext::abs2(m(1,0)));
     const Scalar t1 = Scalar(0.5) * (m(0,0) + m(1,1));
     roots(0) = t1 - t0;
@@ -729,8 +758,8 @@ struct direct_selfadjoint_eigenvalues<SolverType,2,false>
   EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
-    EIGEN_USING_STD_MATH(sqrt);
-    EIGEN_USING_STD_MATH(abs);
+    EIGEN_USING_STD(sqrt);
+    EIGEN_USING_STD(abs);
     
     eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
     eigen_assert((options&~(EigVecMask|GenEigMask))==0
@@ -803,32 +832,38 @@ ::computeDirect(const MatrixType& matrix, int options)
 }
 
 namespace internal {
+
+// Francis implicit QR step.
 template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
 EIGEN_DEVICE_FUNC
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
 {
-  using std::abs;
+  // Wilkinson Shift.
   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
   RealScalar e = subdiag[end-1];
   // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
   // underflow thus leading to inf/NaN values when using the following commented code:
-//   RealScalar e2 = numext::abs2(subdiag[end-1]);
-//   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  //   RealScalar e2 = numext::abs2(subdiag[end-1]);
+  //   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
   // This explain the following, somewhat more complicated, version:
   RealScalar mu = diag[end];
-  if(td==RealScalar(0))
-    mu -= abs(e);
-  else
-  {
-    RealScalar e2 = numext::abs2(subdiag[end-1]);
-    RealScalar h = numext::hypot(td,e);
-    if(e2==RealScalar(0)) mu -= (e / (td + (td>RealScalar(0) ? RealScalar(1) : RealScalar(-1)))) * (e / h);
-    else                  mu -= e2 / (td + (td>RealScalar(0) ? h : -h));
+  if(td==RealScalar(0)) {
+    mu -= numext::abs(e);
+  } else if (e != RealScalar(0)) {
+    const RealScalar e2 = numext::abs2(e);
+    const RealScalar h = numext::hypot(td,e);
+    if(e2 == RealScalar(0)) {
+      mu -= e / ((td + (td>RealScalar(0) ? h : -h)) / e);
+    } else {
+      mu -= e2 / (td + (td>RealScalar(0) ? h : -h)); 
+    }
   }
-  
+
   RealScalar x = diag[start] - mu;
   RealScalar z = subdiag[start];
-  for (Index k = start; k < end; ++k)
+  // If z ever becomes zero, the Givens rotation will be the identity and
+  // z will stay zero for all future iterations.
+  for (Index k = start; k < end && z != RealScalar(0); ++k)
   {
     JacobiRotation<RealScalar> rot;
     rot.makeGivens(x, z);
@@ -841,12 +876,11 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta
     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;
 
+    // "Chasing the bulge" to return to triangular form.
     x = subdiag[k];
-
     if (k < end - 1)
     {
       z = -rot.s() * subdiag[k+1];
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
index 3891cf8833..b0c947dc07 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
@@ -37,7 +37,7 @@ namespace Eigen {
 
 /** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_LAPACKE_EIG_SELFADJ(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, EIGCOLROW, LAPACKE_COLROW ) \
+#define EIGEN_LAPACKE_EIG_SELFADJ_2(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, EIGCOLROW ) \
 template<> template<typename InputType> inline \
 SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
 SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, int options) \
@@ -47,7 +47,7 @@ SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(c
           && (options&EigVecMask)!=EigVecMask \
           && "invalid option parameter"); \
   bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors; \
-  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), lda, matrix_order, info; \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), lda, info; \
   m_eivalues.resize(n,1); \
   m_subdiag.resize(n-1); \
   m_eivec = matrix; \
@@ -63,27 +63,24 @@ SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(c
   } \
 \
   lda = internal::convert_index<lapack_int>(m_eivec.outerStride()); \
-  matrix_order=LAPACKE_COLROW; \
   char jobz, uplo='L'/*, range='A'*/; \
   jobz = computeEigenvectors ? 'V' : 'N'; \
 \
-  info = LAPACKE_##LAPACKE_NAME( matrix_order, jobz, uplo, n, (LAPACKE_TYPE*)m_eivec.data(), lda, (LAPACKE_RTYPE*)m_eivalues.data() ); \
+  info = LAPACKE_##LAPACKE_NAME( LAPACK_COL_MAJOR, jobz, uplo, n, (LAPACKE_TYPE*)m_eivec.data(), lda, (LAPACKE_RTYPE*)m_eivalues.data() ); \
   m_info = (info==0) ? Success : NoConvergence; \
   m_isInitialized = true; \
   m_eigenvectorsOk = computeEigenvectors; \
   return *this; \
 }
 
+#define EIGEN_LAPACKE_EIG_SELFADJ(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME )              \
+        EIGEN_LAPACKE_EIG_SELFADJ_2(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, ColMajor )  \
+        EIGEN_LAPACKE_EIG_SELFADJ_2(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, RowMajor ) 
 
-EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, ColMajor, LAPACK_COL_MAJOR)
-
-EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev)
+EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev)
+EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev)
+EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev)
 
 } // end namespace Eigen
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/Tridiagonalization.h b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/Tridiagonalization.h
index 1d102c17bc..eda82794ab 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -11,10 +11,10 @@
 #ifndef EIGEN_TRIDIAGONALIZATION_H
 #define EIGEN_TRIDIAGONALIZATION_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
-  
+
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
 template<typename MatrixType>
 struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
@@ -25,6 +25,7 @@ struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
 };
 
 template<typename MatrixType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs);
 }
 
@@ -344,6 +345,7 @@ namespace internal {
   * \sa Tridiagonalization::packedMatrix()
   */
 template<typename MatrixType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
 {
   using numext::conj;
@@ -352,7 +354,7 @@ void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
   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;
@@ -423,11 +425,13 @@ struct tridiagonalization_inplace_selector;
   *
   * \sa class Tridiagonalization
   */
-template<typename MatrixType, typename DiagonalType, typename SubDiagonalType>
-void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+template<typename MatrixType, typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+EIGEN_DEVICE_FUNC
+void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag,
+                                CoeffVectorType& hcoeffs, bool extractQ)
 {
   eigen_assert(mat.cols()==mat.rows() && diag.size()==mat.rows() && subdiag.size()==mat.rows()-1);
-  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, extractQ);
+  tridiagonalization_inplace_selector<MatrixType>::run(mat, diag, subdiag, hcoeffs, extractQ);
 }
 
 /** \internal
@@ -436,13 +440,12 @@ void tridiagonalization_inplace(MatrixType& mat, DiagonalType& diag, SubDiagonal
 template<typename MatrixType, int Size, bool IsComplex>
 struct tridiagonalization_inplace_selector
 {
-  typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
   typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
-  template<typename DiagonalType, typename SubDiagonalType>
-  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
+  template<typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+  static EIGEN_DEVICE_FUNC
+      void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, CoeffVectorType& hCoeffs, bool extractQ)
   {
-    CoeffVectorType hCoeffs(mat.cols()-1);
-    tridiagonalization_inplace(mat,hCoeffs);
+    tridiagonalization_inplace(mat, hCoeffs);
     diag = mat.diagonal().real();
     subdiag = mat.template diagonal<-1>().real();
     if(extractQ)
@@ -462,8 +465,8 @@ 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)
+  template<typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+  static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, CoeffVectorType&, bool extractQ)
   {
     using std::sqrt;
     const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
@@ -507,8 +510,9 @@ 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)
+  template<typename DiagonalType, typename SubDiagonalType, typename CoeffVectorType>
+  static EIGEN_DEVICE_FUNC
+  void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType&, CoeffVectorType&, bool extractQ)
   {
     diag(0,0) = numext::real(mat(0,0));
     if(extractQ)
@@ -542,8 +546,8 @@ template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
       result.template diagonal<-1>() = m_matrix.template diagonal<-1>();
     }
 
-    Index rows() const { return m_matrix.rows(); }
-    Index cols() const { return m_matrix.cols(); }
+    EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
+    EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
   protected:
     typename MatrixType::Nested m_matrix;
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/AlignedBox.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/AlignedBox.h
index c902d8f0aa..55a9d0ae13 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/AlignedBox.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/AlignedBox.h
@@ -7,10 +7,46 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
+// Function void Eigen::AlignedBox::transform(const Transform& transform)
+// is provided under the following license agreement:
+//
+// Software License Agreement (BSD License)
+//
+// Copyright (c) 2011-2014, Willow Garage, Inc.
+// Copyright (c) 2014-2015, Open Source Robotics Foundation
+// All rights reserved.
+//
+// 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 Open Source Robotics Foundation 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.
+
 #ifndef EIGEN_ALIGNEDBOX_H
 #define EIGEN_ALIGNEDBOX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -231,7 +267,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   {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.
-   * \note Merging with an empty box may result in a box bigger than \c *this. 
+   * \note Merging with an empty box may result in a box bigger than \c *this.
    * \sa extend(const AlignedBox&) */
   EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
   { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
@@ -246,6 +282,15 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     return *this;
   }
 
+  /** \returns a copy of \c *this translated by the vector \a t. */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC inline AlignedBox translated(const MatrixBase<Derived>& a_t) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.translate(a_t);
+    return result;
+  }
+
   /** \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(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
@@ -265,14 +310,63 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     */
   template<typename Derived>
   EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
+  { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
 
   /** \returns the distance between the boxes \a b and \c *this,
     * and zero if the boxes intersect.
     * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
     */
   EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
-  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
+  { EIGEN_USING_STD(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
+
+  /**
+   * Specialization of transform for pure translation.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(
+      const typename Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>::TranslationType& translation)
+  {
+    this->translate(translation);
+  }
+
+  /**
+   * Transforms this box by \a transform and recomputes it to
+   * still be an axis-aligned box.
+   *
+   * \note This method is provided under BSD license (see the top of this file).
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
+  {
+    // Only Affine and Isometry transforms are currently supported.
+    EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
+
+    // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
+    // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
+    //
+    // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
+
+    // two times rotated extent
+    const VectorType rotated_extent_2 = transform.linear().cwiseAbs() * sizes();
+    // two times new center
+    const VectorType rotated_center_2 = transform.linear() * (this->m_max + this->m_min) +
+        Scalar(2) * transform.translation();
+
+    this->m_max = (rotated_center_2 + rotated_extent_2) / Scalar(2);
+    this->m_min = (rotated_center_2 - rotated_extent_2) / Scalar(2);
+  }
+
+  /**
+   * \returns a copy of \c *this transformed by \a transform and recomputed to
+   * still be an axis-aligned box.
+   */
+  template<int Mode, int Options>
+  EIGEN_DEVICE_FUNC AlignedBox transformed(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) const
+  {
+    AlignedBox result(m_min, m_max);
+    result.transform(transform);
+    return result;
+  }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/AngleAxis.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/AngleAxis.h
index 83ee1be461..78328b6b57 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/AngleAxis.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/AngleAxis.h
@@ -169,8 +169,8 @@ template<typename Scalar>
 template<typename QuatDerived>
 EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
 {
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(abs)
+  EIGEN_USING_STD(atan2)
+  EIGEN_USING_STD(abs)
   Scalar n = q.vec().norm();
   if(n<NumTraits<Scalar>::epsilon())
     n = q.vec().stableNorm();
@@ -217,8 +217,8 @@ template<typename Scalar>
 typename AngleAxis<Scalar>::Matrix3
 EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
 {
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   Matrix3 res;
   Vector3 sin_axis  = sin(m_angle) * m_axis;
   Scalar c = cos(m_angle);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/EulerAngles.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/EulerAngles.h
index c633268af2..19b734ca7e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/EulerAngles.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/EulerAngles.h
@@ -36,9 +36,9 @@ template<typename Derived>
 EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
 MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
 {
-  EIGEN_USING_STD_MATH(atan2)
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(atan2)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Homogeneous.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Homogeneous.h
index 5f0da1a9e8..94083ac541 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Homogeneous.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Homogeneous.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_HOMOGENEOUS_H
 #define EIGEN_HOMOGENEOUS_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \geometry_module \ingroup Geometry_Module
   *
@@ -72,9 +72,11 @@ template<typename MatrixType,int _Direction> class Homogeneous
       : m_matrix(matrix)
     {}
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
-    
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+
     EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; }
 
     template<typename Rhs>
@@ -262,8 +264,10 @@ struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
       m_rhs(rhs)
   {}
 
-  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
   template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
@@ -300,8 +304,8 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
     : m_lhs(lhs), m_rhs(rhs)
   {}
 
-  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
-  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
   template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
@@ -322,7 +326,7 @@ template<typename ArgType,int Direction>
 struct evaluator_traits<Homogeneous<ArgType,Direction> >
 {
   typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
-  typedef HomogeneousShape Shape;  
+  typedef HomogeneousShape Shape;
 };
 
 template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; };
@@ -414,7 +418,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, Homogeneous
   typedef typename helper::ConstantBlock ConstantBlock;
   typedef typename helper::Xpr RefactoredXpr;
   typedef evaluator<RefactoredXpr> Base;
-  
+
   EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
     : Base(  xpr.lhs().nestedExpression() .lazyProduct(  xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
             + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
@@ -467,7 +471,7 @@ struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape,
   typedef typename helper::ConstantBlock ConstantBlock;
   typedef typename helper::Xpr RefactoredXpr;
   typedef evaluator<RefactoredXpr> Base;
-  
+
   EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
     : Base(   xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
             + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Hyperplane.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Hyperplane.h
index 05929b2994..cebe035570 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Hyperplane.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Hyperplane.h
@@ -119,7 +119,7 @@ class Hyperplane
     * 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 ??
+  // FIXME to be consistent with the rest this could be implemented as a static Through function ??
   EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/OrthoMethods.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/OrthoMethods.h
index a035e6310a..524aebe1b9 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/OrthoMethods.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/OrthoMethods.h
@@ -27,9 +27,10 @@ namespace Eigen {
 template<typename Derived>
 template<typename OtherDerived>
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
 #else
-inline typename MatrixBase<Derived>::PlainObject
+typename MatrixBase<Derived>::PlainObject
 #endif
 MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
 {
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/ParametrizedLine.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/ParametrizedLine.h
index 3929ca87f0..584f50087b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/ParametrizedLine.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/ParametrizedLine.h
@@ -87,7 +87,7 @@ class ParametrizedLine
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
     */
-  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
+  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD(sqrt) return sqrt(squaredDistance(p)); }
 
   /** \returns the projection of a point \a p onto the line \c *this. */
   EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Quaternion.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Quaternion.h
index c3fd8c3e0f..3259e592df 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Quaternion.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Quaternion.h
@@ -141,7 +141,7 @@ class QuaternionBase : public RotationBase<Derived, 3>
   template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns an equivalent 3x3 rotation matrix */
-  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix() const;
+  EIGEN_DEVICE_FUNC inline Matrix3 toRotationMatrix() const;
 
   /** \returns the quaternion which transform \a a into \a b through a rotation */
   template<typename Derived1, typename Derived2>
@@ -158,6 +158,22 @@ class QuaternionBase : public RotationBase<Derived, 3>
 
   template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) 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<class OtherDerived>
+  EIGEN_DEVICE_FUNC inline bool operator==(const QuaternionBase<OtherDerived>& other) const
+  { return coeffs() == other.coeffs(); }
+
+  /** \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<class OtherDerived>
+  EIGEN_DEVICE_FUNC inline bool operator!=(const QuaternionBase<OtherDerived>& other) const
+  { return coeffs() != other.coeffs(); }
+
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
@@ -169,20 +185,45 @@ class QuaternionBase : public RotationBase<Derived, 3>
   /** return the result vector of \a v through the rotation*/
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
 
+  #ifdef EIGEN_PARSED_BY_DOXYGEN
   /** \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>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const;
+
+  #else
+
+  template<typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline
+  typename internal::enable_if<internal::is_same<Scalar,NewScalarType>::value,const Derived&>::type cast() const
   {
-    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
+    return derived();
   }
 
+  template<typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline
+  typename internal::enable_if<!internal::is_same<Scalar,NewScalarType>::value,Quaternion<NewScalarType> >::type cast() const
+  {
+    return Quaternion<NewScalarType>(coeffs().template cast<NewScalarType>());
+  }
+  #endif
+
+#ifndef EIGEN_NO_IO
+  friend std::ostream& operator<<(std::ostream& s, const QuaternionBase<Derived>& q) {
+    s << q.x() << "i + " << q.y() << "j + " << q.z() << "k" << " + " << q.w();
+    return s;
+  }
+#endif
+
 #ifdef EIGEN_QUATERNIONBASE_PLUGIN
 # include EIGEN_QUATERNIONBASE_PLUGIN
 #endif
+protected:
+  EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
+  EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
 };
 
 /***************************************************************************
@@ -276,6 +317,21 @@ class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
   EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
+#if EIGEN_HAS_RVALUE_REFERENCES
+  // We define a copy constructor, which means we don't get an implicit move constructor or assignment operator.
+  /** Default move constructor */
+  EIGEN_DEVICE_FUNC inline Quaternion(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
+    : m_coeffs(std::move(other.coeffs()))
+  {}
+
+  /** Default move assignment operator */
+  EIGEN_DEVICE_FUNC Quaternion& operator=(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
+  {
+    m_coeffs = std::move(other.coeffs());
+    return *this;
+  }
+#endif
+
   EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
 
   template<typename Derived1, typename Derived2>
@@ -504,8 +560,8 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator
 template<class Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
 {
-  EIGEN_USING_STD_MATH(cos)
-  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD(cos)
+  EIGEN_USING_STD(sin)
   Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
   this->w() = cos(ha);
   this->vec() = sin(ha) * aa.axis();
@@ -581,7 +637,7 @@ template<class Derived>
 template<typename Derived1, typename Derived2>
 EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
-  EIGEN_USING_STD_MATH(sqrt)
+  EIGEN_USING_STD(sqrt)
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
   Scalar c = v1.dot(v0);
@@ -622,13 +678,13 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(con
 template<typename Scalar, int Options>
 EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
 {
-  EIGEN_USING_STD_MATH(sqrt)
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(sqrt)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   const Scalar u1 = internal::random<Scalar>(0, 1),
                u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
                u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
-  const Scalar a = sqrt(1 - u1),
+  const Scalar a = sqrt(Scalar(1) - u1),
                b = sqrt(u1);
   return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
 }
@@ -707,7 +763,7 @@ template <class OtherDerived>
 EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
 QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
 {
-  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD(atan2)
   Quaternion<Scalar> d = (*this) * other.conjugate();
   return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
 }
@@ -725,8 +781,8 @@ template <class OtherDerived>
 EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
 {
-  EIGEN_USING_STD_MATH(acos)
-  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD(acos)
+  EIGEN_USING_STD(sin)
   const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
   Scalar d = this->dot(other);
   Scalar absD = numext::abs(d);
@@ -763,7 +819,7 @@ struct quaternionbase_assign_impl<Other,3,3>
   template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
   {
     const typename internal::nested_eval<Other,2>::type mat(a_mat);
-    EIGEN_USING_STD_MATH(sqrt)
+    EIGEN_USING_STD(sqrt)
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
     Scalar t = mat.trace();
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Rotation2D.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Rotation2D.h
index 884b7d0ee9..d0bd57569f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Rotation2D.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Rotation2D.h
@@ -175,7 +175,7 @@ template<typename Scalar>
 template<typename Derived>
 EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
 {
-  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD(atan2)
   EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
   m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
   return *this;
@@ -187,8 +187,8 @@ template<typename Scalar>
 typename Rotation2D<Scalar>::Matrix2
 EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const
 {
-  EIGEN_USING_STD_MATH(sin)
-  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD(sin)
+  EIGEN_USING_STD(cos)
   Scalar sinA = sin(m_angle);
   Scalar cosA = cos(m_angle);
   return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Scaling.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Scaling.h
index f58ca03d94..d352f1f2b8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Scaling.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Scaling.h
@@ -14,7 +14,7 @@ namespace Eigen {
 
 /** \geometry_module \ingroup Geometry_Module
   *
-  * \class Scaling
+  * \class UniformScaling
   *
   * \brief Represents a generic uniform scaling transformation
   *
@@ -29,6 +29,22 @@ namespace Eigen {
   *
   * \sa Scaling(), class DiagonalMatrix, MatrixBase::asDiagonal(), class Translation, class Transform
   */
+
+namespace internal
+{
+  // This helper helps nvcc+MSVC to properly parse this file.
+  // See bug 1412.
+  template <typename Scalar, int Dim, int Mode>
+  struct uniformscaling_times_affine_returntype
+  {
+    enum
+    {
+      NewMode = int(Mode) == int(Isometry) ? Affine : Mode
+    };
+    typedef Transform <Scalar, Dim, NewMode> type;
+  };
+}
+
 template<typename _Scalar>
 class UniformScaling
 {
@@ -60,9 +76,11 @@ class UniformScaling
 
   /** Concatenates a uniform scaling and an affine transformation */
   template<int Dim, int Mode, int Options>
-  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
+  inline typename
+	internal::uniformscaling_times_affine_returntype<Scalar,Dim,Mode>::type
+	operator* (const Transform<Scalar, Dim, Mode, Options>& t) const
   {
-    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
+    typename internal::uniformscaling_times_affine_returntype<Scalar,Dim,Mode>::type res = t;
     res.prescale(factor());
     return res;
   }
@@ -70,7 +88,7 @@ class UniformScaling
   /** 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
+  inline typename Eigen::internal::plain_matrix_type<Derived>::type operator* (const MatrixBase<Derived>& other) const
   { return other * m_factor; }
 
   template<typename Derived,int Dim>
@@ -110,7 +128,7 @@ class UniformScaling
 /** Concatenates a linear transformation matrix and a uniform scaling
   * \relates UniformScaling
   */
-// NOTE this operator is defiend in MatrixBase and not as a friend function
+// NOTE this operator is defined in MatrixBase and not as a friend function
 // of UniformScaling to fix an internal crash of Intel's ICC
 template<typename Derived,typename Scalar>
 EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Transform.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Transform.h
index 2d36dfadf1..52b8c2a4eb 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Transform.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Transform.h
@@ -12,7 +12,7 @@
 #ifndef EIGEN_TRANSFORM_H
 #define EIGEN_TRANSFORM_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -47,7 +47,7 @@ struct transform_left_product_impl;
 
 template< typename Lhs,
           typename Rhs,
-          bool AnyProjective = 
+          bool AnyProjective =
             transform_traits<Lhs>::IsProjective ||
             transform_traits<Rhs>::IsProjective>
 struct transform_transform_product_impl;
@@ -97,6 +97,9 @@ template<int Mode> struct transform_make_affine;
   *              - #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.
+  *              - #Isometry: same as #Affine with the additional assumption that
+  *                           the linear part represents a rotation. This assumption is exploited
+  *                           to speed up some functions such as inverse() and rotation().
   * \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.
   *
@@ -115,7 +118,7 @@ template<int Mode> struct transform_make_affine;
   * \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.
+  * and then the interpretation of different parts might be slightly different.
   *
   * However, unlike a plain matrix, the Transform class provides many features
   * simplifying both its assembly and usage. In particular, it can be composed
@@ -220,9 +223,9 @@ class Transform
   /** 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,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> LinearPart;
+  typedef Block<MatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (int(Options)&RowMajor)==0> LinearPart;
   /** type of read reference to the linear part of the transformation */
-  typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (Options&RowMajor)==0> ConstLinearPart;
+  typedef const Block<ConstMatrixType,Dim,Dim,int(Mode)==(AffineCompact) && (int(Options)&RowMajor)==0> ConstLinearPart;
   /** type of read/write reference to the affine part of the transformation */
   typedef typename internal::conditional<int(Mode)==int(AffineCompact),
                               MatrixType&,
@@ -239,7 +242,7 @@ class Transform
   typedef const Block<ConstMatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> 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 */
@@ -252,17 +255,11 @@ class Transform
 public:
 
   /** Default constructor without initialization of the meaningful coefficients.
-    * If Mode==Affine, then the last row is set to [0 ... 0 1] */
+    * If Mode==Affine or Mode==Isometry, then the last row is set to [0 ... 0 1] */
   EIGEN_DEVICE_FUNC inline Transform()
   {
     check_template_params();
-    internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
-  }
-
-  EIGEN_DEVICE_FUNC inline Transform(const Transform& other)
-  {
-    check_template_params();
-    m_matrix = other.m_matrix;
+    internal::transform_make_affine<(int(Mode)==Affine || int(Mode)==Isometry) ? Affine : AffineCompact>::run(m_matrix);
   }
 
   EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t)
@@ -282,9 +279,6 @@ class Transform
     *this = r;
   }
 
-  EIGEN_DEVICE_FUNC 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. */
@@ -308,7 +302,7 @@ class Transform
     internal::transform_construct_from_matrix<OtherDerived,Mode,Options,Dim,HDim>::run(this, other.derived());
     return *this;
   }
-  
+
   template<int OtherOptions>
   EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
   {
@@ -380,9 +374,9 @@ class Transform
   inline Transform& operator=(const QTransform& other);
   inline QTransform toQTransform(void) const;
   #endif
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_matrix.cols(); }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
 
   /** shortcut for m_matrix(row,col);
     * \sa MatrixBase::operator(Index,Index) const */
@@ -456,7 +450,7 @@ class Transform
   /** \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 
+    * 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>
@@ -471,7 +465,7 @@ class Transform
   /** \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 
+    * 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>
@@ -494,7 +488,7 @@ class Transform
   {
     return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
   }
-  
+
   #if EIGEN_COMP_ICC
 private:
   // this intermediate structure permits to workaround a bug in ICC 11:
@@ -503,13 +497,13 @@ class Transform
   //  (the meaning of a name may have changed since the template declaration -- the type of the template is:
   // "Eigen::internal::transform_transform_product_impl<Eigen::Transform<double, 3, 32, 0>,
   //     Eigen::Transform<double, 3, Mode, Options>, <expression>>::ResultType (const Eigen::Transform<double, 3, Mode, Options> &) const")
-  // 
+  //
   template<int OtherMode,int OtherOptions> struct icc_11_workaround
   {
     typedef internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> > ProductType;
     typedef typename ProductType::ResultType ResultType;
   };
-  
+
 public:
   /** Concatenates two different transformations */
   template<int OtherMode,int OtherOptions>
@@ -542,7 +536,7 @@ class Transform
   }
 
   template<typename OtherDerived>
-  EIGEN_DEVICE_FUNC 
+  EIGEN_DEVICE_FUNC
   inline Transform& scale(const MatrixBase<OtherDerived> &other);
 
   template<typename OtherDerived>
@@ -572,18 +566,18 @@ class Transform
   EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
 
   EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
-  
+
   EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  
+
   EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
 
-  EIGEN_DEVICE_FUNC 
+  EIGEN_DEVICE_FUNC
   inline Transform& operator=(const UniformScaling<Scalar>& t);
-  
+
   EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  
+
   EIGEN_DEVICE_FUNC
   inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const
   {
@@ -602,7 +596,9 @@ class Transform
   template<typename Derived>
   EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
 
-  EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
+  typedef typename internal::conditional<int(Mode)==Isometry,ConstLinearPart,const LinearMatrixType>::type RotationReturnType;
+  EIGEN_DEVICE_FUNC RotationReturnType rotation() const;
+
   template<typename RotationMatrixType, typename ScalingMatrixType>
   EIGEN_DEVICE_FUNC
   void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
@@ -684,7 +680,7 @@ class Transform
   #ifdef EIGEN_TRANSFORM_PLUGIN
   #include EIGEN_TRANSFORM_PLUGIN
   #endif
-  
+
 protected:
   #ifndef EIGEN_PARSED_BY_DOXYGEN
     EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params()
@@ -1046,20 +1042,43 @@ EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim
 *** Special functions ***
 ************************/
 
+namespace internal {
+template<int Mode> struct transform_rotation_impl {
+  template<typename TransformType>
+  EIGEN_DEVICE_FUNC static inline
+  const typename TransformType::LinearMatrixType run(const TransformType& t)
+  {
+    typedef typename TransformType::LinearMatrixType LinearMatrixType;
+    LinearMatrixType result;
+    t.computeRotationScaling(&result, (LinearMatrixType*)0);
+    return result;
+  }
+};
+template<> struct transform_rotation_impl<Isometry> {
+  template<typename TransformType>
+  EIGEN_DEVICE_FUNC static inline
+  typename TransformType::ConstLinearPart run(const TransformType& t)
+  {
+    return t.linear();
+  }
+};
+}
 /** \returns the rotation part of the transformation
   *
+  * If Mode==Isometry, then this method is an alias for linear(),
+  * otherwise it calls computeRotationScaling() to extract the rotation
+  * through a SVD decomposition.
   *
   * \svd_module
   *
   * \sa computeRotationScaling(), computeScalingRotation(), class SVD
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
+EIGEN_DEVICE_FUNC
+typename Transform<Scalar,Dim,Mode,Options>::RotationReturnType
 Transform<Scalar,Dim,Mode,Options>::rotation() const
 {
-  LinearMatrixType result;
-  computeRotationScaling(&result, (LinearMatrixType*)0);
-  return result;
+  return internal::transform_rotation_impl<Mode>::run(*this);
 }
 
 
@@ -1078,17 +1097,18 @@ template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationMatrixType, typename ScalingMatrixType>
 EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
 {
+  // Note that JacobiSVD is faster than BDCSVD for small matrices.
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0) ? Scalar(-1) : Scalar(1); // 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());
+  sv.coeffRef(Dim-1) *= x;
+  if(scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
   if(rotation)
   {
     LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->lazyAssign(m * svd.matrixV().adjoint());
+    m.col(Dim-1) *= x;
+    *rotation = m * svd.matrixV().adjoint();
   }
 }
 
@@ -1107,17 +1127,18 @@ template<typename Scalar, int Dim, int Mode, int Options>
 template<typename ScalingMatrixType, typename RotationMatrixType>
 EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
 {
+  // Note that JacobiSVD is faster than BDCSVD for small matrices.
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
+  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0) ? Scalar(-1) : Scalar(1); // 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());
+  sv.coeffRef(Dim-1) *= x;
+  if(scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
   if(rotation)
   {
     LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->lazyAssign(m * svd.matrixV().adjoint());
+    m.col(Dim-1) *= x;
+    *rotation = m * svd.matrixV().adjoint();
   }
 }
 
@@ -1156,7 +1177,7 @@ struct transform_make_affine<AffineCompact>
 {
   template<typename MatrixType> EIGEN_DEVICE_FUNC static void run(MatrixType &) { }
 };
-    
+
 // selector needed to avoid taking the inverse of a 3x4 matrix
 template<typename TransformType, int Mode=TransformType::Mode>
 struct projective_transform_inverse
@@ -1297,8 +1318,8 @@ struct transform_construct_from_matrix<Other, AffineCompact,Options,Dim,HDim, HD
 template<int LhsMode,int RhsMode>
 struct transform_product_result
 {
-  enum 
-  { 
+  enum
+  {
     Mode =
       (LhsMode == (int)Projective    || RhsMode == (int)Projective    ) ? Projective :
       (LhsMode == (int)Affine        || RhsMode == (int)Affine        ) ? Affine :
@@ -1312,7 +1333,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
 {
   typedef typename MatrixType::PlainObject ResultType;
 
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
   {
     return T.matrix() * other;
   }
@@ -1321,8 +1342,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
 template< typename TransformType, typename MatrixType, int RhsCols>
 struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
 {
-  enum { 
-    Dim = TransformType::Dim, 
+  enum {
+    Dim = TransformType::Dim,
     HDim = TransformType::HDim,
     OtherRows = MatrixType::RowsAtCompileTime,
     OtherCols = MatrixType::ColsAtCompileTime
@@ -1330,7 +1351,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
 
   typedef typename MatrixType::PlainObject ResultType;
 
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
   {
     EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
 
@@ -1339,7 +1360,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
     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;
   }
 };
@@ -1347,8 +1368,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
 template< typename TransformType, typename MatrixType, int RhsCols>
 struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
 {
-  enum { 
-    Dim = TransformType::Dim, 
+  enum {
+    Dim = TransformType::Dim,
     HDim = TransformType::HDim,
     OtherRows = MatrixType::RowsAtCompileTime,
     OtherCols = MatrixType::ColsAtCompileTime
@@ -1356,7 +1377,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
 
   typedef typename MatrixType::PlainObject ResultType;
 
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
   {
     EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
 
@@ -1381,7 +1402,7 @@ struct transform_right_product_impl< TransformType, MatrixType, 2, 1> // rhs is
 
   typedef typename MatrixType::PlainObject ResultType;
 
-  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
   {
     EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Translation.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Translation.h
index 51d9a82ebb..8c22901219 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Translation.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Translation.h
@@ -70,18 +70,18 @@ class Translation
   /** Constructs and initialize the translation transformation from a vector of translation coefficients */
   EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
 
-  /** \brief Retruns the x-translation by value. **/
+  /** \brief Returns the x-translation by value. **/
   EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
-  /** \brief Retruns the y-translation by value. **/
+  /** \brief Returns the y-translation by value. **/
   EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
-  /** \brief Retruns the z-translation by value. **/
+  /** \brief Returns the z-translation by value. **/
   EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
 
-  /** \brief Retruns the x-translation as a reference. **/
+  /** \brief Returns the x-translation as a reference. **/
   EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
-  /** \brief Retruns the y-translation as a reference. **/
+  /** \brief Returns the y-translation as a reference. **/
   EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
-  /** \brief Retruns the z-translation as a reference. **/
+  /** \brief Returns the z-translation as a reference. **/
   EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
 
   EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
@@ -138,12 +138,6 @@ class Translation
   /** \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
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/Umeyama.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/Umeyama.h
index 7e933fca13..6b755008fd 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/Umeyama.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/Umeyama.h
@@ -87,7 +87,7 @@ struct umeyama_transform_matrix_type
 * \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 
+* minimizing the residual above. This transformation is always returned as an 
 * Eigen::Matrix.
 */
 template <typename Derived, typename OtherDerived>
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SIMD.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SIMD.h
new file mode 100644
index 0000000000..9af6a9af72
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SIMD.h
@@ -0,0 +1,168 @@
+// 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>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_GEOMETRY_SIMD_H
+#define EIGEN_GEOMETRY_SIMD_H
+
+namespace Eigen { 
+
+namespace internal {
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, Derived, OtherDerived, float>
+{
+  enum {
+    AAlignment = traits<Derived>::Alignment,
+    BAlignment = traits<OtherDerived>::Alignment,
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+    evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+    evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {0.f, 0.f, 0.f, neg_zero};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    Packet4f a = ae.template packet<AAlignment,Packet4f>(0);
+    Packet4f b = be.template packet<BAlignment,Packet4f>(0);
+    Packet4f s1 = pmul(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
+    Packet4f s2 = pmul(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
+    pstoret<float,Packet4f,ResAlignment>(
+              &res.x(),
+              padd(psub(pmul(a,vec4f_swizzle1(b,3,3,3,3)),
+                                    pmul(vec4f_swizzle1(a,2,0,1,0),
+                                               vec4f_swizzle1(b,1,2,0,0))),
+                         pxor(mask,padd(s1,s2))));
+    
+    return res;
+  }
+};
+
+template<class Derived>
+struct quat_conj<Architecture::Target, Derived, float>
+{
+  enum {
+    ResAlignment = traits<Quaternion<float> >::Alignment
+  };
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
+  {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<float> res;
+    const float neg_zero = numext::bit_cast<float>(0x80000000u);
+    const float arr[4] = {neg_zero, neg_zero, neg_zero,0.f};
+    const Packet4f mask = ploadu<Packet4f>(arr);
+    pstoret<float,Packet4f,ResAlignment>(&res.x(), pxor(mask, qe.template packet<traits<Derived>::Alignment,Packet4f>(0)));
+    return res;
+  }
+};
+
+
+template<typename VectorLhs,typename VectorRhs>
+struct cross3_impl<Architecture::Target,VectorLhs,VectorRhs,float,true>
+{
+  enum {
+    ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
+  };
+  static inline typename plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    evaluator<VectorLhs> lhs_eval(lhs);
+    evaluator<VectorRhs> rhs_eval(rhs);
+    Packet4f a = lhs_eval.template packet<traits<VectorLhs>::Alignment,Packet4f>(0);
+    Packet4f b = rhs_eval.template packet<traits<VectorRhs>::Alignment,Packet4f>(0);
+    Packet4f mul1 = pmul(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
+    Packet4f mul2 = pmul(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
+    typename plain_matrix_type<VectorLhs>::type res;
+    pstoret<float,Packet4f,ResAlignment>(&res.x(),psub(mul1,mul2));
+    return res;
+  }
+};
+
+
+
+#if (defined EIGEN_VECTORIZE_SSE) || (EIGEN_ARCH_ARM64)
+
+template<class Derived, class OtherDerived>
+struct quat_product<Architecture::Target, Derived, OtherDerived, double>
+{
+  enum {
+    BAlignment = traits<OtherDerived>::Alignment,
+    ResAlignment = traits<Quaternion<double> >::Alignment
+  };
+
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+  Quaternion<double> res;
+
+  evaluator<typename Derived::Coefficients> ae(_a.coeffs());
+  evaluator<typename OtherDerived::Coefficients> be(_b.coeffs());
+
+  const double* a = _a.coeffs().data();
+  Packet2d b_xy = be.template packet<BAlignment,Packet2d>(0);
+  Packet2d b_zw = be.template packet<BAlignment,Packet2d>(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));
+  pstoret<double,Packet2d,ResAlignment>(&res.x(), paddsub(t1, preverse(t2)));
+  
+  /*
+   * 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));
+  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(paddsub(preverse(t1), t2)));
+
+  return res;
+}
+};
+
+template<class Derived>
+struct quat_conj<Architecture::Target, Derived, double>
+{
+  enum {
+    ResAlignment = traits<Quaternion<double> >::Alignment
+  };
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
+  {
+    evaluator<typename Derived::Coefficients> qe(q.coeffs());
+    Quaternion<double> res;
+    const double neg_zero = numext::bit_cast<double>(0x8000000000000000ull);
+    const double arr1[2] = {neg_zero, neg_zero};
+    const double arr2[2] = {neg_zero,  0.0};
+    const Packet2d mask0 = ploadu<Packet2d>(arr1);
+    const Packet2d mask2 = ploadu<Packet2d>(arr2);
+    pstoret<double,Packet2d,ResAlignment>(&res.x(), pxor(mask0, qe.template packet<traits<Derived>::Alignment,Packet2d>(0)));
+    pstoret<double,Packet2d,ResAlignment>(&res.z(), pxor(mask2, qe.template packet<traits<Derived>::Alignment,Packet2d>(2)));
+    return res;
+  }
+};
+
+#endif // end EIGEN_VECTORIZE_SSE_OR_EIGEN_ARCH_ARM64
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_GEOMETRY_SIMD_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SSE.h b/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SSE.h
deleted file mode 100644
index f68cab5834..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ /dev/null
@@ -1,161 +0,0 @@
-// 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>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GEOMETRY_SSE_H
-#define EIGEN_GEOMETRY_SSE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, float>
-{
-  enum {
-    AAlignment = traits<Derived>::Alignment,
-    BAlignment = traits<OtherDerived>::Alignment,
-    ResAlignment = traits<Quaternion<float> >::Alignment
-  };
-  static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
-  {
-    Quaternion<float> res;
-    const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
-    __m128 a = _a.coeffs().template packet<AAlignment>(0);
-    __m128 b = _b.coeffs().template packet<BAlignment>(0);
-    __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
-    __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
-    pstoret<float,Packet4f,ResAlignment>(
-              &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_xor_ps(mask,_mm_add_ps(s1,s2))));
-    
-    return res;
-  }
-};
-
-template<class Derived>
-struct quat_conj<Architecture::SSE, Derived, float>
-{
-  enum {
-    ResAlignment = traits<Quaternion<float> >::Alignment
-  };
-  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
-  {
-    Quaternion<float> res;
-    const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
-    pstoret<float,Packet4f,ResAlignment>(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
-    return res;
-  }
-};
-
-
-template<typename VectorLhs,typename VectorRhs>
-struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
-{
-  enum {
-    ResAlignment = traits<typename plain_matrix_type<VectorLhs>::type>::Alignment
-  };
-  static inline typename plain_matrix_type<VectorLhs>::type
-  run(const VectorLhs& lhs, const VectorRhs& rhs)
-  {
-    __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
-    __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(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;
-    pstoret<float,Packet4f,ResAlignment>(&res.x(),_mm_sub_ps(mul1,mul2));
-    return res;
-  }
-};
-
-
-
-
-template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, double>
-{
-  enum {
-    BAlignment = traits<OtherDerived>::Alignment,
-    ResAlignment = traits<Quaternion<double> >::Alignment
-  };
-
-  static inline 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<BAlignment>(0);
-  Packet2d b_zw = _b.coeffs().template packet<BAlignment>(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 EIGEN_VECTORIZE_SSE3
-  EIGEN_UNUSED_VARIABLE(mask)
-  pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_addsub_pd(t1, preverse(t2)));
-#else
-  pstoret<double,Packet2d,ResAlignment>(&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 EIGEN_VECTORIZE_SSE3
-  EIGEN_UNUSED_VARIABLE(mask)
-  pstoret<double,Packet2d,ResAlignment>(&res.z(), preverse(_mm_addsub_pd(preverse(t1), t2)));
-#else
-  pstoret<double,Packet2d,ResAlignment>(&res.z(), psub(t1, pxor(mask,preverse(t2))));
-#endif
-
-  return res;
-}
-};
-
-template<class Derived>
-struct quat_conj<Architecture::SSE, Derived, double>
-{
-  enum {
-    ResAlignment = traits<Quaternion<double> >::Alignment
-  };
-  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
-  {
-    Quaternion<double> res;
-    const __m128d mask0 = _mm_setr_pd(-0.,-0.);
-    const __m128d mask2 = _mm_setr_pd(-0.,0.);
-    pstoret<double,Packet2d,ResAlignment>(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<traits<Derived>::Alignment>(0)));
-    pstoret<double,Packet2d,ResAlignment>(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<traits<Derived>::Alignment>(2)));
-    return res;
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GEOMETRY_SSE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/Householder/BlockHouseholder.h b/examples/ThirdPartyLibs/Eigen/src/Householder/BlockHouseholder.h
index 01a7ed1884..39ce1c2a0e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Householder/BlockHouseholder.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Householder/BlockHouseholder.h
@@ -63,8 +63,15 @@ void make_block_householder_triangular_factor(TriangularFactorType& triFactor, c
       triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
                                                         * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
             
-      // FIXME add .noalias() once the triangular product can work inplace
-      triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
+      // FIXME use the following line with .noalias() once the triangular product can work inplace
+      // triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
+      for(Index j=nbVecs-1; j>i; --j)
+      {
+        typename TriangularFactorType::Scalar z = triFactor(i,j);
+        triFactor(i,j) = z * triFactor(j,j);
+        if(nbVecs-j-1>0)
+          triFactor.row(i).tail(nbVecs-j-1) += z * triFactor.row(j).tail(nbVecs-j-1);
+      }
       
     }
     triFactor(i,i) = hCoeffs(i);
diff --git a/examples/ThirdPartyLibs/Eigen/src/Householder/Householder.h b/examples/ThirdPartyLibs/Eigen/src/Householder/Householder.h
index 80de2c3052..5bc037f00d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Householder/Householder.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Householder/Householder.h
@@ -39,6 +39,7 @@ template<int n> struct decrement_size
   *     MatrixBase::applyHouseholderOnTheRight()
   */
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
 {
   VectorBlock<Derived, internal::decrement_size<Base::SizeAtCompileTime>::ret> essentialPart(derived(), 1, size()-1);
@@ -62,6 +63,7 @@ void MatrixBase<Derived>::makeHouseholderInPlace(Scalar& tau, RealScalar& beta)
   */
 template<typename Derived>
 template<typename EssentialPart>
+EIGEN_DEVICE_FUNC
 void MatrixBase<Derived>::makeHouseholder(
   EssentialPart& essential,
   Scalar& tau,
@@ -103,13 +105,14 @@ void MatrixBase<Derived>::makeHouseholder(
   * \param essential the essential part of the vector \c v
   * \param tau the scaling factor of the Householder transformation
   * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
+  *                  this->cols() entries
   *
   * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
   *     MatrixBase::applyHouseholderOnTheRight()
   */
 template<typename Derived>
 template<typename EssentialPart>
+EIGEN_DEVICE_FUNC
 void MatrixBase<Derived>::applyHouseholderOnTheLeft(
   const EssentialPart& essential,
   const Scalar& tau,
@@ -140,13 +143,14 @@ void MatrixBase<Derived>::applyHouseholderOnTheLeft(
   * \param essential the essential part of the vector \c v
   * \param tau the scaling factor of the Householder transformation
   * \param workspace a pointer to working space with at least
-  *                  this->cols() * essential.size() entries
+  *                  this->rows() entries
   *
   * \sa MatrixBase::makeHouseholder(), MatrixBase::makeHouseholderInPlace(), 
   *     MatrixBase::applyHouseholderOnTheLeft()
   */
 template<typename Derived>
 template<typename EssentialPart>
+EIGEN_DEVICE_FUNC
 void MatrixBase<Derived>::applyHouseholderOnTheRight(
   const EssentialPart& essential,
   const Scalar& tau,
@@ -160,10 +164,10 @@ void MatrixBase<Derived>::applyHouseholderOnTheRight(
   {
     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.noalias() = right * essential;
     tmp += this->col(0);
     this->col(0) -= tau * tmp;
-    right.noalias() -= tau * tmp * essential.transpose();
+    right.noalias() -= tau * tmp * essential.adjoint();
   }
 }
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Householder/HouseholderSequence.h b/examples/ThirdPartyLibs/Eigen/src/Householder/HouseholderSequence.h
index 3ce0a693d9..022f6c3dba 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Householder/HouseholderSequence.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Householder/HouseholderSequence.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
 #define EIGEN_HOUSEHOLDER_SEQUENCE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \ingroup Householder_Module
   * \householder_module
@@ -34,8 +34,8 @@ namespace Eigen {
   * 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[
+  * 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.
   *
@@ -87,7 +87,7 @@ struct hseq_side_dependent_impl
 {
   typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
   typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
-  static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
+  static EIGEN_DEVICE_FUNC 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);
@@ -120,7 +120,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
   : public EigenBase<HouseholderSequence<VectorsType,CoeffsType,Side> >
 {
     typedef typename internal::hseq_side_dependent_impl<VectorsType,CoeffsType,Side>::EssentialVectorType EssentialVectorType;
-  
+
   public:
     enum {
       RowsAtCompileTime = internal::traits<HouseholderSequence>::RowsAtCompileTime,
@@ -140,6 +140,28 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       Side
     > ConjugateReturnType;
 
+    typedef HouseholderSequence<
+      VectorsType,
+      typename internal::conditional<NumTraits<Scalar>::IsComplex,
+        typename internal::remove_all<typename CoeffsType::ConjugateReturnType>::type,
+        CoeffsType>::type,
+      Side
+    > AdjointReturnType;
+
+    typedef HouseholderSequence<
+      typename internal::conditional<NumTraits<Scalar>::IsComplex,
+        typename internal::remove_all<typename VectorsType::ConjugateReturnType>::type,
+        VectorsType>::type,
+      CoeffsType,
+      Side
+    > TransposeReturnType;
+
+    typedef HouseholderSequence<
+      typename internal::add_const<VectorsType>::type,
+      typename internal::add_const<CoeffsType>::type,
+      Side
+    > ConstHouseholderSequence;
+
     /** \brief Constructor.
       * \param[in]  v      %Matrix containing the essential parts of the Householder vectors
       * \param[in]  h      Vector containing the Householder coefficients
@@ -157,33 +179,37 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       *
       * \sa setLength(), setShift()
       */
+    EIGEN_DEVICE_FUNC
     HouseholderSequence(const VectorsType& v, const CoeffsType& h)
-      : m_vectors(v), m_coeffs(h), m_trans(false), m_length(v.diagonalSize()),
+      : m_vectors(v), m_coeffs(h), m_reverse(false), m_length(v.diagonalSize()),
         m_shift(0)
     {
     }
 
     /** \brief Copy constructor. */
+    EIGEN_DEVICE_FUNC
     HouseholderSequence(const HouseholderSequence& other)
       : m_vectors(other.m_vectors),
         m_coeffs(other.m_coeffs),
-        m_trans(other.m_trans),
+        m_reverse(other.m_reverse),
         m_length(other.m_length),
         m_shift(other.m_shift)
     {
     }
 
     /** \brief Number of rows of transformation viewed as a matrix.
-      * \returns Number of rows 
+      * \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(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index rows() const EIGEN_NOEXCEPT { 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(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    Index cols() const EIGEN_NOEXCEPT { return rows(); }
 
     /** \brief Essential part of a Householder vector.
       * \param[in]  k  Index of Householder reflection
@@ -191,14 +217,15 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       *
       * 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[
+      * 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()
       */
+    EIGEN_DEVICE_FUNC
     const EssentialVectorType essentialVector(Index k) const
     {
       eigen_assert(k >= 0 && k < m_length);
@@ -206,31 +233,51 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     }
 
     /** \brief %Transpose of the Householder sequence. */
-    HouseholderSequence transpose() const
+    TransposeReturnType transpose() const
     {
-      return HouseholderSequence(*this).setTrans(!m_trans);
+      return TransposeReturnType(m_vectors.conjugate(), m_coeffs)
+              .setReverseFlag(!m_reverse)
+              .setLength(m_length)
+              .setShift(m_shift);
     }
 
     /** \brief Complex conjugate of the Householder sequence. */
     ConjugateReturnType conjugate() const
     {
       return ConjugateReturnType(m_vectors.conjugate(), m_coeffs.conjugate())
-             .setTrans(m_trans)
+             .setReverseFlag(m_reverse)
              .setLength(m_length)
              .setShift(m_shift);
     }
 
+    /** \returns an expression of the complex conjugate of \c *this if Cond==true,
+     *           returns \c *this otherwise.
+     */
+    template<bool Cond>
+    EIGEN_DEVICE_FUNC
+    inline typename internal::conditional<Cond,ConjugateReturnType,ConstHouseholderSequence>::type
+    conjugateIf() const
+    {
+      typedef typename internal::conditional<Cond,ConjugateReturnType,ConstHouseholderSequence>::type ReturnType;
+      return ReturnType(m_vectors.template conjugateIf<Cond>(), m_coeffs.template conjugateIf<Cond>());
+    }
+
     /** \brief Adjoint (conjugate transpose) of the Householder sequence. */
-    ConjugateReturnType adjoint() const
+    AdjointReturnType adjoint() const
     {
-      return conjugate().setTrans(!m_trans);
+      return AdjointReturnType(m_vectors, m_coeffs.conjugate())
+              .setReverseFlag(!m_reverse)
+              .setLength(m_length)
+              .setShift(m_shift);
     }
 
     /** \brief Inverse of the Householder sequence (equals the adjoint). */
-    ConjugateReturnType inverse() const { return adjoint(); }
+    AdjointReturnType inverse() const { return adjoint(); }
 
     /** \internal */
-    template<typename DestType> inline void evalTo(DestType& dst) const
+    template<typename DestType>
+    inline EIGEN_DEVICE_FUNC
+    void evalTo(DestType& dst) const
     {
       Matrix<Scalar, DestType::RowsAtCompileTime, 1,
              AutoAlign|ColMajor, DestType::MaxRowsAtCompileTime, 1> workspace(rows());
@@ -239,6 +286,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
 
     /** \internal */
     template<typename Dest, typename Workspace>
+    EIGEN_DEVICE_FUNC
     void evalTo(Dest& dst, Workspace& workspace) const
     {
       workspace.resize(rows());
@@ -251,7 +299,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
         for(Index k = vecs-1; k >= 0; --k)
         {
           Index cornerSize = rows() - k - m_shift;
-          if(m_trans)
+          if(m_reverse)
             dst.bottomRightCorner(cornerSize, cornerSize)
                .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), workspace.data());
           else
@@ -265,18 +313,26 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
         for(Index k = 0; k<cols()-vecs ; ++k)
           dst.col(k).tail(rows()-k-1).setZero();
       }
+      else if(m_length>BlockSize)
+      {
+        dst.setIdentity(rows(), rows());
+        if(m_reverse)
+          applyThisOnTheLeft(dst,workspace,true);
+        else
+          applyThisOnTheLeft(dst,workspace,true);
+      }
       else
       {
         dst.setIdentity(rows(), rows());
         for(Index k = vecs-1; k >= 0; --k)
         {
           Index cornerSize = rows() - k - m_shift;
-          if(m_trans)
+          if(m_reverse)
             dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
+               .applyHouseholderOnTheRight(essentialVector(k), m_coeffs.coeff(k), workspace.data());
           else
             dst.bottomRightCorner(cornerSize, cornerSize)
-               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), &workspace.coeffRef(0));
+               .applyHouseholderOnTheLeft(essentialVector(k), m_coeffs.coeff(k), workspace.data());
         }
       }
     }
@@ -295,42 +351,52 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       workspace.resize(dst.rows());
       for(Index k = 0; k < m_length; ++k)
       {
-        Index actual_k = m_trans ? m_length-k-1 : k;
+        Index actual_k = m_reverse ? m_length-k-1 : k;
         dst.rightCols(rows()-m_shift-actual_k)
            .applyHouseholderOnTheRight(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
       }
     }
 
     /** \internal */
-    template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+    template<typename Dest> inline void applyThisOnTheLeft(Dest& dst, bool inputIsIdentity = false) const
     {
       Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace;
-      applyThisOnTheLeft(dst, workspace);
+      applyThisOnTheLeft(dst, workspace, inputIsIdentity);
     }
 
     /** \internal */
     template<typename Dest, typename Workspace>
-    inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
+    inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace, bool inputIsIdentity = false) const
     {
-      const Index BlockSize = 48;
+      if(inputIsIdentity && m_reverse)
+        inputIsIdentity = false;
       // if the entries are large enough, then apply the reflectors by block
       if(m_length>=BlockSize && dst.cols()>1)
       {
-        for(Index i = 0; i < m_length; i+=BlockSize)
+        // Make sure we have at least 2 useful blocks, otherwise it is point-less:
+        Index blockSize = m_length<Index(2*BlockSize) ? (m_length+1)/2 : Index(BlockSize);
+        for(Index i = 0; i < m_length; i+=blockSize)
         {
-          Index end = m_trans ? (std::min)(m_length,i+BlockSize) : m_length-i;
-          Index k = m_trans ? i : (std::max)(Index(0),end-BlockSize);
+          Index end = m_reverse ? (std::min)(m_length,i+blockSize) : m_length-i;
+          Index k = m_reverse ? i : (std::max)(Index(0),end-blockSize);
           Index bs = end-k;
           Index start = k + m_shift;
-          
+
           typedef Block<typename internal::remove_all<VectorsType>::type,Dynamic,Dynamic> SubVectorsType;
           SubVectorsType sub_vecs1(m_vectors.const_cast_derived(), Side==OnTheRight ? k : start,
                                                                    Side==OnTheRight ? start : k,
                                                                    Side==OnTheRight ? bs : m_vectors.rows()-start,
                                                                    Side==OnTheRight ? m_vectors.cols()-start : bs);
           typename internal::conditional<Side==OnTheRight, Transpose<SubVectorsType>, SubVectorsType&>::type sub_vecs(sub_vecs1);
-          Block<Dest,Dynamic,Dynamic> sub_dst(dst,dst.rows()-rows()+m_shift+k,0, rows()-m_shift-k,dst.cols());
-          apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_trans);
+
+          Index dstStart = dst.rows()-rows()+m_shift+k;
+          Index dstRows  = rows()-m_shift-k;
+          Block<Dest,Dynamic,Dynamic> sub_dst(dst,
+                                              dstStart,
+                                              inputIsIdentity ? dstStart : 0,
+                                              dstRows,
+                                              inputIsIdentity ? dstRows : dst.cols());
+          apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_reverse);
         }
       }
       else
@@ -338,8 +404,9 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
         workspace.resize(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)
+          Index actual_k = m_reverse ? k : m_length-k-1;
+          Index dstStart = rows()-m_shift-actual_k;
+          dst.bottomRightCorner(dstStart, inputIsIdentity ? dstStart : dst.cols())
             .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
         }
       }
@@ -357,7 +424,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     {
       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);
+      applyThisOnTheLeft(res, internal::is_identity<OtherDerived>::value && res.rows()==res.cols());
       return res;
     }
 
@@ -372,6 +439,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       *
       * \sa length()
       */
+    EIGEN_DEVICE_FUNC
     HouseholderSequence& setLength(Index length)
     {
       m_length = length;
@@ -389,13 +457,17 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       *
       * \sa shift()
       */
+    EIGEN_DEVICE_FUNC
     HouseholderSequence& setShift(Index shift)
     {
       m_shift = shift;
       return *this;
     }
 
+    EIGEN_DEVICE_FUNC
     Index length() const { return m_length; }  /**< \brief Returns the length of the Householder sequence. */
+
+    EIGEN_DEVICE_FUNC
     Index shift() const { return m_shift; }    /**< \brief Returns the shift of the Householder sequence. */
 
     /* Necessary for .adjoint() and .conjugate() */
@@ -403,27 +475,30 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
 
   protected:
 
-    /** \brief Sets the transpose flag.
-      * \param [in]  trans  New value of the transpose flag.
+    /** \internal
+      * \brief Sets the reverse flag.
+      * \param [in]  reverse  New value of the reverse 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$.
+      * By default, the reverse flag is not set. If the reverse flag is set, then this object represents
+      * \f$ H^r = H_{n-1} \ldots H_1 H_0 \f$ instead of \f$ H = H_0 H_1 \ldots H_{n-1} \f$.
+      * \note For real valued HouseholderSequence this is equivalent to transposing \f$ H \f$.
       *
-      * \sa trans()
+      * \sa reverseFlag(), transpose(), adjoint()
       */
-    HouseholderSequence& setTrans(bool trans)
+    HouseholderSequence& setReverseFlag(bool reverse)
     {
-      m_trans = trans;
+      m_reverse = reverse;
       return *this;
     }
 
-    bool trans() const { return m_trans; }     /**< \brief Returns the transpose flag. */
+    bool reverseFlag() const { return m_reverse; }     /**< \internal \brief Returns the reverse flag. */
 
     typename VectorsType::Nested m_vectors;
     typename CoeffsType::Nested m_coeffs;
-    bool m_trans;
+    bool m_reverse;
     Index m_length;
     Index m_shift;
+    enum { BlockSize = 48 };
 };
 
 /** \brief Computes the product of a matrix with a Householder sequence.
@@ -444,7 +519,7 @@ typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,Ot
 }
 
 /** \ingroup Householder_Module \householder_module
-  * \brief Convenience function for constructing a Householder sequence. 
+  * \brief Convenience function for constructing a Householder sequence.
   * \returns A HouseholderSequence constructed from the specified arguments.
   */
 template<typename VectorsType, typename CoeffsType>
@@ -454,7 +529,7 @@ HouseholderSequence<VectorsType,CoeffsType> householderSequence(const VectorsTyp
 }
 
 /** \ingroup Householder_Module \householder_module
-  * \brief Convenience function for constructing a Householder sequence. 
+  * \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.
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
index facdaf890b..a117fc1551 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_BASIC_PRECONDITIONERS_H
 #define EIGEN_BASIC_PRECONDITIONERS_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \ingroup IterativeLinearSolvers_Module
   * \brief A preconditioner based on the digonal entries
@@ -52,15 +52,15 @@ class DiagonalPreconditioner
       compute(mat);
     }
 
-    Index rows() const { return m_invdiag.size(); }
-    Index cols() const { return m_invdiag.size(); }
-    
+    EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_invdiag.size(); }
+    EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_invdiag.size(); }
+
     template<typename MatType>
     DiagonalPreconditioner& analyzePattern(const MatType& )
     {
       return *this;
     }
-    
+
     template<typename MatType>
     DiagonalPreconditioner& factorize(const MatType& mat)
     {
@@ -77,7 +77,7 @@ class DiagonalPreconditioner
       m_isInitialized = true;
       return *this;
     }
-    
+
     template<typename MatType>
     DiagonalPreconditioner& compute(const MatType& mat)
     {
@@ -99,7 +99,7 @@ class DiagonalPreconditioner
                 && "DiagonalPreconditioner::solve(): invalid number of rows of the right hand side matrix b");
       return Solve<DiagonalPreconditioner, Rhs>(*this, b.derived());
     }
-    
+
     ComputationInfo info() { return Success; }
 
   protected:
@@ -121,7 +121,7 @@ class DiagonalPreconditioner
   * \implsparsesolverconcept
   *
   * The diagonal entries are pre-inverted and stored into a dense vector.
-  * 
+  *
   * \sa class LeastSquaresConjugateGradient, class DiagonalPreconditioner
   */
 template <typename _Scalar>
@@ -146,7 +146,7 @@ class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
     {
       return *this;
     }
-    
+
     template<typename MatType>
     LeastSquareDiagonalPreconditioner& factorize(const MatType& mat)
     {
@@ -168,7 +168,7 @@ class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
       {
         for(Index j=0; j<mat.outerSize(); ++j)
         {
-          RealScalar sum = mat.innerVector(j).squaredNorm();
+          RealScalar sum = mat.col(j).squaredNorm();
           if(sum>RealScalar(0))
             m_invdiag(j) = RealScalar(1)/sum;
           else
@@ -178,13 +178,13 @@ class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
       Base::m_isInitialized = true;
       return *this;
     }
-    
+
     template<typename MatType>
     LeastSquareDiagonalPreconditioner& compute(const MatType& mat)
     {
       return factorize(mat);
     }
-    
+
     ComputationInfo info() { return Success; }
 
   protected:
@@ -205,19 +205,19 @@ class IdentityPreconditioner
 
     template<typename MatrixType>
     explicit IdentityPreconditioner(const MatrixType& ) {}
-    
+
     template<typename MatrixType>
     IdentityPreconditioner& analyzePattern(const MatrixType& ) { return *this; }
-    
+
     template<typename MatrixType>
     IdentityPreconditioner& factorize(const MatrixType& ) { return *this; }
 
     template<typename MatrixType>
     IdentityPreconditioner& compute(const MatrixType& ) { return *this; }
-    
+
     template<typename Rhs>
     inline const Rhs& solve(const Rhs& b) const { return b; }
-    
+
     ComputationInfo info() { return Success; }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
index 454f468149..153acef65b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
@@ -191,32 +191,16 @@ class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner
 
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
+  void _solve_vector_with_guess_impl(const Rhs& b, Dest& x) const
   {    
-    bool failed = false;
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-      
-      typename Dest::ColXpr xj(x,j);
-      if(!internal::bicgstab(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
-        failed = true;
-    }
-    m_info = failed ? NumericalIssue
+    m_iterations = Base::maxIterations();
+    m_error = Base::m_tolerance;
+    
+    bool ret = internal::bicgstab(matrix(), b, x, Base::m_preconditioner, m_iterations, m_error);
+
+    m_info = (!ret) ? NumericalIssue
            : m_error <= Base::m_tolerance ? Success
            : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.resize(this->rows(),b.cols());
-    x.setZero();
-    _solve_with_guess_impl(b,x);
   }
 
 protected:
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
index 395daa8e47..5d8c6b4339 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
@@ -50,7 +50,8 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
     tol_error = 0;
     return;
   }
-  RealScalar threshold = tol*tol*rhsNorm2;
+  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+  RealScalar threshold = numext::maxi(RealScalar(tol*tol*rhsNorm2),considerAsZero);
   RealScalar residualNorm2 = residual.squaredNorm();
   if (residualNorm2 < threshold)
   {
@@ -58,7 +59,7 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
     tol_error = sqrt(residualNorm2 / rhsNorm2);
     return;
   }
-  
+
   VectorType p(n);
   p = precond.solve(residual);      // initial search direction
 
@@ -194,7 +195,7 @@ class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixTy
 
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
+  void _solve_vector_with_guess_impl(const Rhs& b, Dest& x) const
   {
     typedef typename Base::MatrixWrapper MatrixWrapper;
     typedef typename Base::ActualMatrixType ActualMatrixType;
@@ -210,31 +211,14 @@ class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixTy
                                            RowMajorWrapper,
                                            typename MatrixWrapper::template ConstSelfAdjointViewReturnType<UpLo>::Type
                                           >::type SelfAdjointWrapper;
+
     m_iterations = Base::maxIterations();
     m_error = Base::m_tolerance;
 
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-
-      typename Dest::ColXpr xj(x,j);
-      RowMajorWrapper row_mat(matrix());
-      internal::conjugate_gradient(SelfAdjointWrapper(row_mat), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
-    }
-
-    m_isInitialized = true;
+    RowMajorWrapper row_mat(matrix());
+    internal::conjugate_gradient(SelfAdjointWrapper(row_mat), b, x, Base::m_preconditioner, m_iterations, m_error);
     m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
   }
-  
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.setZero();
-    _solve_with_guess_impl(b.derived(),x);
-  }
 
 protected:
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
index e45c272b4c..7803fd8170 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
@@ -14,8 +14,8 @@
 #include <vector>
 #include <list>
 
-namespace Eigen {  
-/** 
+namespace Eigen {
+/**
   * \brief Modified Incomplete Cholesky with dual threshold
   *
   * References : C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
@@ -41,28 +41,22 @@ namespace Eigen {
   * the info() method, then you can either increase the initial shift, or better use another preconditioning technique.
   *
   */
-template <typename Scalar, int _UpLo = Lower, typename _OrderingType =
-#ifndef EIGEN_MPL2_ONLY
-AMDOrdering<int>
-#else
-NaturalOrdering<int>
-#endif
->
+template <typename Scalar, int _UpLo = Lower, typename _OrderingType = AMDOrdering<int> >
 class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> >
 {
   protected:
     typedef SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> > Base;
     using Base::m_isInitialized;
   public:
-    typedef typename NumTraits<Scalar>::Real RealScalar; 
+    typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef _OrderingType OrderingType;
     typedef typename OrderingType::PermutationType PermutationType;
-    typedef typename PermutationType::StorageIndex StorageIndex; 
+    typedef typename PermutationType::StorageIndex StorageIndex;
     typedef SparseMatrix<Scalar,ColMajor,StorageIndex> FactorType;
     typedef Matrix<Scalar,Dynamic,1> VectorSx;
     typedef Matrix<RealScalar,Dynamic,1> VectorRx;
     typedef Matrix<StorageIndex,Dynamic, 1> VectorIx;
-    typedef std::vector<std::list<StorageIndex> > VectorList; 
+    typedef std::vector<std::list<StorageIndex> > VectorList;
     enum { UpLo = _UpLo };
     enum {
       ColsAtCompileTime = Dynamic,
@@ -76,22 +70,22 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
       *
       * \sa IncompleteCholesky(const MatrixType&)
       */
-    IncompleteCholesky() : m_initialShift(1e-3),m_factorizationIsOk(false) {}
-    
+    IncompleteCholesky() : m_initialShift(1e-3),m_analysisIsOk(false),m_factorizationIsOk(false) {}
+
     /** Constructor computing the incomplete factorization for the given matrix \a matrix.
       */
     template<typename MatrixType>
-    IncompleteCholesky(const MatrixType& matrix) : m_initialShift(1e-3),m_factorizationIsOk(false)
+    IncompleteCholesky(const MatrixType& matrix) : m_initialShift(1e-3),m_analysisIsOk(false),m_factorizationIsOk(false)
     {
       compute(matrix);
     }
-    
+
     /** \returns number of rows of the factored matrix */
-    Index rows() const { return m_L.rows(); }
-    
+    EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_L.rows(); }
+
     /** \returns number of columns of the factored matrix */
-    Index cols() const { return m_L.cols(); }
-    
+    EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_L.cols(); }
+
 
     /** \brief Reports whether previous computation was successful.
       *
@@ -106,19 +100,19 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
       eigen_assert(m_isInitialized && "IncompleteCholesky is not initialized.");
       return m_info;
     }
-    
+
     /** \brief Set the initial shift parameter \f$ \sigma \f$.
       */
     void setInitialShift(RealScalar shift) { m_initialShift = shift; }
-    
+
     /** \brief Computes the fill reducing permutation vector using the sparsity pattern of \a mat
       */
     template<typename MatrixType>
     void analyzePattern(const MatrixType& mat)
     {
-      OrderingType ord; 
+      OrderingType ord;
       PermutationType pinv;
-      ord(mat.template selfadjointView<UpLo>(), pinv); 
+      ord(mat.template selfadjointView<UpLo>(), pinv);
       if(pinv.size()>0) m_perm = pinv.inverse();
       else              m_perm.resize(0);
       m_L.resize(mat.rows(), mat.cols());
@@ -126,7 +120,7 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
       m_isInitialized = true;
       m_info = Success;
     }
-    
+
     /** \brief Performs the numerical factorization of the input matrix \a mat
       *
       * The method analyzePattern() or compute() must have been called beforehand
@@ -136,7 +130,7 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
       */
     template<typename MatrixType>
     void factorize(const MatrixType& mat);
-    
+
     /** Computes or re-computes the incomplete Cholesky factorization of the input matrix \a mat
       *
       * It is a shortcut for a sequential call to the analyzePattern() and factorize() methods.
@@ -149,7 +143,7 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
       analyzePattern(mat);
       factorize(mat);
     }
-    
+
     // internal
     template<typename Rhs, typename Dest>
     void _solve_impl(const Rhs& b, Dest& x) const
@@ -176,16 +170,16 @@ class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_Up
 
   protected:
     FactorType m_L;              // The lower part stored in CSC
-    VectorRx m_scale;            // The vector for scaling the matrix 
+    VectorRx m_scale;            // The vector for scaling the matrix
     RealScalar m_initialShift;   // The initial shift parameter
-    bool m_analysisIsOk; 
-    bool m_factorizationIsOk; 
+    bool m_analysisIsOk;
+    bool m_factorizationIsOk;
     ComputationInfo m_info;
-    PermutationType m_perm; 
+    PermutationType m_perm;
 
   private:
-    inline void updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol); 
-}; 
+    inline void updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol);
+};
 
 // Based on the following paper:
 //   C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
@@ -196,10 +190,10 @@ template<typename _MatrixType>
 void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType& mat)
 {
   using std::sqrt;
-  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
-    
+  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first");
+
   // Dropping strategy : Keep only the p largest elements per column, where p is the number of elements in the column of the original matrix. Other strategies will be added
-  
+
   // Apply the fill-reducing permutation computed in analyzePattern()
   if (m_perm.rows() == mat.rows() ) // To detect the null permutation
   {
@@ -212,8 +206,8 @@ void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType
   {
     m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>();
   }
-  
-  Index n = m_L.cols(); 
+
+  Index n = m_L.cols();
   Index nnz = m_L.nonZeros();
   Map<VectorSx> vals(m_L.valuePtr(), nnz);         //values
   Map<VectorIx> rowIdx(m_L.innerIndexPtr(), nnz);  //Row indices
@@ -225,9 +219,9 @@ void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType
   VectorIx col_pattern(n);
   col_pattern.fill(-1);
   StorageIndex col_nnz;
-  
-  
-  // Computes the scaling factors 
+
+
+  // Computes the scaling factors
   m_scale.resize(n);
   m_scale.setZero();
   for (Index j = 0; j < n; j++)
@@ -237,7 +231,7 @@ void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType
       if(rowIdx[k]!=j)
         m_scale(rowIdx[k]) += numext::abs2(vals(k));
     }
-  
+
   m_scale = m_scale.cwiseSqrt().cwiseSqrt();
 
   for (Index j = 0; j < n; ++j)
@@ -247,8 +241,8 @@ void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType
       m_scale(j) = 1;
 
   // TODO disable scaling if not needed, i.e., if it is roughly uniform? (this will make solve() faster)
-  
-  // Scale and compute the shift for the matrix 
+
+  // Scale and compute the shift for the matrix
   RealScalar mindiag = NumTraits<RealScalar>::highest();
   for (Index j = 0; j < n; j++)
   {
@@ -259,7 +253,7 @@ void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType
   }
 
   FactorType L_save = m_L;
-  
+
   RealScalar shift = 0;
   if(mindiag <= RealScalar(0.))
     shift = m_initialShift - mindiag;
@@ -381,7 +375,7 @@ inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(Ref<const
   if (jk < colPtr(col+1) )
   {
     Index p = colPtr(col+1) - jk;
-    Index minpos; 
+    Index minpos;
     rowIdx.segment(jk,p).minCoeff(&minpos);
     minpos += jk;
     if (rowIdx(minpos) != rowIdx(jk))
@@ -395,6 +389,6 @@ inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(Ref<const
   }
 }
 
-} // end namespace Eigen 
+} // end namespace Eigen
 
 #endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
index 338e6f10a8..cdcf709eb6 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
@@ -12,19 +12,19 @@
 #define EIGEN_INCOMPLETE_LUT_H
 
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
-    
+
 /** \internal
-  * Compute a quick-sort split of a vector 
+  * Compute a quick-sort split of a vector
   * On output, the vector row is permuted such that its elements satisfy
   * abs(row(i)) >= abs(row(ncut)) if i<ncut
-  * abs(row(i)) <= abs(row(ncut)) if i>ncut 
+  * abs(row(i)) <= abs(row(ncut)) if i>ncut
   * \param row The vector of values
   * \param ind The array of index for the elements in @p row
   * \param ncut  The number of largest elements to keep
-  **/ 
+  **/
 template <typename VectorV, typename VectorI>
 Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
 {
@@ -34,15 +34,15 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   Index mid;
   Index n = row.size(); /* length of the vector */
   Index first, last ;
-  
+
   ncut--; /* to fit the zero-based indices */
-  first = 0; 
-  last = n-1; 
+  first = 0;
+  last = n-1;
   if (ncut < first || ncut > last ) return 0;
-  
+
   do {
-    mid = first; 
-    RealScalar abskey = abs(row(mid)); 
+    mid = first;
+    RealScalar abskey = abs(row(mid));
     for (Index j = first + 1; j <= last; j++) {
       if ( abs(row(j)) > abskey) {
         ++mid;
@@ -53,12 +53,12 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
     /* Interchange for the pivot element */
     swap(row(mid), row(first));
     swap(ind(mid), ind(first));
-    
+
     if (mid > ncut) last = mid - 1;
-    else if (mid < ncut ) first = mid + 1; 
+    else if (mid < ncut ) first = mid + 1;
   } while (mid != ncut );
-  
-  return 0; /* mid is equal to ncut */ 
+
+  return 0; /* mid is equal to ncut */
 }
 
 }// end namespace internal
@@ -71,23 +71,23 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   *
   * During the numerical factorization, two dropping rules are used :
   *  1) any element whose magnitude is less than some tolerance is dropped.
-  *    This tolerance is obtained by multiplying the input tolerance @p droptol 
+  *    This tolerance is obtained by multiplying the input tolerance @p droptol
   *    by the average magnitude of all the original elements in the current row.
-  *  2) After the elimination of the row, only the @p fill largest elements in 
-  *    the L part and the @p fill largest elements in the U part are kept 
-  *    (in addition to the diagonal element ). Note that @p fill is computed from 
-  *    the input parameter @p fillfactor which is used the ratio to control the fill_in 
+  *  2) After the elimination of the row, only the @p fill largest elements in
+  *    the L part and the @p fill largest elements in the U part are kept
+  *    (in addition to the diagonal element ). Note that @p fill is computed from
+  *    the input parameter @p fillfactor which is used the ratio to control the fill_in
   *    relatively to the initial number of nonzero elements.
-  * 
+  *
   * The two extreme cases are when @p droptol=0 (to keep all the @p fill*2 largest elements)
-  * and when @p fill=n/2 with @p droptol being different to zero. 
-  * 
-  * References : Yousef Saad, ILUT: A dual threshold incomplete LU factorization, 
+  * and when @p fill=n/2 with @p droptol being different to zero.
+  *
+  * References : Yousef Saad, ILUT: A dual threshold incomplete LU factorization,
   *              Numerical Linear Algebra with Applications, 1(4), pp 387-402, 1994.
-  * 
+  *
   * NOTE : The following implementation is derived from the ILUT implementation
-  * in the SPARSKIT package, Copyright (C) 2005, the Regents of the University of Minnesota 
-  *  released under the terms of the GNU LGPL: 
+  * in the SPARSKIT package, Copyright (C) 2005, the Regents of the University of Minnesota
+  *  released under the terms of the GNU LGPL:
   *    http://www-users.cs.umn.edu/~saad/software/SPARSKIT/README
   * However, Yousef Saad gave us permission to relicense his ILUT code to MPL2.
   * See the Eigen mailing list archive, thread: ILUT, date: July 8, 2012:
@@ -115,28 +115,28 @@ class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageInd
     };
 
   public:
-    
+
     IncompleteLUT()
       : m_droptol(NumTraits<Scalar>::dummy_precision()), m_fillfactor(10),
         m_analysisIsOk(false), m_factorizationIsOk(false)
     {}
-    
+
     template<typename MatrixType>
     explicit IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
       : m_droptol(droptol),m_fillfactor(fillfactor),
         m_analysisIsOk(false),m_factorizationIsOk(false)
     {
       eigen_assert(fillfactor != 0);
-      compute(mat); 
+      compute(mat);
     }
-    
-    Index rows() const { return m_lu.rows(); }
-    
-    Index cols() const { return m_lu.cols(); }
+
+    EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_lu.rows(); }
+
+    EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_lu.cols(); }
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix.appears to be negative.
       */
     ComputationInfo info() const
@@ -144,36 +144,36 @@ class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageInd
       eigen_assert(m_isInitialized && "IncompleteLUT is not initialized.");
       return m_info;
     }
-    
+
     template<typename MatrixType>
     void analyzePattern(const MatrixType& amat);
-    
+
     template<typename MatrixType>
     void factorize(const MatrixType& amat);
-    
+
     /**
       * Compute an incomplete LU factorization with dual threshold on the matrix mat
       * No pivoting is done in this version
-      * 
+      *
       **/
     template<typename MatrixType>
     IncompleteLUT& compute(const MatrixType& amat)
     {
-      analyzePattern(amat); 
+      analyzePattern(amat);
       factorize(amat);
       return *this;
     }
 
-    void setDroptol(const RealScalar& droptol); 
-    void setFillfactor(int fillfactor); 
-    
+    void setDroptol(const RealScalar& droptol);
+    void setFillfactor(int fillfactor);
+
     template<typename Rhs, typename Dest>
     void _solve_impl(const Rhs& b, Dest& x) const
     {
       x = m_Pinv * b;
       x = m_lu.template triangularView<UnitLower>().solve(x);
       x = m_lu.template triangularView<Upper>().solve(x);
-      x = m_P * x; 
+      x = m_P * x;
     }
 
 protected:
@@ -200,22 +200,22 @@ class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageInd
 
 /**
  * Set control parameter droptol
- *  \param droptol   Drop any element whose magnitude is less than this tolerance 
- **/ 
+ *  \param droptol   Drop any element whose magnitude is less than this tolerance
+ **/
 template<typename Scalar, typename StorageIndex>
 void IncompleteLUT<Scalar,StorageIndex>::setDroptol(const RealScalar& droptol)
 {
-  this->m_droptol = droptol;   
+  this->m_droptol = droptol;
 }
 
 /**
  * Set control parameter fillfactor
- * \param fillfactor  This is used to compute the  number @p fill_in of largest elements to keep on each row. 
- **/ 
+ * \param fillfactor  This is used to compute the  number @p fill_in of largest elements to keep on each row.
+ **/
 template<typename Scalar, typename StorageIndex>
 void IncompleteLUT<Scalar,StorageIndex>::setFillfactor(int fillfactor)
 {
-  this->m_fillfactor = fillfactor;   
+  this->m_fillfactor = fillfactor;
 }
 
 template <typename Scalar, typename StorageIndex>
@@ -225,24 +225,15 @@ void IncompleteLUT<Scalar,StorageIndex>::analyzePattern(const _MatrixType& amat)
   // Compute the Fill-reducing permutation
   // Since ILUT does not perform any numerical pivoting,
   // it is highly preferable to keep the diagonal through symmetric permutations.
-#ifndef EIGEN_MPL2_ONLY
   // To this end, let's symmetrize the pattern and perform AMD on it.
   SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
   SparseMatrix<Scalar,ColMajor, StorageIndex> mat2 = amat.transpose();
   // FIXME for a matrix with nearly symmetric pattern, mat2+mat1 is the appropriate choice.
-  //       on the other hand for a really non-symmetric pattern, mat2*mat1 should be prefered...
+  //       on the other hand for a really non-symmetric pattern, mat2*mat1 should be preferred...
   SparseMatrix<Scalar,ColMajor, StorageIndex> AtA = mat2 + mat1;
   AMDOrdering<StorageIndex> ordering;
   ordering(AtA,m_P);
   m_Pinv  = m_P.inverse(); // cache the inverse permutation
-#else
-  // If AMD is not available, (MPL2-only), then let's use the slower COLAMD routine.
-  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
-  COLAMDOrdering<StorageIndex> ordering;
-  ordering(mat1,m_Pinv);
-  m_P = m_Pinv.inverse();
-#endif
-
   m_analysisIsOk = true;
   m_factorizationIsOk = false;
   m_isInitialized = true;
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
index 7c2326eb7f..28a0c5109e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_ITERATIVE_SOLVER_BASE_H
 #define EIGEN_ITERATIVE_SOLVER_BASE_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -145,7 +145,7 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
 protected:
   typedef SparseSolverBase<Derived> Base;
   using Base::m_isInitialized;
-  
+
 public:
   typedef typename internal::traits<Derived>::MatrixType MatrixType;
   typedef typename internal::traits<Derived>::Preconditioner Preconditioner;
@@ -169,10 +169,10 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
   }
 
   /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
+    *
     * This constructor is a shortcut for the default constructor followed
     * by a call to compute().
-    * 
+    *
     * \warning this class stores a reference to the matrix A as well as some
     * precomputed values that depend on it. Therefore, if \a A is changed
     * this class becomes invalid. Call compute() to update it with the new
@@ -187,7 +187,7 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
   }
 
   ~IterativeSolverBase() {}
-  
+
   /** Initializes the iterative solver for the sparsity pattern of the matrix \a A for further solving \c Ax=b problems.
     *
     * Currently, this function mostly calls analyzePattern on the preconditioner. In the future
@@ -203,7 +203,7 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
     m_info = m_preconditioner.info();
     return derived();
   }
-  
+
   /** Initializes the iterative solver with the numerical values of the matrix \a A for further solving \c Ax=b problems.
     *
     * Currently, this function mostly calls factorize on the preconditioner.
@@ -216,7 +216,7 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
   template<typename MatrixDerived>
   Derived& factorize(const EigenBase<MatrixDerived>& A)
   {
-    eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); 
+    eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
     grab(A.derived());
     m_preconditioner.factorize(matrix());
     m_factorizationIsOk = true;
@@ -247,16 +247,16 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
   }
 
   /** \internal */
-  Index rows() const { return matrix().rows(); }
+  EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return matrix().rows(); }
 
   /** \internal */
-  Index cols() const { return matrix().cols(); }
+  EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return matrix().cols(); }
 
   /** \returns the tolerance threshold used by the stopping criteria.
     * \sa setTolerance()
     */
   RealScalar tolerance() const { return m_tolerance; }
-  
+
   /** Sets the tolerance threshold used by the stopping criteria.
     *
     * This value is used as an upper bound to the relative residual error: |Ax-b|/|b|.
@@ -270,19 +270,19 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
 
   /** \returns a read-write reference to the preconditioner for custom configuration. */
   Preconditioner& preconditioner() { return m_preconditioner; }
-  
+
   /** \returns a read-only reference to the preconditioner. */
   const Preconditioner& preconditioner() const { return m_preconditioner; }
 
   /** \returns the max number of iterations.
-    * It is either the value setted by setMaxIterations or, by default,
+    * It is either the value set by setMaxIterations or, by default,
     * twice the number of columns of the matrix.
     */
   Index maxIterations() const
   {
     return (m_maxIterations<0) ? 2*matrix().cols() : m_maxIterations;
   }
-  
+
   /** Sets the max number of iterations.
     * Default is twice the number of columns of the matrix.
     */
@@ -328,13 +328,13 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
     eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
     return m_info;
   }
-  
+
   /** \internal */
   template<typename Rhs, typename DestDerived>
-  void _solve_impl(const Rhs& b, SparseMatrixBase<DestDerived> &aDest) const
+  void _solve_with_guess_impl(const Rhs& b, SparseMatrixBase<DestDerived> &aDest) const
   {
     eigen_assert(rows()==b.rows());
-    
+
     Index rhsCols = b.cols();
     Index size = b.rows();
     DestDerived& dest(aDest.derived());
@@ -344,15 +344,65 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
     // We do not directly fill dest because sparse expressions have to be free of aliasing issue.
     // For non square least-square problems, b and dest might not have the same size whereas they might alias each-other.
     typename DestDerived::PlainObject tmp(cols(),rhsCols);
+    ComputationInfo global_info = Success;
     for(Index k=0; k<rhsCols; ++k)
     {
       tb = b.col(k);
-      tx = derived().solve(tb);
+      tx = dest.col(k);
+      derived()._solve_vector_with_guess_impl(tb,tx);
       tmp.col(k) = tx.sparseView(0);
+
+      // The call to _solve_vector_with_guess_impl updates m_info, so if it failed for a previous column
+      // we need to restore it to the worst value.
+      if(m_info==NumericalIssue)
+        global_info = NumericalIssue;
+      else if(m_info==NoConvergence)
+        global_info = NoConvergence;
     }
+    m_info = global_info;
     dest.swap(tmp);
   }
 
+  template<typename Rhs, typename DestDerived>
+  typename internal::enable_if<Rhs::ColsAtCompileTime!=1 && DestDerived::ColsAtCompileTime!=1>::type
+  _solve_with_guess_impl(const Rhs& b, MatrixBase<DestDerived> &aDest) const
+  {
+    eigen_assert(rows()==b.rows());
+
+    Index rhsCols = b.cols();
+    DestDerived& dest(aDest.derived());
+    ComputationInfo global_info = Success;
+    for(Index k=0; k<rhsCols; ++k)
+    {
+      typename DestDerived::ColXpr xk(dest,k);
+      typename Rhs::ConstColXpr bk(b,k);
+      derived()._solve_vector_with_guess_impl(bk,xk);
+
+      // The call to _solve_vector_with_guess updates m_info, so if it failed for a previous column
+      // we need to restore it to the worst value.
+      if(m_info==NumericalIssue)
+        global_info = NumericalIssue;
+      else if(m_info==NoConvergence)
+        global_info = NoConvergence;
+    }
+    m_info = global_info;
+  }
+
+  template<typename Rhs, typename DestDerived>
+  typename internal::enable_if<Rhs::ColsAtCompileTime==1 || DestDerived::ColsAtCompileTime==1>::type
+  _solve_with_guess_impl(const Rhs& b, MatrixBase<DestDerived> &dest) const
+  {
+    derived()._solve_vector_with_guess_impl(b,dest.derived());
+  }
+
+  /** \internal default initial guess = 0 */
+  template<typename Rhs,typename Dest>
+  void _solve_impl(const Rhs& b, Dest& x) const
+  {
+    x.setZero();
+    derived()._solve_with_guess_impl(b,x);
+  }
+
 protected:
   void init()
   {
@@ -370,19 +420,19 @@ class IterativeSolverBase : public SparseSolverBase<Derived>
   {
     return m_matrixWrapper.matrix();
   }
-  
+
   template<typename InputType>
   void grab(const InputType &A)
   {
     m_matrixWrapper.grab(A);
   }
-  
+
   MatrixWrapper m_matrixWrapper;
   Preconditioner m_preconditioner;
 
   Index m_maxIterations;
   RealScalar m_tolerance;
-  
+
   mutable RealScalar m_error;
   mutable Index m_iterations;
   mutable ComputationInfo m_info;
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
index 0aea0e099d..203fd0ec63 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
@@ -182,32 +182,14 @@ class LeastSquaresConjugateGradient : public IterativeSolverBase<LeastSquaresCon
 
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
+  void _solve_vector_with_guess_impl(const Rhs& b, Dest& x) const
   {
     m_iterations = Base::maxIterations();
     m_error = Base::m_tolerance;
 
-    for(Index j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-
-      typename Dest::ColXpr xj(x,j);
-      internal::least_square_conjugate_gradient(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
-    }
-
-    m_isInitialized = true;
+    internal::least_square_conjugate_gradient(matrix(), b, x, Base::m_preconditioner, m_iterations, m_error);
     m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
   }
-  
-  /** \internal */
-  using Base::_solve_impl;
-  template<typename Rhs,typename Dest>
-  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
-  {
-    x.setZero();
-    _solve_with_guess_impl(b.derived(),x);
-  }
 
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
index 0ace451771..7b89657542 100644
--- a/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
+++ b/examples/ThirdPartyLibs/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
@@ -13,7 +13,7 @@
 namespace Eigen {
 
 template<typename Decomposition, typename RhsType, typename GuessType> class SolveWithGuess;
-  
+
 /** \class SolveWithGuess
   * \ingroup IterativeLinearSolvers_Module
   *
@@ -45,13 +45,15 @@ class SolveWithGuess : public internal::generic_xpr_base<SolveWithGuess<Decompos
   typedef typename internal::traits<SolveWithGuess>::PlainObject PlainObject;
   typedef typename internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type Base;
   typedef typename internal::ref_selector<SolveWithGuess>::type Nested;
-  
+
   SolveWithGuess(const Decomposition &dec, const RhsType &rhs, const GuessType &guess)
     : m_dec(dec), m_rhs(rhs), m_guess(guess)
   {}
-  
-  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
-  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  Index rows() const EIGEN_NOEXCEPT { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+  Index cols() const EIGEN_NOEXCEPT { return m_rhs.cols(); }
 
   EIGEN_DEVICE_FUNC const Decomposition& dec()   const { return m_dec; }
   EIGEN_DEVICE_FUNC const RhsType&       rhs()   const { return m_rhs; }
@@ -61,7 +63,7 @@ class SolveWithGuess : public internal::generic_xpr_base<SolveWithGuess<Decompos
   const Decomposition &m_dec;
   const RhsType       &m_rhs;
   const GuessType     &m_guess;
-  
+
 private:
   Scalar coeff(Index row, Index col) const;
   Scalar coeff(Index i) const;
@@ -85,8 +87,8 @@ struct evaluator<SolveWithGuess<Decomposition,RhsType, GuessType> >
     m_result = solve.guess();
     solve.dec()._solve_with_guess_impl(solve.rhs(), m_result);
   }
-  
-protected:  
+
+protected:
   PlainObject m_result;
 };
 
@@ -108,7 +110,7 @@ struct Assignment<DstXprType, SolveWithGuess<DecType,RhsType,GuessType>, interna
   }
 };
 
-} // end namepsace internal
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/Jacobi/Jacobi.h b/examples/ThirdPartyLibs/Eigen/src/Jacobi/Jacobi.h
index af1228cb8c..76668a574a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/Jacobi/Jacobi.h
+++ b/examples/ThirdPartyLibs/Eigen/src/Jacobi/Jacobi.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_JACOBI_H
 #define EIGEN_JACOBI_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \ingroup Jacobi_Module
   * \jacobi_module
@@ -73,13 +73,13 @@ template<typename Scalar> class JacobiRotation
     bool makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z);
 
     EIGEN_DEVICE_FUNC
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* r=0);
 
   protected:
     EIGEN_DEVICE_FUNC
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::true_type);
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type);
     EIGEN_DEVICE_FUNC
-    void makeGivens(const Scalar& p, const Scalar& q, Scalar* z, internal::false_type);
+    void makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type);
 
     Scalar m_c, m_s;
 };
@@ -90,11 +90,12 @@ template<typename Scalar> class JacobiRotation
   * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z)
 {
   using std::sqrt;
   using std::abs;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
+
   RealScalar deno = RealScalar(2)*abs(y);
   if(deno < (std::numeric_limits<RealScalar>::min)())
   {
@@ -134,6 +135,7 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   */
 template<typename Scalar>
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Index p, Index q)
 {
   return makeJacobi(numext::real(m.coeff(p,p)), m.coeff(p,q), numext::real(m.coeff(q,q)));
@@ -143,7 +145,7 @@ inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Ind
   * \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).
+  * The value of \a r is returned if \a r 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
@@ -156,20 +158,22 @@ inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Ind
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename Scalar>
-void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
+EIGEN_DEVICE_FUNC
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r)
 {
-  makeGivens(p, q, z, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
+  makeGivens(p, q, r, typename internal::conditional<NumTraits<Scalar>::IsComplex, internal::true_type, internal::false_type>::type());
 }
 
 
 // specialization for complexes
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::true_type)
 {
   using std::sqrt;
   using std::abs;
   using numext::conj;
-  
+
   if(q==Scalar(0))
   {
     m_c = numext::real(p)<0 ? Scalar(-1) : Scalar(1);
@@ -223,6 +227,7 @@ void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 
 // specialization for reals
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, internal::false_type)
 {
   using std::sqrt;
@@ -268,7 +273,7 @@ void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 
 namespace internal {
 /** \jacobi_module
-  * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
+  * Applies the clock wise 2D rotation \a j to the set of 2D vectors of coordinates \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()
@@ -286,6 +291,7 @@ void apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>&
   */
 template<typename Derived>
 template<typename OtherScalar>
+EIGEN_DEVICE_FUNC
 inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
 {
   RowXpr x(this->row(p));
@@ -301,6 +307,7 @@ inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRo
   */
 template<typename Derived>
 template<typename OtherScalar>
+EIGEN_DEVICE_FUNC
 inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
 {
   ColXpr x(this->col(p));
@@ -314,7 +321,8 @@ template<typename Scalar, typename OtherScalar,
          int SizeAtCompileTime, int MinAlignment, bool Vectorizable>
 struct apply_rotation_in_the_plane_selector
 {
-  static inline void run(Scalar *x, Index incrx, Scalar *y, Index incry, Index size, OtherScalar c, OtherScalar s)
+  static EIGEN_DEVICE_FUNC
+  inline void run(Scalar *x, Index incrx, Scalar *y, Index incry, Index size, OtherScalar c, OtherScalar s)
   {
     for(Index i=0; i<size; ++i)
     {
@@ -441,10 +449,11 @@ struct apply_rotation_in_the_plane_selector<Scalar,OtherScalar,SizeAtCompileTime
 };
 
 template<typename VectorX, typename VectorY, typename OtherScalar>
+EIGEN_DEVICE_FUNC
 void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j)
 {
   typedef typename VectorX::Scalar Scalar;
-  const bool Vectorizable =    (VectorX::Flags & VectorY::Flags & PacketAccessBit)
+  const bool Vectorizable =    (int(VectorX::Flags) & int(VectorY::Flags) & PacketAccessBit)
                             && (int(packet_traits<Scalar>::size) == int(packet_traits<OtherScalar>::size));
 
   eigen_assert(xpr_x.size() == xpr_y.size());
@@ -454,7 +463,7 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x
 
   Scalar* EIGEN_RESTRICT x = &xpr_x.derived().coeffRef(0);
   Scalar* EIGEN_RESTRICT y = &xpr_y.derived().coeffRef(0);
-  
+
   OtherScalar c = j.c();
   OtherScalar s = j.s();
   if (c==OtherScalar(1) && s==OtherScalar(0))
diff --git a/examples/ThirdPartyLibs/Eigen/src/KLUSupport/KLUSupport.h b/examples/ThirdPartyLibs/Eigen/src/KLUSupport/KLUSupport.h
new file mode 100644
index 0000000000..215db35b03
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/KLUSupport/KLUSupport.h
@@ -0,0 +1,358 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2017 Kyle Macfarlan <kyle.macfarlan@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_KLUSUPPORT_H
+#define EIGEN_KLUSUPPORT_H
+
+namespace Eigen {
+
+/* TODO extract L, extract U, compute det, etc... */
+
+/** \ingroup KLUSupport_Module
+  * \brief A sparse LU factorization and solver based on KLU
+  *
+  * This class allows to solve for A.X = B sparse linear problems via a LU factorization
+  * using the KLU library. The sparse matrix A must be squared and full rank.
+  * The vectors or matrices X and B can be either dense or sparse.
+  *
+  * \warning The input matrix A should be in a \b compressed and \b column-major form.
+  * Otherwise an expensive copy will be made. You can call the inexpensive makeCompressed() to get a compressed matrix.
+  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class UmfPackLU, class SparseLU
+  */
+
+
+inline int klu_solve(klu_symbolic *Symbolic, klu_numeric *Numeric, Index ldim, Index nrhs, double B [ ], klu_common *Common, double) {
+   return klu_solve(Symbolic, Numeric, internal::convert_index<int>(ldim), internal::convert_index<int>(nrhs), B, Common);
+}
+
+inline int klu_solve(klu_symbolic *Symbolic, klu_numeric *Numeric, Index ldim, Index nrhs, std::complex<double>B[], klu_common *Common, std::complex<double>) {
+   return klu_z_solve(Symbolic, Numeric, internal::convert_index<int>(ldim), internal::convert_index<int>(nrhs), &numext::real_ref(B[0]), Common);
+}
+
+inline int klu_tsolve(klu_symbolic *Symbolic, klu_numeric *Numeric, Index ldim, Index nrhs, double B[], klu_common *Common, double) {
+   return klu_tsolve(Symbolic, Numeric, internal::convert_index<int>(ldim), internal::convert_index<int>(nrhs), B, Common);
+}
+
+inline int klu_tsolve(klu_symbolic *Symbolic, klu_numeric *Numeric, Index ldim, Index nrhs, std::complex<double>B[], klu_common *Common, std::complex<double>) {
+   return klu_z_tsolve(Symbolic, Numeric, internal::convert_index<int>(ldim), internal::convert_index<int>(nrhs), &numext::real_ref(B[0]), 0, Common);
+}
+
+inline klu_numeric* klu_factor(int Ap [ ], int Ai [ ], double Ax [ ], klu_symbolic *Symbolic, klu_common *Common, double) {
+   return klu_factor(Ap, Ai, Ax, Symbolic, Common);
+}
+
+inline klu_numeric* klu_factor(int Ap[], int Ai[], std::complex<double> Ax[], klu_symbolic *Symbolic, klu_common *Common, std::complex<double>) {
+   return klu_z_factor(Ap, Ai, &numext::real_ref(Ax[0]), Symbolic, Common);
+}
+
+
+template<typename _MatrixType>
+class KLU : public SparseSolverBase<KLU<_MatrixType> >
+{
+  protected:
+    typedef SparseSolverBase<KLU<_MatrixType> > Base;
+    using Base::m_isInitialized;
+  public:
+    using Base::_solve_impl;
+    typedef _MatrixType MatrixType;
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename MatrixType::RealScalar RealScalar;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef Matrix<Scalar,Dynamic,1> Vector;
+    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
+    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
+    typedef SparseMatrix<Scalar> LUMatrixType;
+    typedef SparseMatrix<Scalar,ColMajor,int> KLUMatrixType;
+    typedef Ref<const KLUMatrixType, StandardCompressedFormat> KLUMatrixRef;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+
+  public:
+
+    KLU()
+      : m_dummy(0,0), mp_matrix(m_dummy)
+    {
+      init();
+    }
+
+    template<typename InputMatrixType>
+    explicit KLU(const InputMatrixType& matrix)
+      : mp_matrix(matrix)
+    {
+      init();
+      compute(matrix);
+    }
+
+    ~KLU()
+    {
+      if(m_symbolic) klu_free_symbolic(&m_symbolic,&m_common);
+      if(m_numeric)  klu_free_numeric(&m_numeric,&m_common);
+    }
+
+    EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return mp_matrix.rows(); }
+    EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return mp_matrix.cols(); }
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * \returns \c Success if computation was successful,
+      *          \c NumericalIssue if the matrix.appears to be negative.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
+      return m_info;
+    }
+#if 0 // not implemented yet
+    inline const LUMatrixType& matrixL() const
+    {
+      if (m_extractedDataAreDirty) extractData();
+      return m_l;
+    }
+
+    inline const LUMatrixType& 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;
+    }
+#endif
+    /** Computes the sparse Cholesky decomposition of \a matrix
+     *  Note that the matrix should be column-major, and in compressed format for best performance.
+     *  \sa SparseMatrix::makeCompressed().
+     */
+    template<typename InputMatrixType>
+    void compute(const InputMatrixType& matrix)
+    {
+      if(m_symbolic) klu_free_symbolic(&m_symbolic, &m_common);
+      if(m_numeric)  klu_free_numeric(&m_numeric, &m_common);
+      grab(matrix.derived());
+      analyzePattern_impl();
+      factorize_impl();
+    }
+
+    /** Performs a symbolic decomposition on the sparcity of \a matrix.
+      *
+      * This function is particularly useful when solving for several problems having the same structure.
+      *
+      * \sa factorize(), compute()
+      */
+    template<typename InputMatrixType>
+    void analyzePattern(const InputMatrixType& matrix)
+    {
+      if(m_symbolic) klu_free_symbolic(&m_symbolic, &m_common);
+      if(m_numeric)  klu_free_numeric(&m_numeric, &m_common);
+
+      grab(matrix.derived());
+
+      analyzePattern_impl();
+    }
+
+
+    /** Provides access to the control settings array used by KLU.
+      *
+      * See KLU documentation for details.
+      */
+    inline const klu_common& kluCommon() const
+    {
+      return m_common;
+    }
+
+    /** Provides access to the control settings array used by UmfPack.
+      *
+      * If this array contains NaN's, the default values are used.
+      *
+      * See KLU documentation for details.
+      */
+    inline klu_common& kluCommon()
+    {
+      return m_common;
+    }
+
+    /** Performs a numeric decomposition of \a matrix
+      *
+      * The given matrix must has the same sparcity than the matrix on which the pattern anylysis has been performed.
+      *
+      * \sa analyzePattern(), compute()
+      */
+    template<typename InputMatrixType>
+    void factorize(const InputMatrixType& matrix)
+    {
+      eigen_assert(m_analysisIsOk && "KLU: you must first call analyzePattern()");
+      if(m_numeric)
+        klu_free_numeric(&m_numeric,&m_common);
+
+      grab(matrix.derived());
+
+      factorize_impl();
+    }
+
+    /** \internal */
+    template<typename BDerived,typename XDerived>
+    bool _solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
+
+#if 0 // not implemented yet
+    Scalar determinant() const;
+
+    void extractData() const;
+#endif
+
+  protected:
+
+    void init()
+    {
+      m_info                  = InvalidInput;
+      m_isInitialized         = false;
+      m_numeric               = 0;
+      m_symbolic              = 0;
+      m_extractedDataAreDirty = true;
+
+      klu_defaults(&m_common);
+    }
+
+    void analyzePattern_impl()
+    {
+      m_info = InvalidInput;
+      m_analysisIsOk = false;
+      m_factorizationIsOk = false;
+      m_symbolic = klu_analyze(internal::convert_index<int>(mp_matrix.rows()),
+                                     const_cast<StorageIndex*>(mp_matrix.outerIndexPtr()), const_cast<StorageIndex*>(mp_matrix.innerIndexPtr()),
+                                     &m_common);
+      if (m_symbolic) {
+         m_isInitialized = true;
+         m_info = Success;
+         m_analysisIsOk = true;
+         m_extractedDataAreDirty = true;
+      }
+    }
+
+    void factorize_impl()
+    {
+
+      m_numeric = klu_factor(const_cast<StorageIndex*>(mp_matrix.outerIndexPtr()), const_cast<StorageIndex*>(mp_matrix.innerIndexPtr()), const_cast<Scalar*>(mp_matrix.valuePtr()),
+                                    m_symbolic, &m_common, Scalar());
+
+
+      m_info = m_numeric ? Success : NumericalIssue;
+      m_factorizationIsOk = m_numeric ? 1 : 0;
+      m_extractedDataAreDirty = true;
+    }
+
+    template<typename MatrixDerived>
+    void grab(const EigenBase<MatrixDerived> &A)
+    {
+      mp_matrix.~KLUMatrixRef();
+      ::new (&mp_matrix) KLUMatrixRef(A.derived());
+    }
+
+    void grab(const KLUMatrixRef &A)
+    {
+      if(&(A.derived()) != &mp_matrix)
+      {
+        mp_matrix.~KLUMatrixRef();
+        ::new (&mp_matrix) KLUMatrixRef(A);
+      }
+    }
+
+    // cached data to reduce reallocation, etc.
+#if 0 // not implemented yet
+    mutable LUMatrixType m_l;
+    mutable LUMatrixType m_u;
+    mutable IntColVectorType m_p;
+    mutable IntRowVectorType m_q;
+#endif
+
+    KLUMatrixType m_dummy;
+    KLUMatrixRef mp_matrix;
+
+    klu_numeric* m_numeric;
+    klu_symbolic* m_symbolic;
+    klu_common m_common;
+    mutable ComputationInfo m_info;
+    int m_factorizationIsOk;
+    int m_analysisIsOk;
+    mutable bool m_extractedDataAreDirty;
+
+  private:
+    KLU(const KLU& ) { }
+};
+
+#if 0 // not implemented yet
+template<typename MatrixType>
+void KLU<MatrixType>::extractData() const
+{
+  if (m_extractedDataAreDirty)
+  {
+     eigen_assert(false && "KLU: extractData Not Yet Implemented");
+
+    // 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 KLU<MatrixType>::Scalar KLU<MatrixType>::determinant() const
+{
+  eigen_assert(false && "KLU: extractData Not Yet Implemented");
+  return Scalar();
+}
+#endif
+
+template<typename MatrixType>
+template<typename BDerived,typename XDerived>
+bool KLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
+{
+  Index rhsCols = b.cols();
+  EIGEN_STATIC_ASSERT((XDerived::Flags&RowMajorBit)==0, THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
+
+  x = b;
+  int info = klu_solve(m_symbolic, m_numeric, b.rows(), rhsCols, x.const_cast_derived().data(), const_cast<klu_common*>(&m_common), Scalar());
+
+  m_info = info!=0 ? Success : NumericalIssue;
+  return true;
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_KLUSUPPORT_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/Determinant.h b/examples/ThirdPartyLibs/Eigen/src/LU/Determinant.h
index d6a3c1e5a5..3a41e6fcba 100644
--- a/examples/ThirdPartyLibs/Eigen/src/LU/Determinant.h
+++ b/examples/ThirdPartyLibs/Eigen/src/LU/Determinant.h
@@ -15,6 +15,7 @@ namespace Eigen {
 namespace internal {
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 inline const typename Derived::Scalar bruteforce_det3_helper
 (const MatrixBase<Derived>& matrix, int a, int b, int c)
 {
@@ -22,14 +23,6 @@ inline const typename Derived::Scalar bruteforce_det3_helper
          * (matrix.coeff(1,b) * matrix.coeff(2,c) - matrix.coeff(1,c) * matrix.coeff(2,b));
 }
 
-template<typename Derived>
-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));
-}
-
 template<typename Derived,
          int DeterminantType = Derived::RowsAtCompileTime
 > struct determinant_impl
@@ -44,7 +37,8 @@ template<typename Derived,
 
 template<typename Derived> struct determinant_impl<Derived, 1>
 {
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  static inline EIGEN_DEVICE_FUNC
+  typename traits<Derived>::Scalar run(const Derived& m)
   {
     return m.coeff(0,0);
   }
@@ -52,7 +46,8 @@ template<typename Derived> struct determinant_impl<Derived, 1>
 
 template<typename Derived> struct determinant_impl<Derived, 2>
 {
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  static inline EIGEN_DEVICE_FUNC
+  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);
   }
@@ -60,7 +55,8 @@ template<typename Derived> struct determinant_impl<Derived, 2>
 
 template<typename Derived> struct determinant_impl<Derived, 3>
 {
-  static inline typename traits<Derived>::Scalar run(const Derived& m)
+  static inline EIGEN_DEVICE_FUNC
+  typename traits<Derived>::Scalar run(const Derived& m)
   {
     return bruteforce_det3_helper(m,0,1,2)
           - bruteforce_det3_helper(m,1,0,2)
@@ -70,15 +66,34 @@ template<typename Derived> struct determinant_impl<Derived, 3>
 
 template<typename Derived> struct determinant_impl<Derived, 4>
 {
-  static typename traits<Derived>::Scalar run(const Derived& m)
+  typedef typename traits<Derived>::Scalar Scalar;
+  static EIGEN_DEVICE_FUNC
+  Scalar run(const Derived& m)
+  {
+    Scalar d2_01 = det2(m, 0, 1);
+    Scalar d2_02 = det2(m, 0, 2);
+    Scalar d2_03 = det2(m, 0, 3);
+    Scalar d2_12 = det2(m, 1, 2);
+    Scalar d2_13 = det2(m, 1, 3);
+    Scalar d2_23 = det2(m, 2, 3);
+    Scalar d3_0 = det3(m, 1,d2_23, 2,d2_13, 3,d2_12);
+    Scalar d3_1 = det3(m, 0,d2_23, 2,d2_03, 3,d2_02);
+    Scalar d3_2 = det3(m, 0,d2_13, 1,d2_03, 3,d2_01);
+    Scalar d3_3 = det3(m, 0,d2_12, 1,d2_02, 2,d2_01);
+    return internal::pmadd(-m(0,3),d3_0, m(1,3)*d3_1) +
+           internal::pmadd(-m(2,3),d3_2, m(3,3)*d3_3);
+  }
+protected:
+  static EIGEN_DEVICE_FUNC
+  Scalar det2(const Derived& m, Index i0, Index i1)
+  {
+    return m(i0,0) * m(i1,1) - m(i1,0) * m(i0,1);
+  }
+
+  static EIGEN_DEVICE_FUNC
+  Scalar det3(const Derived& m, Index i0, const Scalar& d0, Index i1, const Scalar& d1, Index i2, const Scalar& d2)
   {
-    // trick by Martin Costabel to compute 4x4 det with only 30 muls
-    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);
+    return internal::pmadd(m(i0,2), d0, internal::pmadd(-m(i1,2), d1, m(i2,2)*d2));
   }
 };
 
@@ -89,6 +104,7 @@ template<typename Derived> struct determinant_impl<Derived, 4>
   * \returns the determinant of this matrix
   */
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
 {
   eigen_assert(rows() == cols());
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/FullPivLU.h b/examples/ThirdPartyLibs/Eigen/src/LU/FullPivLU.h
index ec61086d55..ba1749fa69 100644
--- a/examples/ThirdPartyLibs/Eigen/src/LU/FullPivLU.h
+++ b/examples/ThirdPartyLibs/Eigen/src/LU/FullPivLU.h
@@ -18,6 +18,7 @@ template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
 {
   typedef MatrixXpr XprKind;
   typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
   enum { Flags = 0 };
 };
 
@@ -48,12 +49,12 @@ template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
   * 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:
+  * As an example, here is how the original matrix can be retrieved:
   * \include class_FullPivLU.cpp
   * Output: \verbinclude class_FullPivLU.out
   *
   * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
+  *
   * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
   */
 template<typename _MatrixType> class FullPivLU
@@ -62,9 +63,9 @@ template<typename _MatrixType> class FullPivLU
   public:
     typedef _MatrixType MatrixType;
     typedef SolverBase<FullPivLU> Base;
+    friend class SolverBase<FullPivLU>;
 
     EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivLU)
-    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
@@ -218,6 +219,7 @@ template<typename _MatrixType> class FullPivLU
       return internal::image_retval<FullPivLU>(*this, originalMatrix);
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \return a solution x to the equation Ax=b, where A is the matrix of which
       * *this is the LU decomposition.
       *
@@ -237,14 +239,10 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa TriangularView::solve(), kernel(), inverse()
       */
-    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
     inline const Solve<FullPivLU, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LU is not initialized.");
-      return Solve<FullPivLU, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
         the LU decomposition.
@@ -320,7 +318,7 @@ template<typename _MatrixType> class FullPivLU
       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();
+          : NumTraits<Scalar>::epsilon() * RealScalar(m_lu.diagonalSize());
     }
 
     /** \returns the rank of the matrix of which *this is the LU decomposition.
@@ -406,8 +404,10 @@ template<typename _MatrixType> class FullPivLU
 
     MatrixType reconstructedMatrix() const;
 
-    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lu.rows(); }
-    EIGEN_DEVICE_FUNC inline Index cols() const { return m_lu.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index rows() const EIGEN_NOEXCEPT { return m_lu.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR
+    inline Index cols() const EIGEN_NOEXCEPT { return m_lu.cols(); }
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
@@ -529,8 +529,8 @@ void FullPivLU<MatrixType>::computeInPlace()
       m_nonzero_pivots = k;
       for(Index i = k; i < size; ++i)
       {
-        m_rowsTranspositions.coeffRef(i) = i;
-        m_colsTranspositions.coeffRef(i) = i;
+        m_rowsTranspositions.coeffRef(i) = internal::convert_index<StorageIndex>(i);
+        m_colsTranspositions.coeffRef(i) = internal::convert_index<StorageIndex>(i);
       }
       break;
     }
@@ -541,8 +541,8 @@ void FullPivLU<MatrixType>::computeInPlace()
     // 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;
+    m_rowsTranspositions.coeffRef(k) = internal::convert_index<StorageIndex>(row_of_biggest_in_corner);
+    m_colsTranspositions.coeffRef(k) = internal::convert_index<StorageIndex>(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;
@@ -755,7 +755,6 @@ void FullPivLU<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
   const Index rows = this->rows(),
               cols = this->cols(),
               nonzero_pivots = this->rank();
-  eigen_assert(rhs.rows() == rows);
   const Index smalldim = (std::min)(rows, cols);
 
   if(nonzero_pivots == 0)
@@ -805,7 +804,6 @@ void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType
 
   const Index rows = this->rows(), cols = this->cols(),
     nonzero_pivots = this->rank();
-   eigen_assert(rhs.rows() == cols);
   const Index smalldim = (std::min)(rows, cols);
 
   if(nonzero_pivots == 0)
@@ -819,29 +817,19 @@ void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType
   // Step 1
   c = permutationQ().inverse() * rhs;
 
-  if (Conjugate) {
-    // Step 2
-    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
-        .template triangularView<Upper>()
-        .adjoint()
-        .solveInPlace(c.topRows(nonzero_pivots));
-    // Step 3
-    m_lu.topLeftCorner(smalldim, smalldim)
-        .template triangularView<UnitLower>()
-        .adjoint()
-        .solveInPlace(c.topRows(smalldim));
-  } else {
-    // Step 2
-    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
-        .template triangularView<Upper>()
-        .transpose()
-        .solveInPlace(c.topRows(nonzero_pivots));
-    // Step 3
-    m_lu.topLeftCorner(smalldim, smalldim)
-        .template triangularView<UnitLower>()
-        .transpose()
-        .solveInPlace(c.topRows(smalldim));
-  }
+  // Step 2
+  m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+      .template triangularView<Upper>()
+      .transpose()
+      .template conjugateIf<Conjugate>()
+      .solveInPlace(c.topRows(nonzero_pivots));
+
+  // Step 3
+  m_lu.topLeftCorner(smalldim, smalldim)
+      .template triangularView<UnitLower>()
+      .transpose()
+      .template conjugateIf<Conjugate>()
+      .solveInPlace(c.topRows(smalldim));
 
   // Step 4
   PermutationPType invp = permutationP().inverse().eval();
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/InverseImpl.h b/examples/ThirdPartyLibs/Eigen/src/LU/InverseImpl.h
index 018f99b58f..a40cefa9e7 100644
--- a/examples/ThirdPartyLibs/Eigen/src/LU/InverseImpl.h
+++ b/examples/ThirdPartyLibs/Eigen/src/LU/InverseImpl.h
@@ -77,10 +77,11 @@ inline void compute_inverse_size2_helper(
     const MatrixType& matrix, const typename ResultType::Scalar& invdet,
     ResultType& result)
 {
+  typename ResultType::Scalar temp = matrix.coeff(0,0);
   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;
+  result.coeffRef(1,1) =  temp * invdet;
 }
 
 template<typename MatrixType, typename ResultType>
@@ -143,13 +144,18 @@ inline void compute_inverse_size3_helper(
     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;
+  // Compute cofactors in a way that avoids aliasing issues.
+  typedef typename ResultType::Scalar Scalar;
+  const Scalar c01 = cofactor_3x3<MatrixType,0,1>(matrix) * invdet;
+  const Scalar c11 = cofactor_3x3<MatrixType,1,1>(matrix) * invdet;
+  const Scalar c02 = cofactor_3x3<MatrixType,0,2>(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;
+  result.coeffRef(1,0) =  c01;
+  result.coeffRef(1,1) =  c11;
+  result.coeffRef(2,0) =  c02;  
+  result.row(0) = cofactors_col0 * invdet;
 }
 
 template<typename MatrixType, typename ResultType>
@@ -181,14 +187,13 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
     bool& invertible
   )
   {
-    using std::abs;
     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;
+    invertible = Eigen::numext::abs(determinant) > absDeterminantThreshold;
     if(!invertible) return;
     const Scalar invdet = Scalar(1) / determinant;
     compute_inverse_size3_helper(matrix, invdet, cofactors_col0, inverse);
@@ -273,7 +278,13 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
     using std::abs;
     determinant = matrix.determinant();
     invertible = abs(determinant) > absDeterminantThreshold;
-    if(invertible) compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+    if(invertible && extract_data(matrix) != extract_data(inverse)) {
+      compute_inverse<MatrixType, ResultType>::run(matrix, inverse);
+    }
+    else if(invertible) {
+      MatrixType matrix_t = matrix;
+      compute_inverse<MatrixType, ResultType>::run(matrix_t, inverse);
+    }
   }
 };
 
@@ -290,6 +301,7 @@ template<typename DstXprType, typename XprType>
 struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar>, Dense2Dense>
 {
   typedef Inverse<XprType> SrcXprType;
+  EIGEN_DEVICE_FUNC
   static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar> &)
   {
     Index dstRows = src.rows();
@@ -332,6 +344,7 @@ struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename Dst
   * \sa computeInverseAndDetWithCheck()
   */
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
 {
   EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
@@ -345,6 +358,8 @@ inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
   *
   * This is only for fixed-size square matrices of size up to 4x4.
   *
+  * Notice that it will trigger a copy of input matrix when trying to do the inverse in place.
+  *
   * \param inverse Reference to the matrix in which to store the inverse.
   * \param determinant Reference to the variable in which to store the determinant.
   * \param invertible Reference to the bool variable in which to store whether the matrix is invertible.
@@ -385,6 +400,8 @@ inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
   *
   * This is only for fixed-size square matrices of size up to 4x4.
   *
+  * Notice that it will trigger a copy of input matrix when trying to do the inverse in place.
+  *
   * \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.
@@ -404,7 +421,7 @@ inline void MatrixBase<Derived>::computeInverseWithCheck(
     const RealScalar& absDeterminantThreshold
   ) const
 {
-  RealScalar determinant;
+  Scalar 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);
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/PartialPivLU.h b/examples/ThirdPartyLibs/Eigen/src/LU/PartialPivLU.h
index d439618879..34aed72494 100644
--- a/examples/ThirdPartyLibs/Eigen/src/LU/PartialPivLU.h
+++ b/examples/ThirdPartyLibs/Eigen/src/LU/PartialPivLU.h
@@ -19,6 +19,7 @@ template<typename _MatrixType> struct traits<PartialPivLU<_MatrixType> >
 {
   typedef MatrixXpr XprKind;
   typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
   typedef traits<_MatrixType> BaseTraits;
   enum {
     Flags = BaseTraits::Flags & RowMajorBit,
@@ -69,7 +70,7 @@ struct enable_if_ref<Ref<T>,Derived> {
   * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
   *
   * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
-  * 
+  *
   * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
   */
 template<typename _MatrixType> class PartialPivLU
@@ -79,8 +80,9 @@ template<typename _MatrixType> class PartialPivLU
 
     typedef _MatrixType MatrixType;
     typedef SolverBase<PartialPivLU> Base;
+    friend class SolverBase<PartialPivLU>;
+
     EIGEN_GENERIC_PUBLIC_INTERFACE(PartialPivLU)
-    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
@@ -152,6 +154,7 @@ template<typename _MatrixType> class PartialPivLU
       return m_p;
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** This method returns the solution x to the equation Ax=b, where A is the matrix of which
       * *this is the LU decomposition.
       *
@@ -169,14 +172,10 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa TriangularView::solve(), inverse(), computeInverse()
       */
-    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
     inline const Solve<PartialPivLU, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return Solve<PartialPivLU, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
         the LU decomposition.
@@ -217,8 +216,8 @@ template<typename _MatrixType> class PartialPivLU
 
     MatrixType reconstructedMatrix() const;
 
-    inline Index rows() const { return m_lu.rows(); }
-    inline Index cols() const { return m_lu.cols(); }
+    EIGEN_CONSTEXPR inline Index rows() const EIGEN_NOEXCEPT { return m_lu.rows(); }
+    EIGEN_CONSTEXPR inline Index cols() const EIGEN_NOEXCEPT { return m_lu.cols(); }
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
@@ -231,8 +230,6 @@ template<typename _MatrixType> class PartialPivLU
       * Step 3: replace c by the solution x to Ux = c.
       */
 
-      eigen_assert(rhs.rows() == m_lu.rows());
-
       // Step 1
       dst = permutationP() * rhs;
 
@@ -246,26 +243,21 @@ template<typename _MatrixType> class PartialPivLU
     template<bool Conjugate, typename RhsType, typename DstType>
     EIGEN_DEVICE_FUNC
     void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const {
-     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+     /* The decomposition PA = LU can be rewritten as A^T = U^T L^T P.
       * 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.
+      * Step 1: compute c as the solution to L^T c = b
+      * Step 2: replace c by the solution x to U^T x = c.
+      * Step 3: update  c = P^-1 c.
       */
 
       eigen_assert(rhs.rows() == m_lu.cols());
 
-      if (Conjugate) {
-        // Step 1
-        dst = m_lu.template triangularView<Upper>().adjoint().solve(rhs);
-        // Step 2
-        m_lu.template triangularView<UnitLower>().adjoint().solveInPlace(dst);
-      } else {
-        // Step 1
-        dst = m_lu.template triangularView<Upper>().transpose().solve(rhs);
-        // Step 2
-        m_lu.template triangularView<UnitLower>().transpose().solveInPlace(dst);
-      }
+      // Step 1
+      dst = m_lu.template triangularView<Upper>().transpose()
+                .template conjugateIf<Conjugate>().solve(rhs);
+      // Step 2
+      m_lu.template triangularView<UnitLower>().transpose()
+          .template conjugateIf<Conjugate>().solveInPlace(dst);
       // Step 3
       dst = permutationP().transpose() * dst;
     }
@@ -339,17 +331,18 @@ PartialPivLU<MatrixType>::PartialPivLU(EigenBase<InputType>& matrix)
 namespace internal {
 
 /** \internal This is the blocked version of fullpivlu_unblocked() */
-template<typename Scalar, int StorageOrder, typename PivIndex>
+template<typename Scalar, int StorageOrder, typename PivIndex, int SizeAtCompileTime=Dynamic>
 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;
+  static const int UnBlockedBound = 16;
+  static const bool UnBlockedAtCompileTime = SizeAtCompileTime!=Dynamic && SizeAtCompileTime<=UnBlockedBound;
+  static const int ActualSizeAtCompileTime = UnBlockedAtCompileTime ? SizeAtCompileTime : Dynamic;
+  // Remaining rows and columns at compile-time:
+  static const int RRows = SizeAtCompileTime==2 ? 1 : Dynamic;
+  static const int RCols = SizeAtCompileTime==2 ? 1 : Dynamic;
+  typedef Matrix<Scalar, ActualSizeAtCompileTime, ActualSizeAtCompileTime, StorageOrder> MatrixType;
+  typedef Ref<MatrixType> MatrixTypeRef;
+  typedef Ref<Matrix<Scalar, Dynamic, Dynamic, StorageOrder> > BlockType;
   typedef typename MatrixType::RealScalar RealScalar;
 
   /** \internal performs the LU decomposition in-place of the matrix \a lu
@@ -362,19 +355,22 @@ struct partial_lu_impl
     *
     * \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)
+  static Index unblocked_lu(MatrixTypeRef& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
   {
     typedef scalar_score_coeff_op<Scalar> Scoring;
     typedef typename Scoring::result_type Score;
     const Index rows = lu.rows();
     const Index cols = lu.cols();
     const Index size = (std::min)(rows,cols);
+    // For small compile-time matrices it is worth processing the last row separately:
+    //  speedup: +100% for 2x2, +10% for others.
+    const Index endk = UnBlockedAtCompileTime ? size-1 : size;
     nb_transpositions = 0;
     Index first_zero_pivot = -1;
-    for(Index k = 0; k < size; ++k)
+    for(Index k = 0; k < endk; ++k)
     {
-      Index rrows = rows-k-1;
-      Index rcols = cols-k-1;
+      int rrows = internal::convert_index<int>(rows-k-1);
+      int rcols = internal::convert_index<int>(cols-k-1);
 
       Index row_of_biggest_in_col;
       Score biggest_in_corner
@@ -391,9 +387,7 @@ struct partial_lu_impl
           ++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);
+        lu.col(k).tail(fix<RRows>(rrows)) /= lu.coeff(k,k);
       }
       else if(first_zero_pivot==-1)
       {
@@ -403,8 +397,18 @@ struct partial_lu_impl
       }
 
       if(k<rows-1)
-        lu.bottomRightCorner(rrows,rcols).noalias() -= lu.col(k).tail(rrows) * lu.row(k).tail(rcols);
+        lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
+    }
+
+    // special handling of the last entry
+    if(UnBlockedAtCompileTime)
+    {
+      Index k = endk;
+      row_transpositions[k] = PivIndex(k);
+      if (Scoring()(lu(k, k)) == Score(0) && first_zero_pivot == -1)
+        first_zero_pivot = k;
     }
+
     return first_zero_pivot;
   }
 
@@ -420,18 +424,17 @@ struct partial_lu_impl
     * \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<...> > >
+    *   1 - reduce the number of instantiations to the strict minimum
+    *   2 - avoid infinite recursion of the instantiations 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);
+    MatrixTypeRef lu = MatrixType::Map(lu_data,rows, cols, OuterStride<>(luStride));
 
     const Index size = (std::min)(rows,cols);
 
     // if the matrix is too small, no blocking:
-    if(size<=16)
+    if(UnBlockedAtCompileTime || size<=UnBlockedBound)
     {
       return unblocked_lu(lu, row_transpositions, nb_transpositions);
     }
@@ -457,12 +460,12 @@ struct partial_lu_impl
       //                          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);
+      BlockType A_0 = lu.block(0,0,rows,k);
+      BlockType A_2 = lu.block(0,k+bs,rows,tsize);
+      BlockType A11 = lu.block(k,k,bs,bs);
+      BlockType A12 = lu.block(k,k+bs,bs,tsize);
+      BlockType A21 = lu.block(k+bs,k,trows,bs);
+      BlockType A22 = lu.block(k+bs,k+bs,trows,tsize);
 
       PivIndex nb_transpositions_in_panel;
       // recursively call the blocked LU algorithm on [A11^T A21^T]^T
@@ -501,11 +504,18 @@ struct partial_lu_impl
 template<typename MatrixType, typename TranspositionType>
 void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::StorageIndex& nb_transpositions)
 {
+  // Special-case of zero matrix.
+  if (lu.rows() == 0 || lu.cols() == 0) {
+    nb_transpositions = 0;
+    return;
+  }
   eigen_assert(lu.cols() == row_transpositions.size());
-  eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
+  eigen_assert(row_transpositions.size() < 2 || (&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
 
   partial_lu_impl
-    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::StorageIndex>
+    < typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor,
+      typename TranspositionType::StorageIndex,
+      EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::RowsAtCompileTime,MatrixType::ColsAtCompileTime)>
     ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
 }
 
@@ -519,7 +529,10 @@ void PartialPivLU<MatrixType>::compute()
   // the row permutation is stored as int indices, so just to be sure:
   eigen_assert(m_lu.rows()<NumTraits<int>::highest());
 
-  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+  if(m_lu.cols()>0)
+    m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+  else
+    m_l1_norm = RealScalar(0);
 
   eigen_assert(m_lu.rows() == m_lu.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
   const Index size = m_lu.rows();
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/arch/InverseSize4.h b/examples/ThirdPartyLibs/Eigen/src/LU/arch/InverseSize4.h
new file mode 100644
index 0000000000..a232ffc0aa
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/LU/arch/InverseSize4.h
@@ -0,0 +1,351 @@
+// 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>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+//
+// The algorithm below is a reimplementation of former \src\LU\Inverse_SSE.h using PacketMath.
+// inv(M) = M#/|M|, where inv(M), M# and |M| denote the inverse of M,
+// adjugate of M and determinant of M respectively. M# is computed block-wise
+// using specific formulae. For proof, see:
+// https://lxjk.github.io/2017/09/03/Fast-4x4-Matrix-Inverse-with-SSE-SIMD-Explained.html
+// Variable names are adopted from \src\LU\Inverse_SSE.h.
+//
+// The SSE code for the 4x4 float and double matrix inverse in former (deprecated) \src\LU\Inverse_SSE.h
+// 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.
+//
+// TODO: Unify implementations of different data types (i.e. float and double).
+#ifndef EIGEN_INVERSE_SIZE_4_H
+#define EIGEN_INVERSE_SIZE_4_H
+
+namespace Eigen
+{
+namespace internal
+{
+template <typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::Target, float, MatrixType, ResultType>
+{
+  enum
+  {
+    MatrixAlignment = traits<MatrixType>::Alignment,
+    ResultAlignment = traits<ResultType>::Alignment,
+    StorageOrdersMatch = (MatrixType::Flags & RowMajorBit) == (ResultType::Flags & RowMajorBit)
+  };
+  typedef typename conditional<(MatrixType::Flags & LinearAccessBit), MatrixType const &, typename MatrixType::PlainObject>::type ActualMatrixType;
+
+  static void run(const MatrixType &mat, ResultType &result)
+  {
+    ActualMatrixType matrix(mat);
+
+    const float* data = matrix.data();
+    const Index stride = matrix.innerStride();
+    Packet4f _L1 = ploadt<Packet4f,MatrixAlignment>(data);
+    Packet4f _L2 = ploadt<Packet4f,MatrixAlignment>(data + stride*4);
+    Packet4f _L3 = ploadt<Packet4f,MatrixAlignment>(data + stride*8);
+    Packet4f _L4 = ploadt<Packet4f,MatrixAlignment>(data + stride*12);
+
+    // Four 2x2 sub-matrices of the input matrix
+    // input = [[A, B],
+    //          [C, D]]
+    Packet4f A, B, C, D;
+
+    if (!StorageOrdersMatch)
+    {
+      A = vec4f_unpacklo(_L1, _L2);
+      B = vec4f_unpacklo(_L3, _L4);
+      C = vec4f_unpackhi(_L1, _L2);
+      D = vec4f_unpackhi(_L3, _L4);
+    }
+    else
+    {
+      A = vec4f_movelh(_L1, _L2);
+      B = vec4f_movehl(_L2, _L1);
+      C = vec4f_movelh(_L3, _L4);
+      D = vec4f_movehl(_L4, _L3);
+    }
+
+    Packet4f AB, DC;
+
+    // AB = A# * B, where A# denotes the adjugate of A, and * denotes matrix product.
+    AB = pmul(vec4f_swizzle2(A, A, 3, 3, 0, 0), B);
+    AB = psub(AB, pmul(vec4f_swizzle2(A, A, 1, 1, 2, 2), vec4f_swizzle2(B, B, 2, 3, 0, 1)));
+
+    // DC = D#*C
+    DC = pmul(vec4f_swizzle2(D, D, 3, 3, 0, 0), C);
+    DC = psub(DC, pmul(vec4f_swizzle2(D, D, 1, 1, 2, 2), vec4f_swizzle2(C, C, 2, 3, 0, 1)));
+
+    // determinants of the sub-matrices
+    Packet4f dA, dB, dC, dD;
+
+    dA = pmul(vec4f_swizzle2(A, A, 3, 3, 1, 1), A);
+    dA = psub(dA, vec4f_movehl(dA, dA));
+
+    dB = pmul(vec4f_swizzle2(B, B, 3, 3, 1, 1), B);
+    dB = psub(dB, vec4f_movehl(dB, dB));
+
+    dC = pmul(vec4f_swizzle2(C, C, 3, 3, 1, 1), C);
+    dC = psub(dC, vec4f_movehl(dC, dC));
+
+    dD = pmul(vec4f_swizzle2(D, D, 3, 3, 1, 1), D);
+    dD = psub(dD, vec4f_movehl(dD, dD));
+
+    Packet4f d, d1, d2;
+
+    d = pmul(vec4f_swizzle2(DC, DC, 0, 2, 1, 3), AB);
+    d = padd(d, vec4f_movehl(d, d));
+    d = padd(d, vec4f_swizzle2(d, d, 1, 0, 0, 0));
+    d1 = pmul(dA, dD);
+    d2 = pmul(dB, dC);
+
+    // determinant of the input matrix, det = |A||D| + |B||C| - trace(A#*B*D#*C)
+    Packet4f det = vec4f_duplane(psub(padd(d1, d2), d), 0);
+
+    // reciprocal of the determinant of the input matrix, rd = 1/det
+    Packet4f rd = pdiv(pset1<Packet4f>(1.0f), det);
+
+    // Four sub-matrices of the inverse
+    Packet4f iA, iB, iC, iD;
+
+    // iD = D*|A| - C*A#*B
+    iD = pmul(vec4f_swizzle2(C, C, 0, 0, 2, 2), vec4f_movelh(AB, AB));
+    iD = padd(iD, pmul(vec4f_swizzle2(C, C, 1, 1, 3, 3), vec4f_movehl(AB, AB)));
+    iD = psub(pmul(D, vec4f_duplane(dA, 0)), iD);
+
+    // iA = A*|D| - B*D#*C
+    iA = pmul(vec4f_swizzle2(B, B, 0, 0, 2, 2), vec4f_movelh(DC, DC));
+    iA = padd(iA, pmul(vec4f_swizzle2(B, B, 1, 1, 3, 3), vec4f_movehl(DC, DC)));
+    iA = psub(pmul(A, vec4f_duplane(dD, 0)), iA);
+
+    // iB = C*|B| - D * (A#B)# = C*|B| - D*B#*A
+    iB = pmul(D, vec4f_swizzle2(AB, AB, 3, 0, 3, 0));
+    iB = psub(iB, pmul(vec4f_swizzle2(D, D, 1, 0, 3, 2), vec4f_swizzle2(AB, AB, 2, 1, 2, 1)));
+    iB = psub(pmul(C, vec4f_duplane(dB, 0)), iB);
+
+    // iC = B*|C| - A * (D#C)# = B*|C| - A*C#*D
+    iC = pmul(A, vec4f_swizzle2(DC, DC, 3, 0, 3, 0));
+    iC = psub(iC, pmul(vec4f_swizzle2(A, A, 1, 0, 3, 2), vec4f_swizzle2(DC, DC, 2, 1, 2, 1)));
+    iC = psub(pmul(B, vec4f_duplane(dC, 0)), iC);
+
+    const float sign_mask[4] = {0.0f, numext::bit_cast<float>(0x80000000u), numext::bit_cast<float>(0x80000000u), 0.0f};
+    const Packet4f p4f_sign_PNNP = ploadu<Packet4f>(sign_mask);
+    rd = pxor(rd, p4f_sign_PNNP);
+    iA = pmul(iA, rd);
+    iB = pmul(iB, rd);
+    iC = pmul(iC, rd);
+    iD = pmul(iD, rd);
+
+    Index res_stride = result.outerStride();
+    float *res = result.data();
+
+    pstoret<float, Packet4f, ResultAlignment>(res + 0, vec4f_swizzle2(iA, iB, 3, 1, 3, 1));
+    pstoret<float, Packet4f, ResultAlignment>(res + res_stride, vec4f_swizzle2(iA, iB, 2, 0, 2, 0));
+    pstoret<float, Packet4f, ResultAlignment>(res + 2 * res_stride, vec4f_swizzle2(iC, iD, 3, 1, 3, 1));
+    pstoret<float, Packet4f, ResultAlignment>(res + 3 * res_stride, vec4f_swizzle2(iC, iD, 2, 0, 2, 0));
+  }
+};
+
+#if !(defined EIGEN_VECTORIZE_NEON && !(EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG))
+// same algorithm as above, except that each operand is split into
+// halves for two registers to hold.
+template <typename MatrixType, typename ResultType>
+struct compute_inverse_size4<Architecture::Target, double, MatrixType, ResultType>
+{
+  enum
+  {
+    MatrixAlignment = traits<MatrixType>::Alignment,
+    ResultAlignment = traits<ResultType>::Alignment,
+    StorageOrdersMatch = (MatrixType::Flags & RowMajorBit) == (ResultType::Flags & RowMajorBit)
+  };
+  typedef typename conditional<(MatrixType::Flags & LinearAccessBit),
+                               MatrixType const &,
+                               typename MatrixType::PlainObject>::type
+      ActualMatrixType;
+
+  static void run(const MatrixType &mat, ResultType &result)
+  {
+    ActualMatrixType matrix(mat);
+
+    // Four 2x2 sub-matrices of the input matrix, each is further divided into upper and lower
+    // row e.g. A1, upper row of A, A2, lower row of A
+    // input = [[A, B],  =  [[[A1, [B1,
+    //          [C, D]]        A2], B2]],
+    //                       [[C1, [D1,
+    //                         C2], D2]]]
+
+    Packet2d A1, A2, B1, B2, C1, C2, D1, D2;
+
+    const double* data = matrix.data();
+    const Index stride = matrix.innerStride();
+    if (StorageOrdersMatch)
+    {
+      A1 = ploadt<Packet2d,MatrixAlignment>(data + stride*0);
+      B1 = ploadt<Packet2d,MatrixAlignment>(data + stride*2);
+      A2 = ploadt<Packet2d,MatrixAlignment>(data + stride*4);
+      B2 = ploadt<Packet2d,MatrixAlignment>(data + stride*6);
+      C1 = ploadt<Packet2d,MatrixAlignment>(data + stride*8);
+      D1 = ploadt<Packet2d,MatrixAlignment>(data + stride*10);
+      C2 = ploadt<Packet2d,MatrixAlignment>(data + stride*12);
+      D2 = ploadt<Packet2d,MatrixAlignment>(data + stride*14);
+    }
+    else
+    {
+      Packet2d temp;
+      A1 = ploadt<Packet2d,MatrixAlignment>(data + stride*0);
+      C1 = ploadt<Packet2d,MatrixAlignment>(data + stride*2);
+      A2 = ploadt<Packet2d,MatrixAlignment>(data + stride*4);
+      C2 = ploadt<Packet2d,MatrixAlignment>(data + stride*6);
+      temp = A1;
+      A1 = vec2d_unpacklo(A1, A2);
+      A2 = vec2d_unpackhi(temp, A2);
+
+      temp = C1;
+      C1 = vec2d_unpacklo(C1, C2);
+      C2 = vec2d_unpackhi(temp, C2);
+
+      B1 = ploadt<Packet2d,MatrixAlignment>(data + stride*8);
+      D1 = ploadt<Packet2d,MatrixAlignment>(data + stride*10);
+      B2 = ploadt<Packet2d,MatrixAlignment>(data + stride*12);
+      D2 = ploadt<Packet2d,MatrixAlignment>(data + stride*14);
+
+      temp = B1;
+      B1 = vec2d_unpacklo(B1, B2);
+      B2 = vec2d_unpackhi(temp, B2);
+
+      temp = D1;
+      D1 = vec2d_unpacklo(D1, D2);
+      D2 = vec2d_unpackhi(temp, D2);
+    }
+
+    // determinants of the sub-matrices
+    Packet2d dA, dB, dC, dD;
+
+    dA = vec2d_swizzle2(A2, A2, 1);
+    dA = pmul(A1, dA);
+    dA = psub(dA, vec2d_duplane(dA, 1));
+
+    dB = vec2d_swizzle2(B2, B2, 1);
+    dB = pmul(B1, dB);
+    dB = psub(dB, vec2d_duplane(dB, 1));
+
+    dC = vec2d_swizzle2(C2, C2, 1);
+    dC = pmul(C1, dC);
+    dC = psub(dC, vec2d_duplane(dC, 1));
+
+    dD = vec2d_swizzle2(D2, D2, 1);
+    dD = pmul(D1, dD);
+    dD = psub(dD, vec2d_duplane(dD, 1));
+
+    Packet2d DC1, DC2, AB1, AB2;
+
+    // AB = A# * B, where A# denotes the adjugate of A, and * denotes matrix product.
+    AB1 = pmul(B1, vec2d_duplane(A2, 1));
+    AB2 = pmul(B2, vec2d_duplane(A1, 0));
+    AB1 = psub(AB1, pmul(B2, vec2d_duplane(A1, 1)));
+    AB2 = psub(AB2, pmul(B1, vec2d_duplane(A2, 0)));
+
+    // DC = D#*C
+    DC1 = pmul(C1, vec2d_duplane(D2, 1));
+    DC2 = pmul(C2, vec2d_duplane(D1, 0));
+    DC1 = psub(DC1, pmul(C2, vec2d_duplane(D1, 1)));
+    DC2 = psub(DC2, pmul(C1, vec2d_duplane(D2, 0)));
+
+    Packet2d d1, d2;
+
+    // determinant of the input matrix, det = |A||D| + |B||C| - trace(A#*B*D#*C)
+    Packet2d det;
+
+    // reciprocal of the determinant of the input matrix, rd = 1/det
+    Packet2d rd;
+
+    d1 = pmul(AB1, vec2d_swizzle2(DC1, DC2, 0));
+    d2 = pmul(AB2, vec2d_swizzle2(DC1, DC2, 3));
+    rd = padd(d1, d2);
+    rd = padd(rd, vec2d_duplane(rd, 1));
+
+    d1 = pmul(dA, dD);
+    d2 = pmul(dB, dC);
+
+    det = padd(d1, d2);
+    det = psub(det, rd);
+    det = vec2d_duplane(det, 0);
+    rd = pdiv(pset1<Packet2d>(1.0), det);
+
+    // rows of four sub-matrices of the inverse
+    Packet2d iA1, iA2, iB1, iB2, iC1, iC2, iD1, iD2;
+
+    // iD = D*|A| - C*A#*B
+    iD1 = pmul(AB1, vec2d_duplane(C1, 0));
+    iD2 = pmul(AB1, vec2d_duplane(C2, 0));
+    iD1 = padd(iD1, pmul(AB2, vec2d_duplane(C1, 1)));
+    iD2 = padd(iD2, pmul(AB2, vec2d_duplane(C2, 1)));
+    dA = vec2d_duplane(dA, 0);
+    iD1 = psub(pmul(D1, dA), iD1);
+    iD2 = psub(pmul(D2, dA), iD2);
+
+    // iA = A*|D| - B*D#*C
+    iA1 = pmul(DC1, vec2d_duplane(B1, 0));
+    iA2 = pmul(DC1, vec2d_duplane(B2, 0));
+    iA1 = padd(iA1, pmul(DC2, vec2d_duplane(B1, 1)));
+    iA2 = padd(iA2, pmul(DC2, vec2d_duplane(B2, 1)));
+    dD = vec2d_duplane(dD, 0);
+    iA1 = psub(pmul(A1, dD), iA1);
+    iA2 = psub(pmul(A2, dD), iA2);
+
+    // iB = C*|B| - D * (A#B)# = C*|B| - D*B#*A
+    iB1 = pmul(D1, vec2d_swizzle2(AB2, AB1, 1));
+    iB2 = pmul(D2, vec2d_swizzle2(AB2, AB1, 1));
+    iB1 = psub(iB1, pmul(vec2d_swizzle2(D1, D1, 1), vec2d_swizzle2(AB2, AB1, 2)));
+    iB2 = psub(iB2, pmul(vec2d_swizzle2(D2, D2, 1), vec2d_swizzle2(AB2, AB1, 2)));
+    dB = vec2d_duplane(dB, 0);
+    iB1 = psub(pmul(C1, dB), iB1);
+    iB2 = psub(pmul(C2, dB), iB2);
+
+    // iC = B*|C| - A * (D#C)# = B*|C| - A*C#*D
+    iC1 = pmul(A1, vec2d_swizzle2(DC2, DC1, 1));
+    iC2 = pmul(A2, vec2d_swizzle2(DC2, DC1, 1));
+    iC1 = psub(iC1, pmul(vec2d_swizzle2(A1, A1, 1), vec2d_swizzle2(DC2, DC1, 2)));
+    iC2 = psub(iC2, pmul(vec2d_swizzle2(A2, A2, 1), vec2d_swizzle2(DC2, DC1, 2)));
+    dC = vec2d_duplane(dC, 0);
+    iC1 = psub(pmul(B1, dC), iC1);
+    iC2 = psub(pmul(B2, dC), iC2);
+
+    const double sign_mask1[2] = {0.0, numext::bit_cast<double>(0x8000000000000000ull)};
+    const double sign_mask2[2] = {numext::bit_cast<double>(0x8000000000000000ull), 0.0};
+    const Packet2d sign_PN = ploadu<Packet2d>(sign_mask1);
+    const Packet2d sign_NP = ploadu<Packet2d>(sign_mask2);
+    d1 = pxor(rd, sign_PN);
+    d2 = pxor(rd, sign_NP);
+
+    Index res_stride = result.outerStride();
+    double *res = result.data();
+    pstoret<double, Packet2d, ResultAlignment>(res + 0, pmul(vec2d_swizzle2(iA2, iA1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res + res_stride, pmul(vec2d_swizzle2(iA2, iA1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res + 2, pmul(vec2d_swizzle2(iB2, iB1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res + res_stride + 2, pmul(vec2d_swizzle2(iB2, iB1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res + 2 * res_stride, pmul(vec2d_swizzle2(iC2, iC1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res + 3 * res_stride, pmul(vec2d_swizzle2(iC2, iC1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res + 2 * res_stride + 2, pmul(vec2d_swizzle2(iD2, iD1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res + 3 * res_stride + 2, pmul(vec2d_swizzle2(iD2, iD1, 0), d2));
+  }
+};
+#endif
+} // namespace internal
+} // namespace Eigen
+#endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/LU/arch/Inverse_SSE.h b/examples/ThirdPartyLibs/Eigen/src/LU/arch/Inverse_SSE.h
deleted file mode 100644
index ebb64a62b0..0000000000
--- a/examples/ThirdPartyLibs/Eigen/src/LU/arch/Inverse_SSE.h
+++ /dev/null
@@ -1,338 +0,0 @@
-// 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>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// 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 Eigen { 
-
-namespace internal {
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
-{
-  enum {
-    MatrixAlignment     = traits<MatrixType>::Alignment,
-    ResultAlignment     = traits<ResultType>::Alignment,
-    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
-  };
-  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
-  
-  static void run(const MatrixType& mat, ResultType& result)
-  {
-    ActualMatrixType matrix(mat);
-    EIGEN_ALIGN16 const unsigned 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);
-
-    Index res_stride = result.outerStride();
-    float* res = result.data();
-    pstoret<float, Packet4f, ResultAlignment>(res+0,            _mm_shuffle_ps(iA,iB,0x77));
-    pstoret<float, Packet4f, ResultAlignment>(res+res_stride,   _mm_shuffle_ps(iA,iB,0x22));
-    pstoret<float, Packet4f, ResultAlignment>(res+2*res_stride, _mm_shuffle_ps(iC,iD,0x77));
-    pstoret<float, Packet4f, ResultAlignment>(res+3*res_stride, _mm_shuffle_ps(iC,iD,0x22));
-  }
-
-};
-
-template<typename MatrixType, typename ResultType>
-struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
-{
-  enum {
-    MatrixAlignment     = traits<MatrixType>::Alignment,
-    ResultAlignment     = traits<ResultType>::Alignment,
-    StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
-  };
-  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
-  
-  static void run(const MatrixType& mat, ResultType& result)
-  {
-    ActualMatrixType matrix(mat);
-    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 elements, 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);
-
-    Index res_stride = result.outerStride();
-    double* res = result.data();
-    pstoret<double, Packet2d, ResultAlignment>(res+0,             _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+res_stride,    _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2,             _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+res_stride+2,  _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
-    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
-    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_INVERSE_SSE_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Amd.h b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Amd.h
index f91ecb24ef..7ca3f33b12 100644
--- a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Amd.h
+++ b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Amd.h
@@ -2,32 +2,22 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /*
-
 NOTE: this routine has been adapted from the CSparse library:
 
 Copyright (c) 2006, Timothy A. Davis.
 http://www.suitesparse.com
 
-CSparse 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.
-
-CSparse is distributed in the hope that 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 Module; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
+The author of CSparse, Timothy A. Davis., has executed a license with Google LLC
+to permit distribution of this code and derivative works as part of Eigen under
+the Mozilla Public License v. 2.0, as stated at the top of this file.
 */
 
-#include "../Core/util/NonMPL2.h"
-
 #ifndef EIGEN_SPARSE_AMD_H
 #define EIGEN_SPARSE_AMD_H
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Eigen_Colamd.h b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Eigen_Colamd.h
index da85b4d6ea..8e339a704a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Eigen_Colamd.h
+++ b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Eigen_Colamd.h
@@ -13,115 +13,119 @@
 //   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:
-// 
+//
 //   September 8, 2003.  Version 2.3.
-// 
+//
 //     Acknowledgements:
-// 
+//
 //   This work was supported by the National Science Foundation, under
 //   grants DMS-9504974 and DMS-9803599.
-// 
+//
 //     Notice:
-// 
+//
 //   Copyright (c) 1998-2003 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, 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. 
-// 
+//   or any modified version of COLAMD.
+//
 //     Availability:
-// 
+//
 //   The colamd/symamd library is available at
-// 
+//
 //       http://www.suitesparse.com
 
-  
+
 #ifndef EIGEN_COLAMD_H
 #define EIGEN_COLAMD_H
 
 namespace internal {
+
+namespace Colamd {
+
 /* Ensure that debugging is turned off: */
 #ifndef COLAMD_NDEBUG
 #define COLAMD_NDEBUG
 #endif /* NDEBUG */
+
+
 /* ========================================================================== */
 /* === Knob and statistics definitions ====================================== */
 /* ========================================================================== */
 
 /* size of the knobs [ ] array.  Only knobs [0..1] are currently used. */
-#define COLAMD_KNOBS 20
+const int NKnobs = 20;
 
 /* number of output statistics.  Only stats [0..6] are currently used. */
-#define COLAMD_STATS 20 
+const int NStats = 20;
 
-/* knobs [0] and stats [0]: dense row knob and output statistic. */
-#define COLAMD_DENSE_ROW 0
+/* Indices into knobs and stats array. */
+enum KnobsStatsIndex {
+  /* knobs [0] and stats [0]: dense row knob and output statistic. */
+  DenseRow = 0,
 
-/* knobs [1] and stats [1]: dense column knob and output statistic. */
-#define COLAMD_DENSE_COL 1
+  /* knobs [1] and stats [1]: dense column knob and output statistic. */
+  DenseCol = 1,
 
-/* stats [2]: memory defragmentation count output statistic */
-#define COLAMD_DEFRAG_COUNT 2
+  /* stats [2]: memory defragmentation count output statistic */
+  DefragCount = 2,
 
-/* stats [3]: colamd status:  zero OK, > 0 warning or notice, < 0 error */
-#define COLAMD_STATUS 3
+  /* stats [3]: colamd status:  zero OK, > 0 warning or notice, < 0 error */
+  Status = 3,
 
-/* stats [4..6]: error info, or info on jumbled columns */ 
-#define COLAMD_INFO1 4
-#define COLAMD_INFO2 5
-#define COLAMD_INFO3 6
+  /* stats [4..6]: error info, or info on jumbled columns */
+  Info1 = 4,
+  Info2 = 5,
+  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)
-
+enum Status {
+  Ok = 0,
+  OkButJumbled = 1,
+  ErrorANotPresent = -1,
+  ErrorPNotPresent = -2,
+  ErrorNrowNegative = -3,
+  ErrorNcolNegative = -4,
+  ErrorNnzNegative = -5,
+  ErrorP0Nonzero = -6,
+  ErrorATooSmall = -7,
+  ErrorColLengthNegative = -8,
+  ErrorRowIndexOutOfBounds = -9,
+  ErrorOutOfMemory = -10,
+  ErrorInternalError = -999
+};
 /* ========================================================================== */
 /* === Definitions ========================================================== */
 /* ========================================================================== */
 
-#define ONES_COMPLEMENT(r) (-(r)-1)
+template <typename IndexType>
+IndexType ones_complement(const IndexType r) {
+  return (-(r)-1);
+}
 
 /* -------------------------------------------------------------------------- */
-
-#define COLAMD_EMPTY (-1)
+const int Empty = -1;
 
 /* Row and column status */
-#define ALIVE (0)
-#define DEAD  (-1)
+enum RowColumnStatus {
+  Alive = 0,
+  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 ; }
+enum ColumnStatus {
+  DeadPrincipal = -1,
+  DeadNonPrincipal = -2
+};
 
 /* ========================================================================== */
 /* === Colamd reporting mechanism =========================================== */
@@ -129,9 +133,9 @@ namespace internal {
 
 // == Row and Column structures ==
 template <typename IndexType>
-struct colamd_col
+struct ColStructure
 {
-  IndexType start ;   /* index for A of first row in this column, or DEAD */
+  IndexType start ;   /* index for A of first row in this column, or Dead */
   /* if column is dead */
   IndexType length ;  /* number of rows in this column */
   union
@@ -159,11 +163,21 @@ struct colamd_col
     IndexType degree_next ; /* next column, if col is in a degree list */
     IndexType hash_next ;   /* next column, if col is in a hash list */
   } shared4 ;
-  
+
+  inline bool is_dead() const { return start < Alive; }
+
+  inline bool is_alive() const { return start >= Alive; }
+
+  inline bool is_dead_principal() const { return start == DeadPrincipal; }
+
+  inline void kill_principal() { start = DeadPrincipal; }
+
+  inline void kill_non_principal() { start = DeadNonPrincipal; }
+
 };
- 
+
 template <typename IndexType>
-struct Colamd_Row
+struct RowStructure
 {
   IndexType start ;   /* index for A of first col in this row */
   IndexType length ;  /* number of principal columns in this row */
@@ -177,13 +191,19 @@ struct Colamd_Row
     IndexType mark ;  /* for computing set differences and marking dead rows*/
     IndexType first_column ;/* first column in row (used in garbage collection) */
   } shared2 ;
-  
+
+  inline bool is_dead() const { return shared2.mark < Alive; }
+
+  inline bool is_alive() const { return shared2.mark >= Alive; }
+
+  inline void kill() { shared2.mark = Dead; }
+
 };
- 
+
 /* ========================================================================== */
 /* === Colamd recommended memory size ======================================= */
 /* ========================================================================== */
- 
+
 /*
   The recommended length Alen of the array A passed to colamd is given by
   the COLAMD_RECOMMENDED (nnz, n_row, n_col) macro.  It returns -1 if any
@@ -192,41 +212,41 @@ struct Colamd_Row
   required for the Col and Row arrays, respectively, which are internal to
   colamd.  An additional n_col space is the minimal amount of "elbow room",
   and nnz/5 more space is recommended for run time efficiency.
-  
+
   This macro is not needed when using symamd.
-  
+
   Explicit typecast to IndexType added Sept. 23, 2002, COLAMD version 2.2, to avoid
   gcc -pedantic warning messages.
 */
 template <typename IndexType>
-inline IndexType colamd_c(IndexType n_col) 
-{ return IndexType( ((n_col) + 1) * sizeof (colamd_col<IndexType>) / sizeof (IndexType) ) ; }
+inline IndexType colamd_c(IndexType n_col)
+{ return IndexType( ((n_col) + 1) * sizeof (ColStructure<IndexType>) / sizeof (IndexType) ) ; }
 
 template <typename IndexType>
 inline IndexType  colamd_r(IndexType n_row)
-{ return IndexType(((n_row) + 1) * sizeof (Colamd_Row<IndexType>) / sizeof (IndexType)); }
+{ return IndexType(((n_row) + 1) * sizeof (RowStructure<IndexType>) / sizeof (IndexType)); }
 
 // Prototypes of non-user callable routines
 template <typename IndexType>
-static IndexType init_rows_cols (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> col [], IndexType A [], IndexType p [], IndexType stats[COLAMD_STATS] ); 
+static IndexType init_rows_cols (IndexType n_row, IndexType n_col, RowStructure<IndexType> Row [], ColStructure<IndexType> col [], IndexType A [], IndexType p [], IndexType stats[NStats] );
 
 template <typename IndexType>
-static void init_scoring (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], double knobs[COLAMD_KNOBS], IndexType *p_n_row2, IndexType *p_n_col2, IndexType *p_max_deg);
+static void init_scoring (IndexType n_row, IndexType n_col, RowStructure<IndexType> Row [], ColStructure<IndexType> Col [], IndexType A [], IndexType head [], double knobs[NKnobs], IndexType *p_n_row2, IndexType *p_n_col2, IndexType *p_max_deg);
 
 template <typename IndexType>
-static IndexType find_ordering (IndexType n_row, IndexType n_col, IndexType Alen, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType n_col2, IndexType max_deg, IndexType pfree);
+static IndexType find_ordering (IndexType n_row, IndexType n_col, IndexType Alen, RowStructure<IndexType> Row [], ColStructure<IndexType> Col [], IndexType A [], IndexType head [], IndexType n_col2, IndexType max_deg, IndexType pfree);
 
 template <typename IndexType>
-static void order_children (IndexType n_col, colamd_col<IndexType> Col [], IndexType p []);
+static void order_children (IndexType n_col, ColStructure<IndexType> Col [], IndexType p []);
 
 template <typename IndexType>
-static void detect_super_cols (colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType row_start, IndexType row_length ) ;
+static void detect_super_cols (ColStructure<IndexType> Col [], IndexType A [], IndexType head [], IndexType row_start, IndexType row_length ) ;
 
 template <typename IndexType>
-static IndexType garbage_collection (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType *pfree) ;
+static IndexType garbage_collection (IndexType n_row, IndexType n_col, RowStructure<IndexType> Row [], ColStructure<IndexType> Col [], IndexType A [], IndexType *pfree) ;
 
 template <typename IndexType>
-static inline  IndexType clear_mark (IndexType n_row, Colamd_Row<IndexType> Row [] ) ;
+static inline  IndexType clear_mark (IndexType n_row, RowStructure<IndexType> Row [] ) ;
 
 /* === No debugging ========================================================= */
 
@@ -240,37 +260,37 @@ static inline  IndexType clear_mark (IndexType n_row, Colamd_Row<IndexType> Row
 
 
 /**
- * \brief Returns the recommended value of Alen 
- * 
- * Returns recommended value of Alen for use by colamd.  
- * Returns -1 if any input argument is negative.  
- * The use of this routine or macro is optional.  
- * Note that the macro uses its arguments   more than once, 
- * so be careful for side effects, if you pass expressions as arguments to COLAMD_RECOMMENDED.  
- * 
+ * \brief Returns the recommended value of Alen
+ *
+ * Returns recommended value of Alen for use by colamd.
+ * Returns -1 if any input argument is negative.
+ * The use of this routine or macro is optional.
+ * Note that the macro uses its arguments   more than once,
+ * so be careful for side effects, if you pass expressions as arguments to COLAMD_RECOMMENDED.
+ *
  * \param nnz nonzeros in A
  * \param n_row number of rows in A
  * \param n_col number of columns in A
  * \return recommended value of Alen for use by colamd
  */
 template <typename IndexType>
-inline IndexType colamd_recommended ( IndexType nnz, IndexType n_row, IndexType n_col)
+inline IndexType recommended ( IndexType nnz, IndexType n_row, IndexType n_col)
 {
   if ((nnz) < 0 || (n_row) < 0 || (n_col) < 0)
     return (-1);
   else
-    return (2 * (nnz) + colamd_c (n_col) + colamd_r (n_row) + (n_col) + ((nnz) / 5)); 
+    return (2 * (nnz) + colamd_c (n_col) + colamd_r (n_row) + (n_col) + ((nnz) / 5));
 }
 
 /**
  * \brief set default parameters  The use of this routine is optional.
- * 
- * Colamd: rows with more than (knobs [COLAMD_DENSE_ROW] * n_col)
+ *
+ * Colamd: rows with more than (knobs [DenseRow] * 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. 
+ * (knobs [DenseCol] * n_row) entries are removed prior to
+ * ordering, and placed last in the output column ordering.
  *
- * COLAMD_DENSE_ROW and COLAMD_DENSE_COL are defined as 0 and 1,
+ * DenseRow and DenseCol are defined as 0 and 1,
  * respectively, in colamd.h.  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
@@ -279,37 +299,37 @@ inline IndexType colamd_recommended ( IndexType nnz, IndexType n_row, IndexType
  * 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.
- * 
+ *
  * \param knobs parameter settings for colamd
  */
 
-static inline void colamd_set_defaults(double knobs[COLAMD_KNOBS])
+static inline void set_defaults(double knobs[NKnobs])
 {
   /* === Local variables ================================================== */
-  
+
   int i ;
 
   if (!knobs)
   {
     return ;      /* no knobs to initialize */
   }
-  for (i = 0 ; i < COLAMD_KNOBS ; i++)
+  for (i = 0 ; i < NKnobs ; 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 */
+  knobs [Colamd::DenseRow] = 0.5 ;  /* ignore rows over 50% dense */
+  knobs [Colamd::DenseCol] = 0.5 ;  /* ignore columns over 50% dense */
 }
 
-/** 
+/**
  * \brief  Computes a column ordering using the column approximate minimum degree ordering
- * 
+ *
  * 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.
- * 
- * 
+ *
+ *
  * \param n_row number of rows in A
  * \param n_col number of columns in A
  * \param Alen, size of the array A
@@ -319,143 +339,143 @@ static inline void colamd_set_defaults(double knobs[COLAMD_KNOBS])
  * \param stats colamd output statistics and error codes
  */
 template <typename IndexType>
-static bool colamd(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *A, IndexType *p, double knobs[COLAMD_KNOBS], IndexType stats[COLAMD_STATS])
+static bool compute_ordering(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *A, IndexType *p, double knobs[NKnobs], IndexType stats[NStats])
 {
   /* === Local variables ================================================== */
-  
+
   IndexType i ;     /* loop index */
   IndexType nnz ;     /* nonzeros in A */
   IndexType Row_size ;    /* size of Row [], in integers */
   IndexType Col_size ;    /* size of Col [], in integers */
   IndexType need ;      /* minimum required length of A */
-  Colamd_Row<IndexType> *Row ;   /* pointer into A of Row [0..n_row] array */
-  colamd_col<IndexType> *Col ;   /* pointer into A of Col [0..n_col] array */
+  Colamd::RowStructure<IndexType> *Row ;   /* pointer into A of Row [0..n_row] array */
+  Colamd::ColStructure<IndexType> *Col ;   /* pointer into A of Col [0..n_col] array */
   IndexType n_col2 ;    /* number of non-dense, non-empty columns */
   IndexType n_row2 ;    /* number of non-dense, non-empty rows */
   IndexType ngarbage ;    /* number of garbage collections performed */
   IndexType max_deg ;   /* maximum row degree */
-  double default_knobs [COLAMD_KNOBS] ; /* default knobs array */
-  
-  
+  double default_knobs [NKnobs] ; /* default knobs array */
+
+
   /* === Check the input arguments ======================================== */
-  
+
   if (!stats)
   {
     COLAMD_DEBUG0 (("colamd: stats not present\n")) ;
     return (false) ;
   }
-  for (i = 0 ; i < COLAMD_STATS ; i++)
+  for (i = 0 ; i < NStats ; i++)
   {
     stats [i] = 0 ;
   }
-  stats [COLAMD_STATUS] = COLAMD_OK ;
-  stats [COLAMD_INFO1] = -1 ;
-  stats [COLAMD_INFO2] = -1 ;
-  
+  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 ;
+    stats [Colamd::Status] = Colamd::ErrorANotPresent ;
     COLAMD_DEBUG0 (("colamd: A not present\n")) ;
     return (false) ;
   }
-  
+
   if (!p)   /* p is not present */
   {
-    stats [COLAMD_STATUS] = COLAMD_ERROR_p_not_present ;
+    stats [Colamd::Status] = Colamd::ErrorPNotPresent ;
     COLAMD_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 ;
+    stats [Colamd::Status] = Colamd::ErrorNrowNegative ;
+    stats [Colamd::Info1] = n_row ;
     COLAMD_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 ;
+    stats [Colamd::Status] = Colamd::ErrorNcolNegative ;
+    stats [Colamd::Info1] = n_col ;
     COLAMD_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 ;
+    stats [Colamd::Status] = Colamd::ErrorNnzNegative ;
+    stats [Colamd::Info1] = nnz ;
     COLAMD_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] ;
+    stats [Colamd::Status] = Colamd::ErrorP0Nonzero ;
+    stats [Colamd::Info1] = p [0] ;
     COLAMD_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) ;
+    set_defaults (default_knobs) ;
     knobs = default_knobs ;
   }
-  
+
   /* === Allocate the Row and Col arrays from array A ===================== */
-  
+
   Col_size = colamd_c (n_col) ;
   Row_size = colamd_r (n_row) ;
   need = 2*nnz + n_col + Col_size + Row_size ;
-  
+
   if (need > Alen)
   {
     /* 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 ;
+    stats [Colamd::Status] = Colamd::ErrorATooSmall ;
+    stats [Colamd::Info1] = need ;
+    stats [Colamd::Info2] = Alen ;
     COLAMD_DEBUG0 (("colamd: Need Alen >= %d, given only Alen = %d\n", need,Alen));
     return (false) ;
   }
-  
+
   Alen -= Col_size + Row_size ;
-  Col = (colamd_col<IndexType> *) &A [Alen] ;
-  Row = (Colamd_Row<IndexType> *) &A [Alen + Col_size] ;
+  Col = (ColStructure<IndexType> *) &A [Alen] ;
+  Row = (RowStructure<IndexType> *) &A [Alen + Col_size] ;
 
   /* === Construct the row and column data structures ===================== */
-  
-  if (!Eigen::internal::init_rows_cols (n_row, n_col, Row, Col, A, p, stats))
+
+  if (!Colamd::init_rows_cols (n_row, n_col, Row, Col, A, p, stats))
   {
     /* input matrix is invalid */
     COLAMD_DEBUG0 (("colamd: Matrix invalid\n")) ;
     return (false) ;
   }
-  
+
   /* === Initialize scores, kill dense rows/columns ======================= */
 
-  Eigen::internal::init_scoring (n_row, n_col, Row, Col, A, p, knobs,
+  Colamd::init_scoring (n_row, n_col, Row, Col, A, p, knobs,
 		&n_row2, &n_col2, &max_deg) ;
-  
+
   /* === Order the supercolumns =========================================== */
-  
-  ngarbage = Eigen::internal::find_ordering (n_row, n_col, Alen, Row, Col, A, p,
+
+  ngarbage = Colamd::find_ordering (n_row, n_col, Alen, Row, Col, A, p,
 			    n_col2, max_deg, 2*nnz) ;
-  
+
   /* === Order the non-principal columns ================================== */
-  
-  Eigen::internal::order_children (n_col, Col, p) ;
-  
+
+  Colamd::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 ;
-  COLAMD_DEBUG0 (("colamd: done.\n")) ; 
+
+  stats [Colamd::DenseRow] = n_row - n_row2 ;
+  stats [Colamd::DenseCol] = n_col - n_col2 ;
+  stats [Colamd::DefragCount] = ngarbage ;
+  COLAMD_DEBUG0 (("colamd: done.\n")) ;
   return (true) ;
 }
 
@@ -465,7 +485,6 @@ static bool colamd(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *
 
 /* There are no user-callable routines beyond this point in the file */
 
-
 /* ========================================================================== */
 /* === init_rows_cols ======================================================= */
 /* ========================================================================== */
@@ -485,11 +504,11 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
 
     IndexType n_row,      /* number of rows of A */
     IndexType n_col,      /* number of columns of A */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    RowStructure<IndexType> Row [],    /* of size n_row+1 */
+    ColStructure<IndexType> Col [],    /* of size n_col+1 */
     IndexType A [],     /* row indices of A, of size Alen */
     IndexType p [],     /* pointers to columns in A, of size n_col+1 */
-    IndexType stats [COLAMD_STATS]  /* colamd statistics */ 
+    IndexType stats [NStats]  /* colamd statistics */
     )
 {
   /* === Local variables ================================================== */
@@ -512,24 +531,24 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
     if ((Col [col].length) < 0) // extra parentheses to work-around gcc bug 10200
     {
       /* column pointers must be non-decreasing */
-      stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ;
-      stats [COLAMD_INFO1] = col ;
-      stats [COLAMD_INFO2] = Col [col].length ;
+      stats [Colamd::Status] = Colamd::ErrorColLengthNegative ;
+      stats [Colamd::Info1] = col ;
+      stats [Colamd::Info2] = Col [col].length ;
       COLAMD_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 = COLAMD_EMPTY ;
-    Col [col].shared4.degree_next = COLAMD_EMPTY ;
+    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*/
+  stats [Info3] = 0 ;  /* number of duplicate or unsorted row indices*/
 
   for (row = 0 ; row < n_row ; row++)
   {
@@ -551,10 +570,10 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
       /* 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 ;
+	stats [Colamd::Status] = Colamd::ErrorRowIndexOutOfBounds ;
+	stats [Colamd::Info1] = col ;
+	stats [Colamd::Info2] = row ;
+	stats [Colamd::Info3] = n_row ;
 	COLAMD_DEBUG0 (("colamd: row %d col %d out of bounds\n", row, col)) ;
 	return (false) ;
       }
@@ -563,10 +582,10 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
       {
 	/* 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]) ++ ;
+	stats [Colamd::Status] = Colamd::OkButJumbled ;
+	stats [Colamd::Info1] = col ;
+	stats [Colamd::Info2] = row ;
+	(stats [Colamd::Info3]) ++ ;
 	COLAMD_DEBUG1 (("colamd: row %d col %d unsorted/duplicate\n",row,col));
       }
 
@@ -604,7 +623,7 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
 
   /* === Create row form ================================================== */
 
-  if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
+  if (stats [Status] == OkButJumbled)
   {
     /* if cols jumbled, watch for repeated row indices */
     for (col = 0 ; col < n_col ; col++)
@@ -646,7 +665,7 @@ static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
 
   /* === See if we need to re-create columns ============================== */
 
-  if (stats [COLAMD_STATUS] == COLAMD_OK_BUT_JUMBLED)
+  if (stats [Status] == OkButJumbled)
   {
     COLAMD_DEBUG0 (("colamd: reconstructing column form, matrix jumbled\n")) ;
 
@@ -701,11 +720,11 @@ static void init_scoring
 
     IndexType n_row,      /* number of rows of A */
     IndexType n_col,      /* number of columns of A */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    RowStructure<IndexType> Row [],    /* of size n_row+1 */
+    ColStructure<IndexType> Col [],    /* of size n_col+1 */
     IndexType A [],     /* column form and row form of A */
     IndexType head [],    /* of size n_col+1 */
-    double knobs [COLAMD_KNOBS],/* parameters */
+    double knobs [NKnobs],/* parameters */
     IndexType *p_n_row2,    /* number of non-dense, non-empty rows */
     IndexType *p_n_col2,    /* number of non-dense, non-empty columns */
     IndexType *p_max_deg    /* maximum row degree */
@@ -732,8 +751,8 @@ static void init_scoring
 
   /* === Extract knobs ==================================================== */
 
-  dense_row_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ;
-  dense_col_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ;
+  dense_row_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [Colamd::DenseRow] * n_col), n_col)) ;
+  dense_col_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [Colamd::DenseCol] * n_row), n_row)) ;
   COLAMD_DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ;
   max_deg = 0 ;
   n_col2 = n_col ;
@@ -750,7 +769,7 @@ static void init_scoring
     {
       /* this is a empty column, kill and order it last */
       Col [c].shared2.order = --n_col2 ;
-      KILL_PRINCIPAL_COL (c) ;
+      Col[c].kill_principal() ;
     }
   }
   COLAMD_DEBUG1 (("colamd: null columns killed: %d\n", n_col - n_col2)) ;
@@ -761,7 +780,7 @@ static void init_scoring
   for (c = n_col-1 ; c >= 0 ; c--)
   {
     /* skip any dead columns */
-    if (COL_IS_DEAD (c))
+    if (Col[c].is_dead())
     {
       continue ;
     }
@@ -777,7 +796,7 @@ static void init_scoring
       {
 	Row [*cp++].shared1.degree-- ;
       }
-      KILL_PRINCIPAL_COL (c) ;
+      Col[c].kill_principal() ;
     }
   }
   COLAMD_DEBUG1 (("colamd: Dense and null columns killed: %d\n", n_col - n_col2)) ;
@@ -791,7 +810,7 @@ static void init_scoring
     if (deg > dense_row_count || deg == 0)
     {
       /* kill a dense or empty row */
-      KILL_ROW (r) ;
+      Row[r].kill() ;
       --n_row2 ;
     }
     else
@@ -813,7 +832,7 @@ static void init_scoring
   for (c = n_col-1 ; c >= 0 ; c--)
   {
     /* skip dead column */
-    if (COL_IS_DEAD (c))
+    if (Col[c].is_dead())
     {
       continue ;
     }
@@ -826,7 +845,7 @@ static void init_scoring
       /* get a row */
       row = *cp++ ;
       /* skip if dead */
-      if (ROW_IS_DEAD (row))
+      if (Row[row].is_dead())
       {
 	continue ;
       }
@@ -845,7 +864,7 @@ static void init_scoring
       /* and have already been killed) */
       COLAMD_DEBUG2 (("Newly null killed: %d\n", c)) ;
       Col [c].shared2.order = --n_col2 ;
-      KILL_PRINCIPAL_COL (c) ;
+      Col[c].kill_principal() ;
     }
     else
     {
@@ -870,7 +889,7 @@ static void init_scoring
   /* clear the hash buckets */
   for (c = 0 ; c <= n_col ; c++)
   {
-    head [c] = COLAMD_EMPTY ;
+    head [c] = Empty ;
   }
   min_score = n_col ;
   /* place in reverse order, so low column indices are at the front */
@@ -878,7 +897,7 @@ static void init_scoring
   for (c = n_col-1 ; c >= 0 ; c--)
   {
     /* only add principal columns to degree lists */
-    if (COL_IS_ALIVE (c))
+    if (Col[c].is_alive())
     {
       COLAMD_DEBUG4 (("place %d score %d minscore %d ncol %d\n",
 		      c, Col [c].shared2.score, min_score, n_col)) ;
@@ -891,16 +910,16 @@ static void init_scoring
       COLAMD_ASSERT (min_score <= n_col) ;
       COLAMD_ASSERT (score >= 0) ;
       COLAMD_ASSERT (score <= n_col) ;
-      COLAMD_ASSERT (head [score] >= COLAMD_EMPTY) ;
+      COLAMD_ASSERT (head [score] >= Empty) ;
 
       /* now add this column to dList at proper score location */
       next_col = head [score] ;
-      Col [c].shared3.prev = COLAMD_EMPTY ;
+      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 != COLAMD_EMPTY)
+      if (next_col != Empty)
       {
 	Col [next_col].shared3.prev = c ;
       }
@@ -939,8 +958,8 @@ static IndexType find_ordering /* return the number of garbage collections */
     IndexType n_row,      /* number of rows of A */
     IndexType n_col,      /* number of columns of A */
     IndexType Alen,     /* size of A, 2*nnz + n_col or larger */
-    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
-    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    RowStructure<IndexType> Row [],    /* of size n_row+1 */
+    ColStructure<IndexType> Col [],    /* of size n_col+1 */
     IndexType A [],     /* column form and row form of A */
     IndexType head [],    /* of size n_col+1 */
     IndexType n_col2,     /* Remaining columns to order */
@@ -986,7 +1005,7 @@ static IndexType find_ordering /* return the number of garbage collections */
   /* === Initialization and clear mark ==================================== */
 
   max_mark = INT_MAX - n_col ;  /* INT_MAX defined in <limits.h> */
-  tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
+  tag_mark = Colamd::clear_mark (n_row, Row) ;
   min_score = 0 ;
   ngarbage = 0 ;
   COLAMD_DEBUG1 (("colamd: Ordering, n_col2=%d\n", n_col2)) ;
@@ -1001,10 +1020,10 @@ static IndexType find_ordering /* return the number of garbage collections */
     /* make sure degree list isn't empty */
     COLAMD_ASSERT (min_score >= 0) ;
     COLAMD_ASSERT (min_score <= n_col) ;
-    COLAMD_ASSERT (head [min_score] >= COLAMD_EMPTY) ;
+    COLAMD_ASSERT (head [min_score] >= Empty) ;
 
     /* get pivot column from head of minimum degree list */
-    while (min_score < n_col && head [min_score] == COLAMD_EMPTY)
+    while (min_score < n_col && head [min_score] == Empty)
     {
       min_score++ ;
     }
@@ -1012,12 +1031,12 @@ static IndexType find_ordering /* return the number of garbage collections */
     COLAMD_ASSERT (pivot_col >= 0 && pivot_col <= n_col) ;
     next_col = Col [pivot_col].shared4.degree_next ;
     head [min_score] = next_col ;
-    if (next_col != COLAMD_EMPTY)
+    if (next_col != Empty)
     {
-      Col [next_col].shared3.prev = COLAMD_EMPTY ;
+      Col [next_col].shared3.prev = Empty ;
     }
 
-    COLAMD_ASSERT (COL_IS_ALIVE (pivot_col)) ;
+    COLAMD_ASSERT (Col[pivot_col].is_alive()) ;
     COLAMD_DEBUG3 (("Pivot col: %d\n", pivot_col)) ;
 
     /* remember score for defrag check */
@@ -1036,12 +1055,12 @@ static IndexType find_ordering /* return the number of garbage collections */
     needed_memory = numext::mini(pivot_col_score, n_col - k) ;
     if (pfree + needed_memory >= Alen)
     {
-      pfree = Eigen::internal::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
+      pfree = Colamd::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
       ngarbage++ ;
       /* after garbage collection we will have enough */
       COLAMD_ASSERT (pfree + needed_memory < Alen) ;
       /* garbage collection has wiped out the Row[].shared2.mark array */
-      tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
+      tag_mark = Colamd::clear_mark (n_row, Row) ;
 
     }
 
@@ -1064,9 +1083,9 @@ static IndexType find_ordering /* return the number of garbage collections */
     {
       /* get a row */
       row = *cp++ ;
-      COLAMD_DEBUG4 (("Pivot col pattern %d %d\n", ROW_IS_ALIVE (row), row)) ;
+      COLAMD_DEBUG4 (("Pivot col pattern %d %d\n", Row[row].is_alive(), row)) ;
       /* skip if row is dead */
-      if (ROW_IS_DEAD (row))
+      if (Row[row].is_dead())
       {
 	continue ;
       }
@@ -1078,7 +1097,7 @@ static IndexType find_ordering /* return the number of garbage collections */
 	col = *rp++ ;
 	/* add the column, if alive and untagged */
 	col_thickness = Col [col].shared1.thickness ;
-	if (col_thickness > 0 && COL_IS_ALIVE (col))
+	if (col_thickness > 0 && Col[col].is_alive())
 	{
 	  /* tag column in pivot row */
 	  Col [col].shared1.thickness = -col_thickness ;
@@ -1105,7 +1124,7 @@ static IndexType find_ordering /* return the number of garbage collections */
       /* may be killing an already dead row */
       row = *cp++ ;
       COLAMD_DEBUG3 (("Kill row in pivot col: %d\n", row)) ;
-      KILL_ROW (row) ;
+      Row[row].kill() ;
     }
 
     /* === Select a row index to use as the new pivot row =============== */
@@ -1120,7 +1139,7 @@ static IndexType find_ordering /* return the number of garbage collections */
     else
     {
       /* there is no pivot row, since it is of zero length */
-      pivot_row = COLAMD_EMPTY ;
+      pivot_row = Empty ;
       COLAMD_ASSERT (pivot_row_length == 0) ;
     }
     COLAMD_ASSERT (Col [pivot_col].length > 0 || pivot_row_length == 0) ;
@@ -1157,7 +1176,7 @@ static IndexType find_ordering /* return the number of garbage collections */
     while (rp < rp_end)
     {
       col = *rp++ ;
-      COLAMD_ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
+      COLAMD_ASSERT (Col[col].is_alive() && col != pivot_col) ;
       COLAMD_DEBUG3 (("Col: %d\n", col)) ;
 
       /* clear tags used to construct pivot row pattern */
@@ -1172,8 +1191,8 @@ static IndexType find_ordering /* return the number of garbage collections */
       next_col = Col [col].shared4.degree_next ;
       COLAMD_ASSERT (cur_score >= 0) ;
       COLAMD_ASSERT (cur_score <= n_col) ;
-      COLAMD_ASSERT (cur_score >= COLAMD_EMPTY) ;
-      if (prev_col == COLAMD_EMPTY)
+      COLAMD_ASSERT (cur_score >= Empty) ;
+      if (prev_col == Empty)
       {
 	head [cur_score] = next_col ;
       }
@@ -1181,7 +1200,7 @@ static IndexType find_ordering /* return the number of garbage collections */
       {
 	Col [prev_col].shared4.degree_next = next_col ;
       }
-      if (next_col != COLAMD_EMPTY)
+      if (next_col != Empty)
       {
 	Col [next_col].shared3.prev = prev_col ;
       }
@@ -1194,12 +1213,12 @@ static IndexType find_ordering /* return the number of garbage collections */
       {
 	/* get a row */
 	row = *cp++ ;
-	row_mark = Row [row].shared2.mark ;
 	/* skip if dead */
-	if (ROW_IS_MARKED_DEAD (row_mark))
+	if (Row[row].is_dead())
 	{
 	  continue ;
 	}
+  row_mark = Row [row].shared2.mark ;
 	COLAMD_ASSERT (row != pivot_row) ;
 	set_difference = row_mark - tag_mark ;
 	/* check if the row has been seen yet */
@@ -1215,7 +1234,7 @@ static IndexType find_ordering /* return the number of garbage collections */
 	if (set_difference == 0)
 	{
 	  COLAMD_DEBUG3 (("aggressive absorption. Row: %d\n", row)) ;
-	  KILL_ROW (row) ;
+	  Row[row].kill() ;
 	}
 	else
 	{
@@ -1237,7 +1256,7 @@ static IndexType find_ordering /* return the number of garbage collections */
     {
       /* get a column */
       col = *rp++ ;
-      COLAMD_ASSERT (COL_IS_ALIVE (col) && col != pivot_col) ;
+      COLAMD_ASSERT (Col[col].is_alive() && col != pivot_col) ;
       hash = 0 ;
       cur_score = 0 ;
       cp = &A [Col [col].start] ;
@@ -1252,12 +1271,12 @@ static IndexType find_ordering /* return the number of garbage collections */
 	/* get a row */
 	row = *cp++ ;
 	COLAMD_ASSERT(row >= 0 && row < n_row) ;
-	row_mark = Row [row].shared2.mark ;
 	/* skip if dead */
-	if (ROW_IS_MARKED_DEAD (row_mark))
+	if (Row [row].is_dead())
 	{
 	  continue ;
 	}
+  row_mark = Row [row].shared2.mark ;
 	COLAMD_ASSERT (row_mark > tag_mark) ;
 	/* compact the column */
 	*new_cp++ = row ;
@@ -1278,7 +1297,7 @@ static IndexType find_ordering /* return the number of garbage collections */
       {
 	COLAMD_DEBUG4 (("further mass elimination. Col: %d\n", col)) ;
 	/* nothing left but the pivot row in this column */
-	KILL_PRINCIPAL_COL (col) ;
+	Col[col].kill_principal() ;
 	pivot_row_degree -= Col [col].shared1.thickness ;
 	COLAMD_ASSERT (pivot_row_degree >= 0) ;
 	/* order it */
@@ -1302,7 +1321,7 @@ static IndexType find_ordering /* return the number of garbage collections */
 	COLAMD_ASSERT (hash <= n_col) ;
 
 	head_column = head [hash] ;
-	if (head_column > COLAMD_EMPTY)
+	if (head_column > Empty)
 	{
 	  /* degree list "hash" is non-empty, use prev (shared3) of */
 	  /* first column in degree list as head of hash bucket */
@@ -1319,7 +1338,7 @@ static IndexType find_ordering /* return the number of garbage collections */
 
 	/* save hash function in Col [col].shared3.hash */
 	Col [col].shared3.hash = (IndexType) hash ;
-	COLAMD_ASSERT (COL_IS_ALIVE (col)) ;
+	COLAMD_ASSERT (Col[col].is_alive()) ;
       }
     }
 
@@ -1329,11 +1348,11 @@ static IndexType find_ordering /* return the number of garbage collections */
 
     COLAMD_DEBUG3 (("** Supercolumn detection phase. **\n")) ;
 
-    Eigen::internal::detect_super_cols (Col, A, head, pivot_row_start, pivot_row_length) ;
+    Colamd::detect_super_cols (Col, A, head, pivot_row_start, pivot_row_length) ;
 
     /* === Kill the pivotal column ====================================== */
 
-    KILL_PRINCIPAL_COL (pivot_col) ;
+    Col[pivot_col].kill_principal() ;
 
     /* === Clear mark =================================================== */
 
@@ -1341,7 +1360,7 @@ static IndexType find_ordering /* return the number of garbage collections */
     if (tag_mark >= max_mark)
     {
       COLAMD_DEBUG2 (("clearing tag_mark\n")) ;
-      tag_mark = Eigen::internal::clear_mark (n_row, Row) ;
+      tag_mark = Colamd::clear_mark (n_row, Row) ;
     }
 
     /* === Finalize the new pivot row, and column scores ================ */
@@ -1357,7 +1376,7 @@ static IndexType find_ordering /* return the number of garbage collections */
     {
       col = *rp++ ;
       /* skip dead columns */
-      if (COL_IS_DEAD (col))
+      if (Col[col].is_dead())
       {
 	continue ;
       }
@@ -1391,11 +1410,11 @@ static IndexType find_ordering /* return the number of garbage collections */
       COLAMD_ASSERT (min_score <= n_col) ;
       COLAMD_ASSERT (cur_score >= 0) ;
       COLAMD_ASSERT (cur_score <= n_col) ;
-      COLAMD_ASSERT (head [cur_score] >= COLAMD_EMPTY) ;
+      COLAMD_ASSERT (head [cur_score] >= Empty) ;
       next_col = head [cur_score] ;
       Col [col].shared4.degree_next = next_col ;
-      Col [col].shared3.prev = COLAMD_EMPTY ;
-      if (next_col != COLAMD_EMPTY)
+      Col [col].shared3.prev = Empty ;
+      if (next_col != Empty)
       {
 	Col [next_col].shared3.prev = col ;
       }
@@ -1448,7 +1467,7 @@ static inline  void order_children
   /* === Parameters ======================================================= */
 
   IndexType n_col,      /* number of columns of A */
-  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+  ColStructure<IndexType> Col [],    /* of size n_col+1 */
   IndexType p []      /* p [0 ... n_col-1] is the column permutation*/
   )
 {
@@ -1464,15 +1483,15 @@ static inline  void order_children
   for (i = 0 ; i < n_col ; i++)
   {
     /* find an un-ordered non-principal column */
-    COLAMD_ASSERT (COL_IS_DEAD (i)) ;
-    if (!COL_IS_DEAD_PRINCIPAL (i) && Col [i].shared2.order == COLAMD_EMPTY)
+    COLAMD_ASSERT (col_is_dead(Col, i)) ;
+    if (!Col[i].is_dead_principal() && 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)) ;
+      } while (!Col[parent].is_dead_principal()) ;
 
       /* now, order all un-ordered non-principal columns along path */
       /* to this parent.  collapse tree at the same time */
@@ -1482,7 +1501,7 @@ static inline  void order_children
 
       do
       {
-	COLAMD_ASSERT (Col [c].shared2.order == COLAMD_EMPTY) ;
+	COLAMD_ASSERT (Col [c].shared2.order == Empty) ;
 
 	/* order this column */
 	Col [c].shared2.order = order++ ;
@@ -1493,9 +1512,9 @@ static inline  void order_children
 	c = Col [c].shared1.parent ;
 
 	/* continue until we hit an ordered column.  There are */
-	/* guarranteed not to be anymore unordered columns */
+	/* guaranteed not to be anymore unordered columns */
 	/* above an ordered column */
-      } while (Col [c].shared2.order == COLAMD_EMPTY) ;
+      } while (Col [c].shared2.order == Empty) ;
 
       /* re-order the super_col parent to largest order for this group */
       Col [parent].shared2.order = order ;
@@ -1547,8 +1566,8 @@ template <typename IndexType>
 static void detect_super_cols
 (
   /* === Parameters ======================================================= */
-  
-  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+
+  ColStructure<IndexType> Col [],    /* of size n_col+1 */
   IndexType A [],     /* row indices of A */
   IndexType head [],    /* head of degree lists and hash buckets */
   IndexType row_start,    /* pointer to set of columns to check */
@@ -1578,7 +1597,7 @@ static void detect_super_cols
   while (rp < rp_end)
   {
     col = *rp++ ;
-    if (COL_IS_DEAD (col))
+    if (Col[col].is_dead())
     {
       continue ;
     }
@@ -1590,7 +1609,7 @@ static void detect_super_cols
     /* === Get the first column in this hash bucket ===================== */
 
     head_column = head [hash] ;
-    if (head_column > COLAMD_EMPTY)
+    if (head_column > Empty)
     {
       first_col = Col [head_column].shared3.headhash ;
     }
@@ -1601,10 +1620,10 @@ static void detect_super_cols
 
     /* === Consider each column in the hash bucket ====================== */
 
-    for (super_c = first_col ; super_c != COLAMD_EMPTY ;
+    for (super_c = first_col ; super_c != Empty ;
 	 super_c = Col [super_c].shared4.hash_next)
     {
-      COLAMD_ASSERT (COL_IS_ALIVE (super_c)) ;
+      COLAMD_ASSERT (Col [super_c].is_alive()) ;
       COLAMD_ASSERT (Col [super_c].shared3.hash == hash) ;
       length = Col [super_c].length ;
 
@@ -1614,10 +1633,10 @@ static void detect_super_cols
       /* === Compare super_c with all columns after it ================ */
 
       for (c = Col [super_c].shared4.hash_next ;
-	   c != COLAMD_EMPTY ; c = Col [c].shared4.hash_next)
+	   c != Empty ; c = Col [c].shared4.hash_next)
       {
 	COLAMD_ASSERT (c != super_c) ;
-	COLAMD_ASSERT (COL_IS_ALIVE (c)) ;
+	COLAMD_ASSERT (Col[c].is_alive()) ;
 	COLAMD_ASSERT (Col [c].shared3.hash == hash) ;
 
 	/* not identical if lengths or scores are different */
@@ -1635,10 +1654,10 @@ static void detect_super_cols
 	for (i = 0 ; i < length ; i++)
 	{
 	  /* the columns are "clean" (no dead rows) */
-	  COLAMD_ASSERT (ROW_IS_ALIVE (*cp1))  ;
-	  COLAMD_ASSERT (ROW_IS_ALIVE (*cp2))  ;
+	  COLAMD_ASSERT ( cp1->is_alive() );
+	  COLAMD_ASSERT ( cp2->is_alive() );
 	  /* row indices will same order for both supercols, */
-	  /* no gather scatter nessasary */
+	  /* no gather scatter necessary */
 	  if (*cp1++ != *cp2++)
 	  {
 	    break ;
@@ -1658,9 +1677,9 @@ static void detect_super_cols
 
 	Col [super_c].shared1.thickness += Col [c].shared1.thickness ;
 	Col [c].shared1.parent = super_c ;
-	KILL_NON_PRINCIPAL_COL (c) ;
+	Col[c].kill_non_principal() ;
 	/* order c later, in order_children() */
-	Col [c].shared2.order = COLAMD_EMPTY ;
+	Col [c].shared2.order = Empty ;
 	/* remove c from hash bucket */
 	Col [prev_c].shared4.hash_next = Col [c].shared4.hash_next ;
       }
@@ -1668,15 +1687,15 @@ static void detect_super_cols
 
     /* === Empty this hash bucket ======================================= */
 
-    if (head_column > COLAMD_EMPTY)
+    if (head_column > Empty)
     {
       /* corresponding degree list "hash" is not empty */
-      Col [head_column].shared3.headhash = COLAMD_EMPTY ;
+      Col [head_column].shared3.headhash = Empty ;
     }
     else
     {
       /* corresponding degree list "hash" is empty */
-      head [hash] = COLAMD_EMPTY ;
+      head [hash] = Empty ;
     }
   }
 }
@@ -1688,7 +1707,7 @@ static void detect_super_cols
 
 /*
   Defragments and compacts columns and rows in the workspace A.  Used when
-  all avaliable memory has been used while performing row merging.  Returns
+  all available 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.
@@ -1698,11 +1717,11 @@ template <typename IndexType>
 static IndexType garbage_collection  /* returns the new value of pfree */
   (
     /* === Parameters ======================================================= */
-    
+
     IndexType n_row,      /* number of rows */
     IndexType n_col,      /* number of columns */
-    Colamd_Row<IndexType> Row [],    /* row info */
-    colamd_col<IndexType> Col [],    /* column info */
+    RowStructure<IndexType> Row [],    /* row info */
+    ColStructure<IndexType> Col [],    /* column info */
     IndexType A [],     /* A [0 ... Alen-1] holds the matrix */
     IndexType *pfree      /* &A [0] ... pfree is in use */
     )
@@ -1721,7 +1740,7 @@ static IndexType garbage_collection  /* returns the new value of pfree */
   pdest = &A[0] ;
   for (c = 0 ; c < n_col ; c++)
   {
-    if (COL_IS_ALIVE (c))
+    if (Col[c].is_alive())
     {
       psrc = &A [Col [c].start] ;
 
@@ -1732,7 +1751,7 @@ static IndexType garbage_collection  /* returns the new value of pfree */
       for (j = 0 ; j < length ; j++)
       {
 	r = *psrc++ ;
-	if (ROW_IS_ALIVE (r))
+	if (Row[r].is_alive())
 	{
 	  *pdest++ = r ;
 	}
@@ -1745,22 +1764,22 @@ static IndexType garbage_collection  /* returns the new value of pfree */
 
   for (r = 0 ; r < n_row ; r++)
   {
-    if (ROW_IS_ALIVE (r))
+    if (Row[r].is_alive())
     {
       if (Row [r].length == 0)
       {
-	/* this row is of zero length.  cannot compact it, so kill it */
-	COLAMD_DEBUG3 (("Defrag row kill\n")) ;
-	KILL_ROW (r) ;
+        /* this row is of zero length.  cannot compact it, so kill it */
+        COLAMD_DEBUG3 (("Defrag row kill\n")) ;
+        Row[r].kill() ;
       }
       else
       {
-	/* save first column index in Row [r].shared2.first_column */
-	psrc = &A [Row [r].start] ;
-	Row [r].shared2.first_column = *psrc ;
-	COLAMD_ASSERT (ROW_IS_ALIVE (r)) ;
-	/* flag the start of the row with the one's complement of row */
-	*psrc = ONES_COMPLEMENT (r) ;
+        /* save first column index in Row [r].shared2.first_column */
+        psrc = &A [Row [r].start] ;
+        Row [r].shared2.first_column = *psrc ;
+        COLAMD_ASSERT (Row[r].is_alive()) ;
+        /* flag the start of the row with the one's complement of row */
+        *psrc = ones_complement(r) ;
 
       }
     }
@@ -1776,11 +1795,11 @@ static IndexType garbage_collection  /* returns the new value of pfree */
     {
       psrc-- ;
       /* get the row index */
-      r = ONES_COMPLEMENT (*psrc) ;
+      r = ones_complement(*psrc) ;
       COLAMD_ASSERT (r >= 0 && r < n_row) ;
       /* restore first column index */
       *psrc = Row [r].shared2.first_column ;
-      COLAMD_ASSERT (ROW_IS_ALIVE (r)) ;
+      COLAMD_ASSERT (Row[r].is_alive()) ;
 
       /* move and compact the row */
       COLAMD_ASSERT (pdest <= psrc) ;
@@ -1789,7 +1808,7 @@ static IndexType garbage_collection  /* returns the new value of pfree */
       for (j = 0 ; j < length ; j++)
       {
 	c = *psrc++ ;
-	if (COL_IS_ALIVE (c))
+	if (Col[c].is_alive())
 	{
 	  *pdest++ = c ;
 	}
@@ -1821,7 +1840,7 @@ static inline  IndexType clear_mark  /* return the new value for tag_mark */
       /* === Parameters ======================================================= */
 
     IndexType n_row,    /* number of rows in A */
-    Colamd_Row<IndexType> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
+    RowStructure<IndexType> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
     )
 {
   /* === Local variables ================================================== */
@@ -1830,7 +1849,7 @@ static inline  IndexType clear_mark  /* return the new value for tag_mark */
 
   for (r = 0 ; r < n_row ; r++)
   {
-    if (ROW_IS_ALIVE (r))
+    if (Row[r].is_alive())
     {
       Row [r].shared2.mark = 0 ;
     }
@@ -1838,6 +1857,7 @@ static inline  IndexType clear_mark  /* return the new value for tag_mark */
   return (1) ;
 }
 
+} // namespace Colamd
 
-} // namespace internal 
+} // namespace internal
 #endif
diff --git a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Ordering.h b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Ordering.h
index 7ea9b14d7e..c578970142 100644
--- a/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Ordering.h
+++ b/examples/ThirdPartyLibs/Eigen/src/OrderingMethods/Ordering.h
@@ -31,15 +31,13 @@ void ordering_helper_at_plus_a(const MatrixType& A, MatrixType& symmat)
   for (int i = 0; i < C.rows(); i++) 
   {
       for (typename MatrixType::InnerIterator it(C, i); it; ++it)
-        it.valueRef() = 0.0;
+        it.valueRef() = typename MatrixType::Scalar(0);
   }
   symmat = C + A;
 }
     
 }
 
-#ifndef EIGEN_MPL2_ONLY
-
 /** \ingroup OrderingMethods_Module
   * \class AMDOrdering
   *
@@ -81,8 +79,6 @@ class AMDOrdering
     }
 };
 
-#endif // EIGEN_MPL2_ONLY
-
 /** \ingroup OrderingMethods_Module
   * \class NaturalOrdering
   *
@@ -133,17 +129,17 @@ class COLAMDOrdering
       StorageIndex n = StorageIndex(mat.cols());
       StorageIndex nnz = StorageIndex(mat.nonZeros());
       // Get the recommended value of Alen to be used by colamd
-      StorageIndex Alen = internal::colamd_recommended(nnz, m, n); 
+      StorageIndex Alen = internal::Colamd::recommended(nnz, m, n); 
       // Set the default parameters
-      double knobs [COLAMD_KNOBS]; 
-      StorageIndex stats [COLAMD_STATS];
-      internal::colamd_set_defaults(knobs);
+      double knobs [internal::Colamd::NKnobs]; 
+      StorageIndex stats [internal::Colamd::NStats];
+      internal::Colamd::set_defaults(knobs);
       
       IndexVector p(n+1), A(Alen); 
       for(StorageIndex i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
       for(StorageIndex i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
       // Call Colamd routine to compute the ordering 
-      StorageIndex info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
+      StorageIndex info = internal::Colamd::compute_ordering(m, n, Alen, A.data(), p.data(), knobs, stats); 
       EIGEN_UNUSED_VARIABLE(info);
       eigen_assert( info && "COLAMD failed " );
       
diff --git a/examples/ThirdPartyLibs/Eigen/src/PaStiXSupport/PaStiXSupport.h b/examples/ThirdPartyLibs/Eigen/src/PaStiXSupport/PaStiXSupport.h
index d2ebfd7bbe..37426877ad 100644
--- a/examples/ThirdPartyLibs/Eigen/src/PaStiXSupport/PaStiXSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/PaStiXSupport/PaStiXSupport.h
@@ -64,28 +64,28 @@ namespace internal
     typedef typename _MatrixType::StorageIndex StorageIndex;
   };
   
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, float *vals, int *perm, int * invp, float *x, int nbrhs, int *iparm, double *dparm)
+  inline void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, float *vals, int *perm, int * invp, float *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
     s_pastix(pastix_data, pastix_comm, n, ptr, idx, vals, perm, invp, x, nbrhs, iparm, dparm); 
   }
   
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, double *vals, int *perm, int * invp, double *x, int nbrhs, int *iparm, double *dparm)
+  inline void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, double *vals, int *perm, int * invp, double *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
     d_pastix(pastix_data, pastix_comm, n, ptr, idx, vals, perm, invp, x, nbrhs, iparm, dparm); 
   }
   
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<float> *vals, int *perm, int * invp, std::complex<float> *x, int nbrhs, int *iparm, double *dparm)
+  inline void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<float> *vals, int *perm, int * invp, std::complex<float> *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
     c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_COMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_COMPLEX*>(x), nbrhs, iparm, dparm); 
   }
   
-  void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<double> *vals, int *perm, int * invp, std::complex<double> *x, int nbrhs, int *iparm, double *dparm)
+  inline void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<double> *vals, int *perm, int * invp, std::complex<double> *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
@@ -203,7 +203,7 @@ class PastixBase : public SparseSolverBase<Derived>
     
      /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the PaStiX reports a problem
       *          \c InvalidInput if the input matrix is invalid
       *
diff --git a/examples/ThirdPartyLibs/Eigen/src/PardisoSupport/PardisoSupport.h b/examples/ThirdPartyLibs/Eigen/src/PardisoSupport/PardisoSupport.h
index 091c3970e8..f89b79bd55 100644
--- a/examples/ThirdPartyLibs/Eigen/src/PardisoSupport/PardisoSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/PardisoSupport/PardisoSupport.h
@@ -123,6 +123,7 @@ class PardisoImpl : public SparseSolverBase<Derived>
     };
 
     PardisoImpl()
+      : m_analysisIsOk(false), m_factorizationIsOk(false)
     {
       eigen_assert((sizeof(StorageIndex) >= sizeof(_INTEGER_t) && sizeof(StorageIndex) <= 8) && "Non-supported index type");
       m_iparm.setZero();
@@ -140,7 +141,7 @@ class PardisoImpl : public SparseSolverBase<Derived>
   
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix appears to be negative.
       */
     ComputationInfo info() const
@@ -385,14 +386,15 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
 {
   protected:
     typedef PardisoImpl<PardisoLU> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
     friend class PardisoImpl< PardisoLU<MatrixType> >;
 
   public:
 
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::RealScalar RealScalar;
+
     using Base::compute;
     using Base::solve;
 
@@ -440,14 +442,14 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
 {
   protected:
     typedef PardisoImpl< PardisoLLT<MatrixType,_UpLo> > Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
     friend class PardisoImpl< PardisoLLT<MatrixType,_UpLo> >;
 
   public:
 
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::RealScalar RealScalar;
     typedef typename Base::StorageIndex StorageIndex;
     enum { UpLo = _UpLo };
     using Base::compute;
@@ -503,14 +505,14 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
 {
   protected:
     typedef PardisoImpl< PardisoLDLT<MatrixType,Options> > Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
     friend class PardisoImpl< PardisoLDLT<MatrixType,Options> >;
 
   public:
 
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::RealScalar RealScalar;
     typedef typename Base::StorageIndex StorageIndex;
     using Base::compute;
     enum { UpLo = Options&(Upper|Lower) };
diff --git a/examples/ThirdPartyLibs/Eigen/src/QR/ColPivHouseholderQR.h b/examples/ThirdPartyLibs/Eigen/src/QR/ColPivHouseholderQR.h
index 5270eaca29..9b677e9bf4 100644
--- a/examples/ThirdPartyLibs/Eigen/src/QR/ColPivHouseholderQR.h
+++ b/examples/ThirdPartyLibs/Eigen/src/QR/ColPivHouseholderQR.h
@@ -17,6 +17,9 @@ namespace internal {
 template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
  : traits<_MatrixType>
 {
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
   enum { Flags = 0 };
 };
 
@@ -46,20 +49,19 @@ template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
   * \sa MatrixBase::colPivHouseholderQr()
   */
 template<typename _MatrixType> class ColPivHouseholderQR
+        : public SolverBase<ColPivHouseholderQR<_MatrixType> >
 {
   public:
 
     typedef _MatrixType MatrixType;
+    typedef SolverBase<ColPivHouseholderQR> Base;
+    friend class SolverBase<ColPivHouseholderQR>;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(ColPivHouseholderQR)
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
     typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
@@ -156,6 +158,7 @@ template<typename _MatrixType> class ColPivHouseholderQR
       computeInPlace();
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** 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.
       *
@@ -172,11 +175,8 @@ template<typename _MatrixType> class ColPivHouseholderQR
       */
     template<typename Rhs>
     inline const Solve<ColPivHouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return Solve<ColPivHouseholderQR, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     HouseholderSequenceType householderQ() const;
     HouseholderSequenceType matrixQ() const
@@ -402,7 +402,7 @@ template<typename _MatrixType> class ColPivHouseholderQR
       */
     RealScalar maxPivot() const { return m_maxpivot; }
 
-    /** \brief Reports whether the QR factorization was succesful.
+    /** \brief Reports whether the QR factorization was successful.
       *
       * \note This function always returns \c Success. It is provided for compatibility
       * with other factorization routines.
@@ -417,6 +417,9 @@ template<typename _MatrixType> class ColPivHouseholderQR
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
     void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
     #endif
 
   protected:
@@ -583,8 +586,6 @@ template<typename _MatrixType>
 template<typename RhsType, typename DstType>
 void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  eigen_assert(rhs.rows() == rows());
-
   const Index nonzero_pivots = nonzeroPivots();
 
   if(nonzero_pivots == 0)
@@ -595,11 +596,7 @@ void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &
 
   typename RhsType::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(m_qr, m_hCoeffs)
-                    .setLength(nonzero_pivots)
-                    .transpose()
-    );
+  c.applyOnTheLeft(householderQ().setLength(nonzero_pivots).adjoint() );
 
   m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
       .template triangularView<Upper>()
@@ -608,6 +605,31 @@ void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &
   for(Index i = 0; i < nonzero_pivots; ++i) dst.row(m_colsPermutation.indices().coeff(i)) = c.row(i);
   for(Index i = nonzero_pivots; i < cols(); ++i) dst.row(m_colsPermutation.indices().coeff(i)).setZero();
 }
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void ColPivHouseholderQR<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  const Index nonzero_pivots = nonzeroPivots();
+
+  if(nonzero_pivots == 0)
+  {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(m_colsPermutation.transpose()*rhs);
+
+  m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
+        .template triangularView<Upper>()
+        .transpose().template conjugateIf<Conjugate>()
+        .solveInPlace(c.topRows(nonzero_pivots));
+
+  dst.topRows(nonzero_pivots) = c.topRows(nonzero_pivots);
+  dst.bottomRows(rows()-nonzero_pivots).setZero();
+
+  dst.applyOnTheLeft(householderQ().setLength(nonzero_pivots).template conjugateIf<!Conjugate>() );
+}
 #endif
 
 namespace internal {
diff --git a/examples/ThirdPartyLibs/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/examples/ThirdPartyLibs/Eigen/src/QR/CompleteOrthogonalDecomposition.h
index 13b61fcdb3..486d3373af 100644
--- a/examples/ThirdPartyLibs/Eigen/src/QR/CompleteOrthogonalDecomposition.h
+++ b/examples/ThirdPartyLibs/Eigen/src/QR/CompleteOrthogonalDecomposition.h
@@ -16,6 +16,9 @@ namespace internal {
 template <typename _MatrixType>
 struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
     : traits<_MatrixType> {
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
   enum { Flags = 0 };
 };
 
@@ -44,19 +47,21 @@ struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
   * 
   * \sa MatrixBase::completeOrthogonalDecomposition()
   */
-template <typename _MatrixType>
-class CompleteOrthogonalDecomposition {
+template <typename _MatrixType> class CompleteOrthogonalDecomposition
+          : public SolverBase<CompleteOrthogonalDecomposition<_MatrixType> >
+{
  public:
   typedef _MatrixType MatrixType;
+  typedef SolverBase<CompleteOrthogonalDecomposition> Base;
+
+  template<typename Derived>
+  friend struct internal::solve_assertion;
+
+  EIGEN_GENERIC_PUBLIC_INTERFACE(CompleteOrthogonalDecomposition)
   enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
   };
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
   typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime>
       PermutationType;
@@ -131,9 +136,9 @@ class CompleteOrthogonalDecomposition {
       m_temp(matrix.cols())
   {
     computeInPlace();
-  }
-
+  } 
 
+  #ifdef EIGEN_PARSED_BY_DOXYGEN
   /** This method computes the minimum-norm solution X to a least squares
    * problem \f[\mathrm{minimize} \|A X - B\|, \f] where \b A is the matrix of
    * which \c *this is the complete orthogonal decomposition.
@@ -145,11 +150,8 @@ class CompleteOrthogonalDecomposition {
    */
   template <typename Rhs>
   inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(
-      const MatrixBase<Rhs>& b) const {
-    eigen_assert(m_cpqr.m_isInitialized &&
-                 "CompleteOrthogonalDecomposition is not initialized.");
-    return Solve<CompleteOrthogonalDecomposition, Rhs>(*this, b.derived());
-  }
+      const MatrixBase<Rhs>& b) const;
+  #endif
 
   HouseholderSequenceType householderQ(void) const;
   HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
@@ -158,8 +160,8 @@ class CompleteOrthogonalDecomposition {
    */
   MatrixType matrixZ() const {
     MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
-    applyZAdjointOnTheLeftInPlace(Z);
-    return Z.adjoint();
+    applyZOnTheLeftInPlace<false>(Z);
+    return Z;
   }
 
   /** \returns a reference to the matrix where the complete orthogonal
@@ -275,6 +277,7 @@ class CompleteOrthogonalDecomposition {
    */
   inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const
   {
+    eigen_assert(m_cpqr.m_isInitialized && "CompleteOrthogonalDecomposition is not initialized.");
     return Inverse<CompleteOrthogonalDecomposition>(*this);
   }
 
@@ -353,7 +356,7 @@ class CompleteOrthogonalDecomposition {
   inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
 
   /** \brief Reports whether the complete orthogonal decomposition was
-   * succesful.
+   * successful.
    *
    * \note This function always returns \c Success. It is provided for
    * compatibility
@@ -368,6 +371,9 @@ class CompleteOrthogonalDecomposition {
 #ifndef EIGEN_PARSED_BY_DOXYGEN
   template <typename RhsType, typename DstType>
   void _solve_impl(const RhsType& rhs, DstType& dst) const;
+
+  template<bool Conjugate, typename RhsType, typename DstType>
+  void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
 #endif
 
  protected:
@@ -375,8 +381,22 @@ class CompleteOrthogonalDecomposition {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
   }
 
+  template<bool Transpose_, typename Rhs>
+  void _check_solve_assertion(const Rhs& b) const {
+      EIGEN_ONLY_USED_FOR_DEBUG(b);
+      eigen_assert(m_cpqr.m_isInitialized && "CompleteOrthogonalDecomposition is not initialized.");
+      eigen_assert((Transpose_?derived().cols():derived().rows())==b.rows() && "CompleteOrthogonalDecomposition::solve(): invalid number of rows of the right hand side matrix b");
+  }
+
   void computeInPlace();
 
+  /** Overwrites \b rhs with \f$ \mathbf{Z} * \mathbf{rhs} \f$ or
+   *  \f$ \mathbf{\overline Z} * \mathbf{rhs} \f$ if \c Conjugate 
+   *  is set to \c true.
+   */
+  template <bool Conjugate, typename Rhs>
+  void applyZOnTheLeftInPlace(Rhs& rhs) const;
+
   /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
    */
   template <typename Rhs>
@@ -452,7 +472,7 @@ void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
         // Apply Z(k) to the first k rows of X_k
         m_cpqr.m_qr.topRightCorner(k, cols - rank + 1)
             .applyHouseholderOnTheRight(
-                m_cpqr.m_qr.row(k).tail(cols - rank).transpose(), m_zCoeffs(k),
+                m_cpqr.m_qr.row(k).tail(cols - rank).adjoint(), m_zCoeffs(k),
                 &m_temp(0));
       }
       if (k != rank - 1) {
@@ -464,6 +484,28 @@ void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
   }
 }
 
+template <typename MatrixType>
+template <bool Conjugate, typename Rhs>
+void CompleteOrthogonalDecomposition<MatrixType>::applyZOnTheLeftInPlace(
+    Rhs& rhs) const {
+  const Index cols = this->cols();
+  const Index nrhs = rhs.cols();
+  const Index rank = this->rank();
+  Matrix<typename Rhs::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+  for (Index k = rank-1; k >= 0; --k) {
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+    rhs.middleRows(rank - 1, cols - rank + 1)
+        .applyHouseholderOnTheLeft(
+            matrixQTZ().row(k).tail(cols - rank).transpose().template conjugateIf<!Conjugate>(), zCoeffs().template conjugateIf<Conjugate>()(k),
+            &temp(0));
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+  }
+}
+
 template <typename MatrixType>
 template <typename Rhs>
 void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
@@ -471,7 +513,7 @@ void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
   const Index cols = this->cols();
   const Index nrhs = rhs.cols();
   const Index rank = this->rank();
-  Matrix<typename MatrixType::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+  Matrix<typename Rhs::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
   for (Index k = 0; k < rank; ++k) {
     if (k != rank - 1) {
       rhs.row(k).swap(rhs.row(rank - 1));
@@ -491,8 +533,6 @@ template <typename _MatrixType>
 template <typename RhsType, typename DstType>
 void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
     const RhsType& rhs, DstType& dst) const {
-  eigen_assert(rhs.rows() == this->rows());
-
   const Index rank = this->rank();
   if (rank == 0) {
     dst.setZero();
@@ -500,11 +540,8 @@ void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
   }
 
   // Compute c = Q^* * rhs
-  // Note that the matrix Q = H_0^* H_1^*... so its inverse is
-  // Q^* = (H_0 H_1 ...)^T
   typename RhsType::PlainObject c(rhs);
-  c.applyOnTheLeft(
-      householderSequence(matrixQTZ(), hCoeffs()).setLength(rank).transpose());
+  c.applyOnTheLeft(matrixQ().setLength(rank).adjoint());
 
   // Solve T z = c(1:rank, :)
   dst.topRows(rank) = matrixT()
@@ -523,10 +560,45 @@ void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
   // Undo permutation to get x = P^{-1} * y.
   dst = colsPermutation() * dst;
 }
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  const Index rank = this->rank();
+
+  if (rank == 0) {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(colsPermutation().transpose()*rhs);
+
+  if (rank < cols()) {
+    applyZOnTheLeftInPlace<!Conjugate>(c);
+  }
+
+  matrixT().topLeftCorner(rank, rank)
+           .template triangularView<Upper>()
+           .transpose().template conjugateIf<Conjugate>()
+           .solveInPlace(c.topRows(rank));
+
+  dst.topRows(rank) = c.topRows(rank);
+  dst.bottomRows(rows()-rank).setZero();
+
+  dst.applyOnTheLeft(householderQ().setLength(rank).template conjugateIf<!Conjugate>() );
+}
 #endif
 
 namespace internal {
 
+template<typename MatrixType>
+struct traits<Inverse<CompleteOrthogonalDecomposition<MatrixType> > >
+  : traits<typename Transpose<typename MatrixType::PlainObject>::PlainObject>
+{
+  enum { Flags = 0 };
+};
+
 template<typename DstXprType, typename MatrixType>
 struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename CompleteOrthogonalDecomposition<MatrixType>::Scalar>, Dense2Dense>
 {
@@ -534,7 +606,8 @@ struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType
   typedef Inverse<CodType> SrcXprType;
   static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename CodType::Scalar> &)
   {
-    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.rows()));
+    typedef Matrix<typename CodType::Scalar, CodType::RowsAtCompileTime, CodType::RowsAtCompileTime, 0, CodType::MaxRowsAtCompileTime, CodType::MaxRowsAtCompileTime> IdentityMatrixType;
+    dst = src.nestedExpression().solve(IdentityMatrixType::Identity(src.cols(), src.cols()));
   }
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/QR/FullPivHouseholderQR.h b/examples/ThirdPartyLibs/Eigen/src/QR/FullPivHouseholderQR.h
index c31e47cc46..d0664a1d8c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/QR/FullPivHouseholderQR.h
+++ b/examples/ThirdPartyLibs/Eigen/src/QR/FullPivHouseholderQR.h
@@ -18,6 +18,9 @@ namespace internal {
 template<typename _MatrixType> struct traits<FullPivHouseholderQR<_MatrixType> >
  : traits<_MatrixType>
 {
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
   enum { Flags = 0 };
 };
 
@@ -55,20 +58,19 @@ struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
   * \sa MatrixBase::fullPivHouseholderQr()
   */
 template<typename _MatrixType> class FullPivHouseholderQR
+        : public SolverBase<FullPivHouseholderQR<_MatrixType> >
 {
   public:
 
     typedef _MatrixType MatrixType;
+    typedef SolverBase<FullPivHouseholderQR> Base;
+    friend class SolverBase<FullPivHouseholderQR>;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivHouseholderQR)
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef internal::FullPivHouseholderQRMatrixQReturnType<MatrixType> MatrixQReturnType;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef Matrix<StorageIndex, 1,
@@ -156,6 +158,7 @@ template<typename _MatrixType> class FullPivHouseholderQR
       computeInPlace();
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
       * \c *this is the QR decomposition.
       *
@@ -173,11 +176,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       */
     template<typename Rhs>
     inline const Solve<FullPivHouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return Solve<FullPivHouseholderQR, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     /** \returns Expression object representing the matrix Q
       */
@@ -396,6 +396,9 @@ template<typename _MatrixType> class FullPivHouseholderQR
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
     void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
     #endif
 
   protected:
@@ -498,15 +501,15 @@ void FullPivHouseholderQR<MatrixType>::computeInPlace()
       m_nonzero_pivots = k;
       for(Index i = k; i < size; i++)
       {
-        m_rows_transpositions.coeffRef(i) = i;
-        m_cols_transpositions.coeffRef(i) = i;
+        m_rows_transpositions.coeffRef(i) = internal::convert_index<StorageIndex>(i);
+        m_cols_transpositions.coeffRef(i) = internal::convert_index<StorageIndex>(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;
+    m_rows_transpositions.coeffRef(k) = internal::convert_index<StorageIndex>(row_of_biggest_in_corner);
+    m_cols_transpositions.coeffRef(k) = internal::convert_index<StorageIndex>(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;
@@ -540,7 +543,6 @@ template<typename _MatrixType>
 template<typename RhsType, typename DstType>
 void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  eigen_assert(rhs.rows() == rows());
   const Index l_rank = rank();
 
   // FIXME introduce nonzeroPivots() and use it here. and more generally,
@@ -553,7 +555,7 @@ void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType
 
   typename RhsType::PlainObject c(rhs);
 
-  Matrix<Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
+  Matrix<typename RhsType::Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
   for (Index k = 0; k < l_rank; ++k)
   {
     Index remainingSize = rows()-k;
@@ -570,6 +572,42 @@ void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType
   for(Index i = 0; i < l_rank; ++i) dst.row(m_cols_permutation.indices().coeff(i)) = c.row(i);
   for(Index i = l_rank; i < cols(); ++i) dst.row(m_cols_permutation.indices().coeff(i)).setZero();
 }
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void FullPivHouseholderQR<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  const Index l_rank = rank();
+
+  if(l_rank == 0)
+  {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(m_cols_permutation.transpose()*rhs);
+
+  m_qr.topLeftCorner(l_rank, l_rank)
+         .template triangularView<Upper>()
+         .transpose().template conjugateIf<Conjugate>()
+         .solveInPlace(c.topRows(l_rank));
+
+  dst.topRows(l_rank) = c.topRows(l_rank);
+  dst.bottomRows(rows()-l_rank).setZero();
+
+  Matrix<Scalar, 1, DstType::ColsAtCompileTime> temp(dst.cols());
+  const Index size = (std::min)(rows(), cols());
+  for (Index k = size-1; k >= 0; --k)
+  {
+    Index remainingSize = rows()-k;
+
+    dst.bottomRightCorner(remainingSize, dst.cols())
+       .applyHouseholderOnTheLeft(m_qr.col(k).tail(remainingSize-1).template conjugateIf<!Conjugate>(),
+                                  m_hCoeffs.template conjugateIf<Conjugate>().coeff(k), &temp.coeffRef(0));
+
+    dst.row(k).swap(dst.row(m_rows_transpositions.coeff(k)));
+  }
+}
 #endif
 
 namespace internal {
diff --git a/examples/ThirdPartyLibs/Eigen/src/QR/HouseholderQR.h b/examples/ThirdPartyLibs/Eigen/src/QR/HouseholderQR.h
index 762b21c36d..801739fbd8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/QR/HouseholderQR.h
+++ b/examples/ThirdPartyLibs/Eigen/src/QR/HouseholderQR.h
@@ -14,6 +14,18 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename _MatrixType> struct traits<HouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
+  enum { Flags = 0 };
+};
+
+} // end namespace internal
+
 /** \ingroup QR_Module
   *
   *
@@ -42,20 +54,19 @@ namespace Eigen {
   * \sa MatrixBase::householderQr()
   */
 template<typename _MatrixType> class HouseholderQR
+        : public SolverBase<HouseholderQR<_MatrixType> >
 {
   public:
 
     typedef _MatrixType MatrixType;
+    typedef SolverBase<HouseholderQR> Base;
+    friend class SolverBase<HouseholderQR>;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(HouseholderQR)
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    // FIXME should be int
-    typedef typename MatrixType::StorageIndex StorageIndex;
     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;
@@ -121,6 +132,7 @@ template<typename _MatrixType> class HouseholderQR
       computeInPlace();
     }
 
+    #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** 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.
       *
@@ -137,11 +149,8 @@ template<typename _MatrixType> class HouseholderQR
       */
     template<typename Rhs>
     inline const Solve<HouseholderQR, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-      return Solve<HouseholderQR, Rhs>(*this, b.derived());
-    }
+    solve(const MatrixBase<Rhs>& b) const;
+    #endif
 
     /** This method returns an expression of the unitary matrix Q as a sequence of Householder transformations.
       *
@@ -214,6 +223,9 @@ template<typename _MatrixType> class HouseholderQR
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename RhsType, typename DstType>
     void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
     #endif
 
   protected:
@@ -291,7 +303,7 @@ template<typename MatrixQR, typename HCoeffs,
   bool InnerStrideIsOne = (MatrixQR::InnerStrideAtCompileTime == 1 && HCoeffs::InnerStrideAtCompileTime == 1)>
 struct householder_qr_inplace_blocked
 {
-  // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
+  // This is specialized for LAPACK-supported Scalar types in HouseholderQR_LAPACKE.h
   static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index maxBlockSize=32,
       typename MatrixQR::Scalar* tempData = 0)
   {
@@ -349,15 +361,10 @@ template<typename RhsType, typename DstType>
 void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
   const Index rank = (std::min)(rows(), cols());
-  eigen_assert(rhs.rows() == rows());
 
   typename RhsType::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(
-    m_qr.leftCols(rank),
-    m_hCoeffs.head(rank)).transpose()
-  );
+  c.applyOnTheLeft(householderQ().setLength(rank).adjoint() );
 
   m_qr.topLeftCorner(rank, rank)
       .template triangularView<Upper>()
@@ -366,6 +373,25 @@ void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) c
   dst.topRows(rank) = c.topRows(rank);
   dst.bottomRows(cols()-rank).setZero();
 }
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void HouseholderQR<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  const Index rank = (std::min)(rows(), cols());
+
+  typename RhsType::PlainObject c(rhs);
+
+  m_qr.topLeftCorner(rank, rank)
+      .template triangularView<Upper>()
+      .transpose().template conjugateIf<Conjugate>()
+      .solveInPlace(c.topRows(rank));
+
+  dst.topRows(rank) = c.topRows(rank);
+  dst.bottomRows(rows()-rank).setZero();
+
+  dst.applyOnTheLeft(householderQ().setLength(rank).template conjugateIf<!Conjugate>() );
+}
 #endif
 
 /** Performs the QR factorization of the given matrix \a matrix. The result of
diff --git a/examples/ThirdPartyLibs/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/examples/ThirdPartyLibs/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
index 953d57c9d7..013c7ae7a9 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
@@ -74,13 +74,35 @@ class SPQR : public SparseSolverBase<SPQR<_MatrixType> >
     };
   public:
     SPQR() 
-      : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+      : m_analysisIsOk(false),
+        m_factorizationIsOk(false),
+        m_isRUpToDate(false),
+        m_ordering(SPQR_ORDERING_DEFAULT),
+        m_allow_tol(SPQR_DEFAULT_TOL),
+        m_tolerance (NumTraits<Scalar>::epsilon()),
+        m_cR(0),
+        m_E(0),
+        m_H(0),
+        m_HPinv(0),
+        m_HTau(0),
+        m_useDefaultThreshold(true)
     { 
       cholmod_l_start(&m_cc);
     }
     
     explicit SPQR(const _MatrixType& matrix)
-    : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+      : m_analysisIsOk(false),
+        m_factorizationIsOk(false),
+        m_isRUpToDate(false),
+        m_ordering(SPQR_ORDERING_DEFAULT),
+        m_allow_tol(SPQR_DEFAULT_TOL),
+        m_tolerance (NumTraits<Scalar>::epsilon()),
+        m_cR(0),
+        m_E(0),
+        m_H(0),
+        m_HPinv(0),
+        m_HTau(0),
+        m_useDefaultThreshold(true)
     {
       cholmod_l_start(&m_cc);
       compute(matrix);
@@ -220,7 +242,7 @@ class SPQR : public SparseSolverBase<SPQR<_MatrixType> >
     
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the sparse QR can not be computed
       */
     ComputationInfo info() const
diff --git a/examples/ThirdPartyLibs/Eigen/src/SVD/BDCSVD.h b/examples/ThirdPartyLibs/Eigen/src/SVD/BDCSVD.h
index b8c41c560d..a76a8dd04e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SVD/BDCSVD.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SVD/BDCSVD.h
@@ -11,7 +11,7 @@
 // Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
 // Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
 // Copyright (C) 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2014-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2014-2017 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -22,6 +22,15 @@
 // #define EIGEN_BDCSVD_DEBUG_VERBOSE
 // #define EIGEN_BDCSVD_SANITY_CHECKS
 
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+#undef eigen_internal_assert
+#define eigen_internal_assert(X) assert(X);
+#endif
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+#include <iostream>
+#endif
+
 namespace Eigen {
 
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
@@ -34,6 +43,7 @@ namespace internal {
 
 template<typename _MatrixType> 
 struct traits<BDCSVD<_MatrixType> >
+        : traits<_MatrixType>
 {
   typedef _MatrixType MatrixType;
 };  
@@ -57,7 +67,7 @@ struct traits<BDCSVD<_MatrixType> >
  * recommended and can several order of magnitude faster.
  *
  * \warning this algorithm is unlikely to provide accurate result when compiled with unsafe math optimizations.
- * For instance, this concerns Intel's compiler (ICC), which perfroms such optimization by default unless
+ * For instance, this concerns Intel's compiler (ICC), which performs such optimization by default unless
  * you compile with the \c -fp-model \c precise option. Likewise, the \c -ffast-math option of GCC or clang will
  * significantly degrade the accuracy.
  *
@@ -105,7 +115,7 @@ class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
    * The default constructor is useful in cases in which the user intends to
    * perform decompositions via BDCSVD::compute(const MatrixType&).
    */
-  BDCSVD() : m_algoswap(16), m_numIters(0)
+  BDCSVD() : m_algoswap(16), m_isTranspose(false), m_compU(false), m_compV(false), m_numIters(0)
   {}
 
 
@@ -166,7 +176,7 @@ class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
 
   void setSwitchSize(int s) 
   {
-    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
+    eigen_assert(s>=3 && "BDCSVD the size of the algo switch has to be at least 3.");
     m_algoswap = s;
   }
  
@@ -202,6 +212,7 @@ class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
   using Base::m_computeThinV;
   using Base::m_matrixU;
   using Base::m_matrixV;
+  using Base::m_info;
   using Base::m_isInitialized;
   using Base::m_nonzeroSingularValues;
 
@@ -212,7 +223,7 @@ class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
 
 // Method to allocate and initialize matrix and attributes
 template<typename MatrixType>
-void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+void BDCSVD<MatrixType>::allocate(Eigen::Index rows, Eigen::Index cols, unsigned int computationOptions)
 {
   m_isTranspose = (cols > rows);
 
@@ -250,16 +261,25 @@ BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsign
   {
     // FIXME this line involves temporaries
     JacobiSVD<MatrixType> jsvd(matrix,computationOptions);
-    if(computeU()) m_matrixU = jsvd.matrixU();
-    if(computeV()) m_matrixV = jsvd.matrixV();
-    m_singularValues = jsvd.singularValues();
-    m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
     m_isInitialized = true;
+    m_info = jsvd.info();
+    if (m_info == Success || m_info == NoConvergence) {
+      if(computeU()) m_matrixU = jsvd.matrixU();
+      if(computeV()) m_matrixV = jsvd.matrixV();
+      m_singularValues = jsvd.singularValues();
+      m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
+    }
     return *this;
   }
   
   //**** step 0 - Copy the input matrix and apply scaling to reduce over/under-flows
-  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  RealScalar scale = matrix.cwiseAbs().template maxCoeff<PropagateNaN>();
+  if (!(numext::isfinite)(scale)) {
+    m_isInitialized = true;
+    m_info = InvalidInput;
+    return *this;
+  }
+
   if(scale==Literal(0)) scale = Literal(1);
   MatrixX copy;
   if (m_isTranspose) copy = matrix.adjoint()/scale;
@@ -276,7 +296,11 @@ BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsign
   m_computed.topRows(m_diagSize) = bid.bidiagonal().toDenseMatrix().transpose();
   m_computed.template bottomRows<1>().setZero();
   divide(0, m_diagSize - 1, 0, 0, 0);
-
+  if (m_info != Success && m_info != NoConvergence) {
+    m_isInitialized = true;
+    return *this;
+  }
+    
   //**** step 3 - Copy singular values and vectors
   for (int i=0; i<m_diagSize; i++)
   {
@@ -384,11 +408,11 @@ void BDCSVD<MatrixType>::structured_update(Block<MatrixXr,Dynamic,Dynamic> A, co
 //@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU; 
 // lastCol + 1 - firstCol is the size of the submatrix.
 //@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
-//@param firstRowW : Same as firstRowW with the column.
+//@param firstColW : Same as firstRowW with the column.
 //@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix 
 // to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
 template<typename MatrixType>
-void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift)
+void BDCSVD<MatrixType>::divide(Eigen::Index firstCol, Eigen::Index lastCol, Eigen::Index firstRowW, Eigen::Index firstColW, Eigen::Index shift)
 {
   // requires rows = cols + 1;
   using std::pow;
@@ -408,6 +432,8 @@ void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW,
   {
     // FIXME this line involves temporaries
     JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), ComputeFullU | (m_compV ? ComputeFullV : 0));
+    m_info = b.info();
+    if (m_info != Success && m_info != NoConvergence) return;
     if (m_compU)
       m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = b.matrixU();
     else 
@@ -427,7 +453,9 @@ void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW,
   // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the 
   // right submatrix before the left one. 
   divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
+  if (m_info != Success && m_info != NoConvergence) return;
   divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
+  if (m_info != Success && m_info != NoConvergence) return;
 
   if (m_compU)
   {
@@ -568,7 +596,7 @@ void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW,
 // handling of round-off errors, be consistent in ordering
 // For instance, to solve the secular equation using FMM, see http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
 template <typename MatrixType>
-void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
+void BDCSVD<MatrixType>::computeSVDofM(Eigen::Index firstCol, Eigen::Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
 {
   const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
   using std::abs;
@@ -591,7 +619,7 @@ void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, Vec
   // but others are interleaved and we must ignore them at this stage.
   // To this end, let's compute a permutation skipping them:
   Index actual_n = n;
-  while(actual_n>1 && diag(actual_n-1)==Literal(0)) --actual_n;
+  while(actual_n>1 && diag(actual_n-1)==Literal(0)) {--actual_n; eigen_internal_assert(col0(actual_n)==Literal(0)); }
   Index m = 0; // size of the deflated problem
   for(Index k=0;k<actual_n;++k)
     if(abs(col0(k))>considerZero)
@@ -618,13 +646,11 @@ void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, Vec
   std::cout << "  shift:    " << shifts.transpose() << "\n";
   
   {
-    Index actual_n = n;
-    while(actual_n>1 && abs(col0(actual_n-1))<considerZero) --actual_n;
     std::cout << "\n\n    mus:    " << mus.head(actual_n).transpose() << "\n\n";
     std::cout << "    check1 (expect0) : " << ((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    assert((((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n) >= 0).all());
     std::cout << "    check2 (>0)      : " << ((singVals.array()-diag) / singVals.array()).head(actual_n).transpose() << "\n\n";
-    std::cout << "    check3 (>0)      : " << ((diag.segment(1,actual_n-1)-singVals.head(actual_n-1).array()) / singVals.head(actual_n-1).array()).transpose() << "\n\n\n";
-    std::cout << "    check4 (>0)      : " << ((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).transpose() << "\n\n\n";
+    assert((((singVals.array()-diag) / singVals.array()).head(actual_n) >= 0).all());
   }
 #endif
   
@@ -652,13 +678,13 @@ void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, Vec
 #endif
   
 #ifdef EIGEN_BDCSVD_SANITY_CHECKS
-  assert(U.allFinite());
-  assert(V.allFinite());
-  assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 1e-14 * n);
-  assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 1e-14 * n);
   assert(m_naiveU.allFinite());
   assert(m_naiveV.allFinite());
   assert(m_computed.allFinite());
+  assert(U.allFinite());
+  assert(V.allFinite());
+//   assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 100*NumTraits<RealScalar>::epsilon() * n);
+//   assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 100*NumTraits<RealScalar>::epsilon() * n);
 #endif
   
   // Because of deflation, the singular values might not be completely sorted.
@@ -673,6 +699,15 @@ void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, Vec
       if(m_compV) V.col(i).swap(V.col(i+1));
     }
   }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  {
+    bool singular_values_sorted = (((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).array() >= 0).all();
+    if(!singular_values_sorted)
+      std::cout << "Singular values are not sorted: " << singVals.segment(1,actual_n).transpose() << "\n";
+    assert(singular_values_sorted);
+  }
+#endif
   
   // Reverse order so that singular values in increased order
   // Because of deflation, the zeros singular-values are already at the end
@@ -696,7 +731,9 @@ typename BDCSVD<MatrixType>::RealScalar BDCSVD<MatrixType>::secularEq(RealScalar
   for(Index i=0; i<m; ++i)
   {
     Index j = perm(i);
-    res += numext::abs2(col0(j)) / ((diagShifted(j) - mu) * (diag(j) + shift + mu));
+    // The following expression could be rewritten to involve only a single division,
+    // but this would make the expression more sensitive to overflow.
+    res += (col0(j) / (diagShifted(j) - mu)) * (col0(j) / (diag(j) + shift + mu));
   }
   return res;
 
@@ -708,9 +745,12 @@ void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& d
 {
   using std::abs;
   using std::swap;
+  using std::sqrt;
 
   Index n = col0.size();
   Index actual_n = n;
+  // Note that here actual_n is computed based on col0(i)==0 instead of diag(i)==0 as above
+  // because 1) we have diag(i)==0 => col0(i)==0 and 2) if col0(i)==0, then diag(i) is already a singular value.
   while(actual_n>1 && col0(actual_n-1)==Literal(0)) --actual_n;
 
   for (Index k = 0; k < n; ++k)
@@ -732,7 +772,9 @@ void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& d
       right = (diag(actual_n-1) + col0.matrix().norm());
     else
     {
-      // Skip deflated singular values
+      // Skip deflated singular values,
+      // recall that at this stage we assume that z[j]!=0 and all entries for which z[j]==0 have been put aside.
+      // This should be equivalent to using perm[]
       Index l = k+1;
       while(col0(l)==Literal(0)) { ++l; eigen_internal_assert(l<actual_n); }
       right = diag(l);
@@ -742,25 +784,43 @@ void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& d
     RealScalar mid = left + (right-left) / Literal(2);
     RealScalar fMid = secularEq(mid, col0, diag, perm, diag, Literal(0));
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-    std::cout << right-left << "\n";
-    std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, diag-left, left) << " " << secularEq(mid-right, col0, diag, perm, diag-right, right)   << "\n";
-    std::cout << "     = " << secularEq(0.1*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.2*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.3*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.4*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.49*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.5*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.51*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.6*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.7*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.8*(left+right), col0, diag, perm, diag, 0)
-              << " "       << secularEq(0.9*(left+right), col0, diag, perm, diag, 0) << "\n";
+    std::cout << "right-left = " << right-left << "\n";
+//     std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, ArrayXr(diag-left), left)
+//                            << " " << secularEq(mid-right, col0, diag, perm, ArrayXr(diag-right), right)   << "\n";
+    std::cout << "     = " << secularEq(left+RealScalar(0.000001)*(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.1)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.2)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.3)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.4)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.49)    *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.5)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.51)    *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.6)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.7)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.8)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.9)     *(right-left), col0, diag, perm, diag, 0)
+              << " "       << secularEq(left+RealScalar(0.999999)*(right-left), col0, diag, perm, diag, 0) << "\n";
 #endif
     RealScalar shift = (k == actual_n-1 || fMid > Literal(0)) ? left : right;
     
     // measure everything relative to shift
     Map<ArrayXr> diagShifted(m_workspace.data()+4*n, n);
     diagShifted = diag - shift;
+
+    if(k!=actual_n-1)
+    {
+      // check that after the shift, f(mid) is still negative:
+      RealScalar midShifted = (right - left) / RealScalar(2);
+      if(shift==right)
+        midShifted = -midShifted;
+      RealScalar fMidShifted = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
+      if(fMidShifted>0)
+      {
+        // fMid was erroneous, fix it:
+        shift =  fMidShifted > Literal(0) ? left : right;
+        diagShifted = diag - shift;
+      }
+    }
     
     // initial guess
     RealScalar muPrev, muCur;
@@ -797,13 +857,16 @@ void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& d
       // And find mu such that f(mu)==0:
       RealScalar muZero = -a/b;
       RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      assert((numext::isfinite)(fZero));
+#endif
       
       muPrev = muCur;
       fPrev = fCur;
       muCur = muZero;
       fCur = fZero;
       
-      
       if (shift == left  && (muCur < Literal(0) || muCur > right - left)) useBisection = true;
       if (shift == right && (muCur < -(right - left) || muCur > Literal(0))) useBisection = true;
       if (abs(fCur)>abs(fPrev)) useBisection = true;
@@ -818,54 +881,100 @@ void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& d
       RealScalar leftShifted, rightShifted;
       if (shift == left)
       {
-        leftShifted = (std::numeric_limits<RealScalar>::min)();
+        // to avoid overflow, we must have mu > max(real_min, |z(k)|/sqrt(real_max)),
+        // the factor 2 is to be more conservative
+        leftShifted = numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), Literal(2) * abs(col0(k)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+
+        // check that we did it right:
+        eigen_internal_assert( (numext::isfinite)( (col0(k)/leftShifted)*(col0(k)/(diag(k)+shift+leftShifted)) ) );
         // I don't understand why the case k==0 would be special there:
-        // if (k == 0) rightShifted = right - left; else 
-        rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.6)); // theoretically we can take 0.5, but let's be safe
+        // if (k == 0) rightShifted = right - left; else
+        rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.51)); // theoretically we can take 0.5, but let's be safe
       }
       else
       {
-        leftShifted = -(right - left) * RealScalar(0.6);
-        rightShifted = -(std::numeric_limits<RealScalar>::min)();
+        leftShifted = -(right - left) * RealScalar(0.51);
+        if(k+1<n)
+          rightShifted = -numext::maxi<RealScalar>( (std::numeric_limits<RealScalar>::min)(), abs(col0(k+1)) / sqrt((std::numeric_limits<RealScalar>::max)()) );
+        else
+          rightShifted = -(std::numeric_limits<RealScalar>::min)();
       }
-      
+
       RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
+      eigen_internal_assert(fLeft<Literal(0));
 
-#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
+#if defined EIGEN_BDCSVD_DEBUG_VERBOSE || defined EIGEN_BDCSVD_SANITY_CHECKS || defined EIGEN_INTERNAL_DEBUGGING
       RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
 #endif
 
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      if(!(numext::isfinite)(fLeft))
+        std::cout << "f(" << leftShifted << ") =" << fLeft << " ; " << left << " " << shift << " " << right << "\n";
+      assert((numext::isfinite)(fLeft));
+
+      if(!(numext::isfinite)(fRight))
+        std::cout << "f(" << rightShifted << ") =" << fRight << " ; " << left << " " << shift << " " << right << "\n";
+      // assert((numext::isfinite)(fRight));
+#endif
+    
 #ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
       if(!(fLeft * fRight<0))
       {
-        std::cout << "fLeft: " << leftShifted << " - " << diagShifted.head(10).transpose()  << "\n ; " << bool(left==shift) << " " << (left-shift) << "\n";
-        std::cout << k << " : " <<  fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  " << left << " - " << right << " -> " <<  leftShifted << " " << rightShifted << "   shift=" << shift << "\n";
+        std::cout << "f(leftShifted) using  leftShifted=" << leftShifted << " ;  diagShifted(1:10):" << diagShifted.head(10).transpose()  << "\n ; "
+                  << "left==shift=" << bool(left==shift) << " ; left-shift = " << (left-shift) << "\n";
+        std::cout << "k=" << k << ", " <<  fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  "
+                  << "[" << left << " .. " << right << "] -> [" << leftShifted << " " << rightShifted << "], shift=" << shift
+                  << " ,  f(right)=" << secularEq(0,     col0, diag, perm, diagShifted, shift)
+                           << " == " << secularEq(right, col0, diag, perm, diag, 0) << " == " << fRight << "\n";
       }
 #endif
       eigen_internal_assert(fLeft * fRight < Literal(0));
-      
-      while (rightShifted - leftShifted > Literal(2) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
+
+      if(fLeft<Literal(0))
       {
-        RealScalar midShifted = (leftShifted + rightShifted) / Literal(2);
-        fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
-        if (fLeft * fMid < Literal(0))
-        {
-          rightShifted = midShifted;
-        }
-        else
+        while (rightShifted - leftShifted > Literal(2) * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
         {
-          leftShifted = midShifted;
-          fLeft = fMid;
+          RealScalar midShifted = (leftShifted + rightShifted) / Literal(2);
+          fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
+          eigen_internal_assert((numext::isfinite)(fMid));
+
+          if (fLeft * fMid < Literal(0))
+          {
+            rightShifted = midShifted;
+          }
+          else
+          {
+            leftShifted = midShifted;
+            fLeft = fMid;
+          }
         }
+        muCur = (leftShifted + rightShifted) / Literal(2);
+      }
+      else 
+      {
+        // We have a problem as shifting on the left or right give either a positive or negative value
+        // at the middle of [left,right]...
+        // Instead fo abbording or entering an infinite loop,
+        // let's just use the middle as the estimated zero-crossing:
+        muCur = (right - left) * RealScalar(0.5);
+        if(shift == right)
+          muCur = -muCur;
       }
-
-      muCur = (leftShifted + rightShifted) / Literal(2);
     }
       
     singVals[k] = shift + muCur;
     shifts[k] = shift;
     mus[k] = muCur;
 
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+    if(k+1<n)
+      std::cout << "found " << singVals[k] << " == " << shift << " + " << muCur << " from " << diag(k) << " .. "  << diag(k+1) << "\n";
+#endif
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+    assert(k==0 || singVals[k]>=singVals[k-1]);
+    assert(singVals[k]>=diag(k));
+#endif
+
     // perturb singular value slightly if it equals diagonal entry to avoid division by zero later
     // (deflation is supposed to avoid this from happening)
     // - this does no seem to be necessary anymore -
@@ -889,7 +998,7 @@ void BDCSVD<MatrixType>::perturbCol0
     zhat.setZero();
     return;
   }
-  Index last = perm(m-1);
+  Index lastIdx = perm(m-1);
   // The offset permits to skip deflated entries while computing zhat
   for (Index k = 0; k < n; ++k)
   {
@@ -899,27 +1008,58 @@ void BDCSVD<MatrixType>::perturbCol0
     {
       // see equation (3.6)
       RealScalar dk = diag(k);
-      RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
+      RealScalar prod = (singVals(lastIdx) + dk) * (mus(lastIdx) + (shifts(lastIdx) - dk));
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      if(prod<0) {
+        std::cout << "k = " << k << " ;  z(k)=" << col0(k) << ", diag(k)=" << dk << "\n";
+        std::cout << "prod = " << "(" << singVals(lastIdx) << " + " << dk << ") * (" << mus(lastIdx) << " + (" << shifts(lastIdx) << " - " << dk << "))" << "\n";
+        std::cout << "     = " << singVals(lastIdx) + dk << " * " << mus(lastIdx) + (shifts(lastIdx) - dk) <<  "\n";
+      }
+      assert(prod>=0);
+#endif
 
       for(Index l = 0; l<m; ++l)
       {
         Index i = perm(l);
         if(i!=k)
         {
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          if(i>=k && (l==0 || l-1>=m))
+          {
+            std::cout << "Error in perturbCol0\n";
+            std::cout << "  " << k << "/" << n << " "  << l << "/" << m << " " << i << "/" << n << " ; " << col0(k) << " " << diag(k) << " "  <<  "\n";
+            std::cout << "  " <<diag(i) << "\n";
+            Index j = (i<k /*|| l==0*/) ? i : perm(l-1);
+            std::cout << "  " << "j=" << j << "\n";
+          }
+#endif
           Index j = i<k ? i : perm(l-1);
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          if(!(dk!=Literal(0) || diag(i)!=Literal(0)))
+          {
+            std::cout << "k=" << k << ", i=" << i << ", l=" << l << ", perm.size()=" << perm.size() << "\n";
+          }
+          assert(dk!=Literal(0) || diag(i)!=Literal(0));
+#endif
           prod *= ((singVals(j)+dk) / ((diag(i)+dk))) * ((mus(j)+(shifts(j)-dk)) / ((diag(i)-dk)));
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+          assert(prod>=0);
+#endif
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-          if(i!=k && std::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
+          if(i!=k && numext::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
             std::cout << "     " << ((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) << " == (" << (singVals(j)+dk) << " * " << (mus(j)+(shifts(j)-dk))
                        << ") / (" << (diag(i)+dk) << " * " << (diag(i)-dk) << ")\n";
 #endif
         }
       }
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(last) + dk) << " * " << mus(last) + shifts(last) << " - " << dk << "\n";
+      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(lastIdx) + dk) << " * " << mus(lastIdx) + shifts(lastIdx) << " - " << dk << "\n";
 #endif
       RealScalar tmp = sqrt(prod);
-      zhat(k) = col0(k) > Literal(0) ? tmp : -tmp;
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+      assert((numext::isfinite)(tmp));
+#endif
+      zhat(k) = col0(k) > Literal(0) ? RealScalar(tmp) : RealScalar(-tmp);
     }
   }
 }
@@ -972,7 +1112,7 @@ void BDCSVD<MatrixType>::computeSingVecs
 // i >= 1, di almost null and zi non null.
 // We use a rotation to zero out zi applied to the left of M
 template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size)
+void BDCSVD<MatrixType>::deflation43(Eigen::Index firstCol, Eigen::Index shift, Eigen::Index i, Eigen::Index size)
 {
   using std::abs;
   using std::sqrt;
@@ -980,7 +1120,7 @@ void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index
   Index start = firstCol + shift;
   RealScalar c = m_computed(start, start);
   RealScalar s = m_computed(start+i, start);
-  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+  RealScalar r = numext::hypot(c,s);
   if (r == Literal(0))
   {
     m_computed(start+i, start+i) = Literal(0);
@@ -1001,7 +1141,7 @@ void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index
 // We apply two rotations to have zj = 0;
 // TODO deflation44 is still broken and not properly tested
 template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size)
+void BDCSVD<MatrixType>::deflation44(Eigen::Index firstColu , Eigen::Index firstColm, Eigen::Index firstRowW, Eigen::Index firstColW, Eigen::Index i, Eigen::Index j, Eigen::Index size)
 {
   using std::abs;
   using std::sqrt;
@@ -1028,7 +1168,7 @@ void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index fi
   }
   c/=r;
   s/=r;
-  m_computed(firstColm + i, firstColm) = r;  
+  m_computed(firstColm + i, firstColm) = r;
   m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
   m_computed(firstColm + j, firstColm) = Literal(0);
 
@@ -1041,7 +1181,7 @@ void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index fi
 
 // acts on block from (firstCol+shift, firstCol+shift) to (lastCol+shift, lastCol+shift) [inclusive]
 template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift)
+void BDCSVD<MatrixType>::deflation(Eigen::Index firstCol, Eigen::Index lastCol, Eigen::Index k, Eigen::Index firstRowW, Eigen::Index firstColW, Eigen::Index shift)
 {
   using std::sqrt;
   using std::abs;
@@ -1102,11 +1242,12 @@ void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index
 #endif
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
   std::cout << "to be sorted: " << diag.transpose() << "\n\n";
+  std::cout << "            : " << col0.transpose() << "\n\n";
 #endif
   {
     // Check for total deflation
-    // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting
-    bool total_deflation = (col0.tail(length-1).array()<considerZero).all();
+    // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting.
+    const bool total_deflation = (col0.tail(length-1).array().abs()<considerZero).all();
     
     // Sort the diagonal entries, since diag(1:k-1) and diag(k:length) are already sorted, let's do a sorted merge.
     // First, compute the respective permutation.
@@ -1192,7 +1333,7 @@ void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index
        if( (diag(i) - diag(i-1)) < NumTraits<RealScalar>::epsilon()*maxDiag )
       {
 #ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
-        std::cout << "deflation 4.4 with i = " << i << " because " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*diag(i) << "\n";
+        std::cout << "deflation 4.4 with i = " << i << " because " << diag(i) << " - " << diag(i-1) << " == " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*/*diag(i)*/maxDiag << "\n";
 #endif
         eigen_internal_assert(abs(diag(i) - diag(i-1))<epsilon_coarse && " diagonal entries are not properly sorted");
         deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i-1, i, length);
@@ -1211,7 +1352,6 @@ void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index
 #endif
 }//end deflation
 
-#ifndef EIGEN_CUDACC
 /** \svd_module
   *
   * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
@@ -1224,7 +1364,6 @@ MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
 {
   return BDCSVD<PlainObject>(*this, computationOptions);
 }
-#endif
 
 } // end namespace Eigen
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD.h b/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD.h
index 43488b1e0c..9d95acdf67 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD.h
@@ -112,12 +112,12 @@ class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, Pre
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
-              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
-              : MatrixType::Options
+    Options = MatrixType::Options
   };
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
+
+  typedef typename internal::make_proper_matrix_type<
+    Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime
+  >::type TransposeTypeWithSameStorageOrder;
 
   void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
   {
@@ -202,13 +202,12 @@ class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, Prec
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    TrOptions = RowsAtCompileTime==1 ? (MatrixType::Options & ~(RowMajor))
-              : ColsAtCompileTime==1 ? (MatrixType::Options |   RowMajor)
-              : MatrixType::Options
+    Options = MatrixType::Options
   };
 
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, TrOptions, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
+  typedef typename internal::make_proper_matrix_type<
+    Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime
+  >::type TransposeTypeWithSameStorageOrder;
 
   void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
   {
@@ -303,8 +302,9 @@ class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, Preconditi
     Options = MatrixType::Options
   };
 
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
+  typedef typename internal::make_proper_matrix_type<
+    Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime
+  >::type TransposeTypeWithSameStorageOrder;
 
   void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
   {
@@ -425,6 +425,7 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
 
 template<typename _MatrixType, int QRPreconditioner> 
 struct traits<JacobiSVD<_MatrixType,QRPreconditioner> >
+        : traits<_MatrixType>
 {
   typedef _MatrixType MatrixType;
 };
@@ -584,6 +585,7 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
     using Base::m_matrixU;
     using Base::m_matrixV;
     using Base::m_singularValues;
+    using Base::m_info;
     using Base::m_isInitialized;
     using Base::m_isAllocated;
     using Base::m_usePrescribedThreshold;
@@ -610,7 +612,7 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
 };
 
 template<typename MatrixType, int QRPreconditioner>
-void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
+void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Eigen::Index rows, Eigen::Index cols, unsigned int computationOptions)
 {
   eigen_assert(rows >= 0 && cols >= 0);
 
@@ -624,6 +626,7 @@ void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, u
 
   m_rows = rows;
   m_cols = cols;
+  m_info = Success;
   m_isInitialized = false;
   m_isAllocated = true;
   m_computationOptions = computationOptions;
@@ -673,7 +676,12 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
 
   // Scaling factor to reduce over/under-flows
-  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  RealScalar scale = matrix.cwiseAbs().template maxCoeff<PropagateNaN>();
+  if (!(numext::isfinite)(scale)) {
+    m_isInitialized = true;
+    m_info = InvalidInput;
+    return *this;
+  }
   if(scale==RealScalar(0)) scale = RealScalar(1);
   
   /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
diff --git a/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD_LAPACKE.h b/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD_LAPACKE.h
index 50272154f8..ff0516f611 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD_LAPACKE.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SVD/JacobiSVD_LAPACKE.h
@@ -61,9 +61,10 @@ JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPiv
     u    = (LAPACKE_TYPE*)m_matrixU.data(); \
   } else { ldu=1; u=&dummy; }\
   MatrixType localV; \
-  ldvt = (m_computeFullV) ? internal::convert_index<lapack_int>(m_cols) : (m_computeThinV) ? internal::convert_index<lapack_int>(m_diagSize) : 1; \
+  lapack_int vt_rows = (m_computeFullV) ? internal::convert_index<lapack_int>(m_cols) : (m_computeThinV) ? internal::convert_index<lapack_int>(m_diagSize) : 1; \
   if (computeV()) { \
-    localV.resize(ldvt, m_cols); \
+    localV.resize(vt_rows, m_cols); \
+    ldvt  = internal::convert_index<lapack_int>(localV.outerStride()); \
     vt   = (LAPACKE_TYPE*)localV.data(); \
   } else { ldvt=1; vt=&dummy; }\
   Matrix<LAPACKE_RTYPE, Dynamic, Dynamic> superb; superb.resize(m_diagSize, 1); \
diff --git a/examples/ThirdPartyLibs/Eigen/src/SVD/SVDBase.h b/examples/ThirdPartyLibs/Eigen/src/SVD/SVDBase.h
index 4294147970..bc7ab88b4c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SVD/SVDBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SVD/SVDBase.h
@@ -17,6 +17,18 @@
 #define EIGEN_SVDBASE_H
 
 namespace Eigen {
+
+namespace internal {
+template<typename Derived> struct traits<SVDBase<Derived> >
+ : traits<Derived>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef int StorageIndex;
+  enum { Flags = 0 };
+};
+}
+
 /** \ingroup SVD_Module
  *
  *
@@ -39,20 +51,26 @@ namespace Eigen {
  * 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.
+ * 
+ * The status of the computation can be retrived using the \a info() method. Unless \a info() returns \a Success, the results should be not
+ * considered well defined.
  *  
- * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
+ * If the input matrix has inf or nan coefficients, the result of the computation is undefined, and \a info() will return \a InvalidInput, but the computation is guaranteed to
  * terminate in finite (and reasonable) time.
  * \sa class BDCSVD, class JacobiSVD
  */
-template<typename Derived>
-class SVDBase
+template<typename Derived> class SVDBase
+ : public SolverBase<SVDBase<Derived> >
 {
+public: 
+   
+  template<typename Derived_>
+  friend struct internal::solve_assertion;
 
-public:
   typedef typename internal::traits<Derived>::MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  typedef typename MatrixType::StorageIndex StorageIndex;
+  typedef typename Eigen::internal::traits<SVDBase>::StorageIndex StorageIndex;
   typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   enum {
     RowsAtCompileTime = MatrixType::RowsAtCompileTime,
@@ -82,7 +100,7 @@ class SVDBase
    */
   const MatrixUType& matrixU() const
   {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    _check_compute_assertions();
     eigen_assert(computeU() && "This SVD decomposition didn't compute U. Did you ask for it?");
     return m_matrixU;
   }
@@ -98,7 +116,7 @@ class SVDBase
    */
   const MatrixVType& matrixV() const
   {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    _check_compute_assertions();
     eigen_assert(computeV() && "This SVD decomposition didn't compute V. Did you ask for it?");
     return m_matrixV;
   }
@@ -110,14 +128,14 @@ class SVDBase
    */
   const SingularValuesType& singularValues() const
   {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    _check_compute_assertions();
     return m_singularValues;
   }
 
   /** \returns the number of singular values that are not exactly 0 */
   Index nonzeroSingularValues() const
   {
-    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    _check_compute_assertions();
     return m_nonzeroSingularValues;
   }
   
@@ -130,7 +148,7 @@ class SVDBase
   inline Index rank() const
   {
     using std::abs;
-    eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+    _check_compute_assertions();
     if(m_singularValues.size()==0) return 0;
     RealScalar premultiplied_threshold = numext::maxi<RealScalar>(m_singularValues.coeff(0) * threshold(), (std::numeric_limits<RealScalar>::min)());
     Index i = m_nonzeroSingularValues-1;
@@ -180,8 +198,10 @@ class SVDBase
   RealScalar threshold() const
   {
     eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+    // this temporary is needed to workaround a MSVC issue
+    Index diagSize = (std::max<Index>)(1,m_diagSize);
     return m_usePrescribedThreshold ? m_prescribedThreshold
-                                    : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
+                                    : RealScalar(diagSize)*NumTraits<Scalar>::epsilon();
   }
 
   /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
@@ -192,6 +212,7 @@ class SVDBase
   inline Index rows() const { return m_rows; }
   inline Index cols() const { return m_cols; }
   
+  #ifdef EIGEN_PARSED_BY_DOXYGEN
   /** \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.
@@ -203,31 +224,55 @@ class SVDBase
     */
   template<typename Rhs>
   inline const Solve<Derived, Rhs>
-  solve(const MatrixBase<Rhs>& b) const
+  solve(const MatrixBase<Rhs>& b) const;
+  #endif
+
+
+  /** \brief Reports whether previous computation was successful.
+   *
+   * \returns \c Success if computation was successful.
+   */
+  EIGEN_DEVICE_FUNC
+  ComputationInfo info() const
   {
     eigen_assert(m_isInitialized && "SVD is not initialized.");
-    eigen_assert(computeU() && computeV() && "SVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-    return Solve<Derived, Rhs>(derived(), b.derived());
+    return m_info;
   }
-  
+
   #ifndef EIGEN_PARSED_BY_DOXYGEN
   template<typename RhsType, typename DstType>
   void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+  template<bool Conjugate, typename RhsType, typename DstType>
+  void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
   #endif
 
 protected:
-  
+
   static void check_template_parameters()
   {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
   }
-  
+
+  void _check_compute_assertions() const {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+  }
+
+  template<bool Transpose_, typename Rhs>
+  void _check_solve_assertion(const Rhs& b) const {
+      EIGEN_ONLY_USED_FOR_DEBUG(b);
+      _check_compute_assertions();
+      eigen_assert(computeU() && computeV() && "SVDBase::solve(): Both unitaries U and V are required to be computed (thin unitaries suffice).");
+      eigen_assert((Transpose_?cols():rows())==b.rows() && "SVDBase::solve(): invalid number of rows of the right hand side matrix b");
+  }
+
   // return true if already allocated
   bool allocate(Index rows, Index cols, unsigned int computationOptions) ;
 
   MatrixUType m_matrixU;
   MatrixVType m_matrixV;
   SingularValuesType m_singularValues;
+  ComputationInfo m_info;
   bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
   bool m_computeFullU, m_computeThinU;
   bool m_computeFullV, m_computeThinV;
@@ -240,9 +285,14 @@ class SVDBase
    * Default constructor of SVDBase
    */
   SVDBase()
-    : m_isInitialized(false),
+    : m_info(Success),
+      m_isInitialized(false),
       m_isAllocated(false),
       m_usePrescribedThreshold(false),
+      m_computeFullU(false),
+      m_computeThinU(false),
+      m_computeFullV(false),
+      m_computeThinV(false),
       m_computationOptions(0),
       m_rows(-1), m_cols(-1), m_diagSize(0)
   {
@@ -257,17 +307,30 @@ template<typename Derived>
 template<typename RhsType, typename DstType>
 void SVDBase<Derived>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  eigen_assert(rhs.rows() == rows());
-
   // A = U S V^*
   // So A^{-1} = V S^{-1} U^*
 
-  Matrix<Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
+  Matrix<typename RhsType::Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
   Index l_rank = rank();
   tmp.noalias() =  m_matrixU.leftCols(l_rank).adjoint() * rhs;
   tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
   dst = m_matrixV.leftCols(l_rank) * tmp;
 }
+
+template<typename Derived>
+template<bool Conjugate, typename RhsType, typename DstType>
+void SVDBase<Derived>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  // A = U S V^*
+  // So  A^{-*} = U S^{-1} V^*
+  // And A^{-T} = U_conj S^{-1} V^T
+  Matrix<typename RhsType::Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
+  Index l_rank = rank();
+
+  tmp.noalias() =  m_matrixV.leftCols(l_rank).transpose().template conjugateIf<Conjugate>() * rhs;
+  tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
+  dst = m_matrixU.template conjugateIf<!Conjugate>().leftCols(l_rank) * tmp;
+}
 #endif
 
 template<typename MatrixType>
@@ -285,6 +348,7 @@ bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computat
 
   m_rows = rows;
   m_cols = cols;
+  m_info = Success;
   m_isInitialized = false;
   m_isAllocated = true;
   m_computationOptions = computationOptions;
diff --git a/examples/ThirdPartyLibs/Eigen/src/SVD/UpperBidiagonalization.h b/examples/ThirdPartyLibs/Eigen/src/SVD/UpperBidiagonalization.h
index 11ac847e1d..997defc474 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SVD/UpperBidiagonalization.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SVD/UpperBidiagonalization.h
@@ -127,7 +127,7 @@ void upperbidiagonalization_inplace_unblocked(MatrixType& mat,
        .makeHouseholderInPlace(mat.coeffRef(k,k+1), upper_diagonal[k]);
     // apply householder transform to remaining part of mat on the left
     mat.bottomRightCorner(remainingRows-1, remainingCols)
-       .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).transpose(), mat.coeff(k,k+1), tempData);
+       .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).adjoint(), mat.coeff(k,k+1), tempData);
   }
 }
 
@@ -202,7 +202,7 @@ void upperbidiagonalization_blocked_helper(MatrixType& A,
       {
         SubColumnType y_k( Y.col(k).tail(remainingCols) );
         
-        // let's use the begining of column k of Y as a temporary vector
+        // let's use the beginning of column k of Y as a temporary vector
         SubColumnType tmp( Y.col(k).head(k) );
         y_k.noalias()  = A.block(k,k+1, remainingRows,remainingCols).adjoint() * v_k; // bottleneck
         tmp.noalias()  = V_k1.adjoint()  * v_k;
@@ -231,7 +231,7 @@ void upperbidiagonalization_blocked_helper(MatrixType& A,
       {
         SubColumnType x_k ( X.col(k).tail(remainingRows-1) );
         
-        // let's use the begining of column k of X as a temporary vectors
+        // let's use the beginning of column k of X as a temporary vectors
         // note that tmp0 and tmp1 overlaps
         SubColumnType tmp0 ( X.col(k).head(k) ),
                       tmp1 ( X.col(k).head(k+1) );
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky.h b/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky.h
index 2907f65296..9f93e3255d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -80,11 +80,19 @@ class SimplicialCholeskyBase : public SparseSolverBase<Derived>
 
     /** Default constructor */
     SimplicialCholeskyBase()
-      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
+      : m_info(Success),
+        m_factorizationIsOk(false),
+        m_analysisIsOk(false),
+        m_shiftOffset(0),
+        m_shiftScale(1)
     {}
 
     explicit SimplicialCholeskyBase(const MatrixType& matrix)
-      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
+      : m_info(Success),
+        m_factorizationIsOk(false),
+        m_analysisIsOk(false),
+        m_shiftOffset(0),
+        m_shiftScale(1)
     {
       derived().compute(matrix);
     }
@@ -101,7 +109,7 @@ class SimplicialCholeskyBase : public SparseSolverBase<Derived>
     
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix.appears to be negative.
       */
     ComputationInfo info() const
@@ -210,7 +218,7 @@ class SimplicialCholeskyBase : public SparseSolverBase<Derived>
       CholMatrixType tmp(size,size);
       ConstCholMatrixPtr pmat;
       
-      if(m_P.size()==0 && (UpLo&Upper)==Upper)
+      if(m_P.size() == 0 && (int(UpLo) & int(Upper)) == Upper)
       {
         // If there is no ordering, try to directly use the input matrix without any copy
         internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, tmp);
@@ -279,8 +287,8 @@ template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<Simp
   typedef SparseMatrix<Scalar, ColMajor, StorageIndex>        CholMatrixType;
   typedef TriangularView<const CholMatrixType, Eigen::Lower>  MatrixL;
   typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
+  static inline MatrixL getL(const CholMatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const CholMatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<SimplicialLDLT<_MatrixType,_UpLo,_Ordering> >
@@ -293,8 +301,8 @@ template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<Simpl
   typedef SparseMatrix<Scalar, ColMajor, StorageIndex>            CholMatrixType;
   typedef TriangularView<const CholMatrixType, Eigen::UnitLower>  MatrixL;
   typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
-  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
+  static inline MatrixL getL(const CholMatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const CholMatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<SimplicialCholesky<_MatrixType,_UpLo,_Ordering> >
@@ -608,7 +616,7 @@ template<typename _MatrixType, int _UpLo, typename _Ordering>
       }
 
       if(Base::m_diag.size()>0)
-        dest = Base::m_diag.asDiagonal().inverse() * dest;
+        dest = Base::m_diag.real().asDiagonal().inverse() * dest;
 
       if (Base::m_matrix.nonZeros()>0) // otherwise I==I
       {
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h b/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
index 31e06995b8..72e1740c19 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
@@ -2,46 +2,21 @@
 // for linear algebra.
 //
 // Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /*
-
-NOTE: thes functions vave been adapted from the LDL library:
+NOTE: these functions have 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.
+The author of LDL, Timothy A. Davis., has executed a license with Google LLC
+to permit distribution of this code and derivative works as part of Eigen under
+the Mozilla Public License v. 2.0, as stated at the top of this file.
  */
 
-#include "../Core/util/NonMPL2.h"
-
 #ifndef EIGEN_SIMPLICIAL_CHOLESKY_IMPL_H
 #define EIGEN_SIMPLICIAL_CHOLESKY_IMPL_H
 
@@ -122,7 +97,7 @@ void SimplicialCholeskyBase<Derived>::factorize_preordered(const CholMatrixType&
   for(StorageIndex 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
+    y[k] = Scalar(0);                     // Y(0:k) is now all zero
     StorageIndex 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
@@ -146,17 +121,17 @@ void SimplicialCholeskyBase<Derived>::factorize_preordered(const CholMatrixType&
     /* compute numerical values kth row of L (a sparse triangular solve) */
 
     RealScalar d = numext::real(y[k]) * m_shiftScale + m_shiftOffset;    // get D(k,k), apply the shift function, and clear Y(k)
-    y[k] = 0.0;
+    y[k] = Scalar(0);
     for(; top < size; ++top)
     {
       Index 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;
+      y[i] = Scalar(0);
 
       /* the nonzero entry L(k,i) */
       Scalar l_ki;
       if(DoLDLT)
-        l_ki = yi / m_diag[i];
+        l_ki = yi / numext::real(m_diag[i]);
       else
         yi = l_ki = yi / Lx[Lp[i]];
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/AmbiVector.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/AmbiVector.h
index e0295f2af1..2cb7747cc9 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/AmbiVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/AmbiVector.h
@@ -28,7 +28,7 @@ class AmbiVector
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
     explicit AmbiVector(Index size)
-      : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
+      : m_buffer(0), m_zero(0), m_size(0), m_end(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
     {
       resize(size);
     }
@@ -147,7 +147,8 @@ template<typename _Scalar,typename _StorageIndex>
 void AmbiVector<_Scalar,_StorageIndex>::init(int mode)
 {
   m_mode = mode;
-  if (m_mode==IsSparse)
+  // This is only necessary in sparse mode, but we set these unconditionally to avoid some maybe-uninitialized warnings
+  // if (m_mode==IsSparse)
   {
     m_llSize = 0;
     m_llStart = -1;
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/CompressedStorage.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/CompressedStorage.h
index d89fa0dae4..acd986fab5 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/CompressedStorage.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/CompressedStorage.h
@@ -207,6 +207,22 @@ class CompressedStorage
       return m_values[id];
     }
 
+    void moveChunk(Index from, Index to, Index chunkSize)
+    {
+      eigen_internal_assert(to+chunkSize <= m_size);
+      if(to>from && from+chunkSize>to)
+      {
+        // move backward
+        internal::smart_memmove(m_values+from,  m_values+from+chunkSize,  m_values+to);
+        internal::smart_memmove(m_indices+from, m_indices+from+chunkSize, m_indices+to);
+      }
+      else
+      {
+        internal::smart_copy(m_values+from,  m_values+from+chunkSize,  m_values+to);
+        internal::smart_copy(m_indices+from, m_indices+from+chunkSize, m_indices+to);
+      }
+    }
+
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       Index k = 0;
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
index 9db119b67f..948650253b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
 #define EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -25,16 +25,16 @@ static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& r
   Index rows = lhs.innerSize();
   Index cols = rhs.outerSize();
   eigen_assert(lhs.outerSize() == rhs.innerSize());
-  
+
   ei_declare_aligned_stack_constructed_variable(bool,   mask,     rows, 0);
   ei_declare_aligned_stack_constructed_variable(ResScalar, values,   rows, 0);
   ei_declare_aligned_stack_constructed_variable(Index,  indices,  rows, 0);
-  
+
   std::memset(mask,0,sizeof(bool)*rows);
 
   evaluator<Lhs> lhsEval(lhs);
   evaluator<Rhs> rhsEval(rhs);
-  
+
   // estimate the number of non zero entries
   // given a rhs column containing Y non zeros, we assume that the respective Y columns
   // of the lhs differs in average of one non zeros, thus the number of non zeros for
@@ -141,7 +141,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
     typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrixAux;
     typedef typename sparse_eval<ColMajorMatrixAux,ResultType::RowsAtCompileTime,ResultType::ColsAtCompileTime,ColMajorMatrixAux::Flags>::type ColMajorMatrix;
-    
+
     // If the result is tall and thin (in the extreme case a column vector)
     // then it is faster to sort the coefficients inplace instead of transposing twice.
     // FIXME, the following heuristic is probably not very good.
@@ -155,7 +155,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
     else
     {
       ColMajorMatrixAux resCol(lhs.rows(),rhs.cols());
-      // ressort to transpose to sort the entries
+      // resort to transpose to sort the entries
       internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrixAux>(lhs, rhs, resCol, false);
       RowMajorMatrix resRow(resCol);
       res = resRow.markAsRValue();
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseAssign.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseAssign.h
index 1134632583..905485c88e 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseAssign.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseAssign.h
@@ -134,8 +134,8 @@ struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Sparse>
 };
 
 // Generic Sparse to Dense assignment
-template< typename DstXprType, typename SrcXprType, typename Functor>
-struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense>
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense, Weak>
 {
   static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
   {
@@ -153,6 +153,73 @@ struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense>
   }
 };
 
+// Specialization for dense ?= dense +/- sparse and dense ?= sparse +/- dense
+template<typename DstXprType, typename Func1, typename Func2>
+struct assignment_from_dense_op_sparse
+{
+  template<typename SrcXprType, typename InitialFunc>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
+  {
+    #ifdef EIGEN_SPARSE_ASSIGNMENT_FROM_DENSE_OP_SPARSE_PLUGIN
+    EIGEN_SPARSE_ASSIGNMENT_FROM_DENSE_OP_SPARSE_PLUGIN
+    #endif
+
+    call_assignment_no_alias(dst, src.lhs(), Func1());
+    call_assignment_no_alias(dst, src.rhs(), Func2());
+  }
+
+  // Specialization for dense1 = sparse + dense2; -> dense1 = dense2; dense1 += sparse;
+  template<typename Lhs, typename Rhs, typename Scalar>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  typename internal::enable_if<internal::is_same<typename internal::evaluator_traits<Rhs>::Shape,DenseShape>::value>::type
+  run(DstXprType &dst, const CwiseBinaryOp<internal::scalar_sum_op<Scalar,Scalar>, const Lhs, const Rhs> &src,
+      const internal::assign_op<typename DstXprType::Scalar,Scalar>& /*func*/)
+  {
+    #ifdef EIGEN_SPARSE_ASSIGNMENT_FROM_SPARSE_ADD_DENSE_PLUGIN
+    EIGEN_SPARSE_ASSIGNMENT_FROM_SPARSE_ADD_DENSE_PLUGIN
+    #endif
+
+    // Apply the dense matrix first, then the sparse one.
+    call_assignment_no_alias(dst, src.rhs(), Func1());
+    call_assignment_no_alias(dst, src.lhs(), Func2());
+  }
+
+  // Specialization for dense1 = sparse - dense2; -> dense1 = -dense2; dense1 += sparse;
+  template<typename Lhs, typename Rhs, typename Scalar>
+  static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  typename internal::enable_if<internal::is_same<typename internal::evaluator_traits<Rhs>::Shape,DenseShape>::value>::type
+  run(DstXprType &dst, const CwiseBinaryOp<internal::scalar_difference_op<Scalar,Scalar>, const Lhs, const Rhs> &src,
+      const internal::assign_op<typename DstXprType::Scalar,Scalar>& /*func*/)
+  {
+    #ifdef EIGEN_SPARSE_ASSIGNMENT_FROM_SPARSE_SUB_DENSE_PLUGIN
+    EIGEN_SPARSE_ASSIGNMENT_FROM_SPARSE_SUB_DENSE_PLUGIN
+    #endif
+
+    // Apply the dense matrix first, then the sparse one.
+    call_assignment_no_alias(dst, -src.rhs(), Func1());
+    call_assignment_no_alias(dst,  src.lhs(), add_assign_op<typename DstXprType::Scalar,typename Lhs::Scalar>());
+  }
+};
+
+#define EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(ASSIGN_OP,BINOP,ASSIGN_OP2) \
+  template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar> \
+  struct Assignment<DstXprType, CwiseBinaryOp<internal::BINOP<Scalar,Scalar>, const Lhs, const Rhs>, internal::ASSIGN_OP<typename DstXprType::Scalar,Scalar>, \
+                    Sparse2Dense, \
+                    typename internal::enable_if<   internal::is_same<typename internal::evaluator_traits<Lhs>::Shape,DenseShape>::value \
+                                                 || internal::is_same<typename internal::evaluator_traits<Rhs>::Shape,DenseShape>::value>::type> \
+    : assignment_from_dense_op_sparse<DstXprType, internal::ASSIGN_OP<typename DstXprType::Scalar,typename Lhs::Scalar>, internal::ASSIGN_OP2<typename DstXprType::Scalar,typename Rhs::Scalar> > \
+  {}
+
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(assign_op,    scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(add_assign_op,scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(sub_assign_op,scalar_sum_op,sub_assign_op);
+
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(assign_op,    scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(add_assign_op,scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_DENSE_OP_SPARSE(sub_assign_op,scalar_difference_op,add_assign_op);
+
+
 // Specialization for "dst = dec.solve(rhs)"
 // NOTE we need to specialize it for Sparse2Sparse to avoid ambiguous specialization error
 template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
@@ -179,35 +246,22 @@ struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Sparse>
 {
   typedef typename DstXprType::StorageIndex StorageIndex;
   typedef typename DstXprType::Scalar Scalar;
-  typedef Array<StorageIndex,Dynamic,1> ArrayXI;
-  typedef Array<Scalar,Dynamic,1> ArrayXS;
-  template<int Options>
-  static void run(SparseMatrix<Scalar,Options,StorageIndex> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    Index dstRows = src.rows();
-    Index dstCols = src.cols();
-    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
-      dst.resize(dstRows, dstCols);
 
-    Index size = src.diagonal().size();
-    dst.makeCompressed();
-    dst.resizeNonZeros(size);
-    Map<ArrayXI>(dst.innerIndexPtr(), size).setLinSpaced(0,StorageIndex(size)-1);
-    Map<ArrayXI>(dst.outerIndexPtr(), size+1).setLinSpaced(0,StorageIndex(size));
-    Map<ArrayXS>(dst.valuePtr(), size) = src.diagonal();
-  }
+  template<int Options, typename AssignFunc>
+  static void run(SparseMatrix<Scalar,Options,StorageIndex> &dst, const SrcXprType &src, const AssignFunc &func)
+  { dst.assignDiagonal(src.diagonal(), func); }
   
   template<typename DstDerived>
   static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  {
-    dst.diagonal() = src.diagonal();
-  }
+  { dst.derived().diagonal() = src.diagonal(); }
   
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() += src.diagonal(); }
+  template<typename DstDerived>
+  static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.derived().diagonal() += src.diagonal(); }
   
-  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
-  { dst.diagonal() -= src.diagonal(); }
+  template<typename DstDerived>
+  static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.derived().diagonal() -= src.diagonal(); }
 };
 } // end namespace internal
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseBlock.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseBlock.h
index 511e92b2f9..5b4f6cc9f3 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseBlock.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseBlock.h
@@ -164,7 +164,7 @@ class sparse_matrix_block_impl
       }
       else
       {
-        if(m_matrix.isCompressed())
+        if(m_matrix.isCompressed() && nnz!=block_size)
         {
           // no need to realloc, simply copy the tail at its respective position and insert tmp
           matrix.data().resize(start + nnz + tail_size);
@@ -326,46 +326,6 @@ class BlockImpl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,B
 
 //----------
 
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major).
-  */
-template<typename Derived>
-typename SparseMatrixBase<Derived>::InnerVectorReturnType SparseMatrixBase<Derived>::innerVector(Index outer)
-{ return InnerVectorReturnType(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 typename SparseMatrixBase<Derived>::ConstInnerVectorReturnType SparseMatrixBase<Derived>::innerVector(Index outer) const
-{ return ConstInnerVectorReturnType(derived(), outer); }
-
-/** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
-  * is col-major (resp. row-major).
-  */
-template<typename Derived>
-typename SparseMatrixBase<Derived>::InnerVectorsReturnType
-SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
-{
-  return Block<Derived,Dynamic,Dynamic,true>(derived(),
-                                             IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
-                                             IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : 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 typename SparseMatrixBase<Derived>::ConstInnerVectorsReturnType
-SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
-{
-  return Block<const Derived,Dynamic,Dynamic,true>(derived(),
-                                                  IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
-                                                  IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-
-}
-
 /** Generic implementation of sparse Block expression.
   * Real-only.
   */
@@ -486,9 +446,13 @@ struct unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBa
     {}
 
     inline Index nonZerosEstimate() const {
-      Index nnz = m_block.nonZeros();
-      if(nnz<0)
-        return m_argImpl.nonZerosEstimate() * m_block.size() / m_block.nestedExpression().size();
+      const Index nnz = m_block.nonZeros();
+      if(nnz < 0) {
+        // Scale the non-zero estimate for the underlying expression linearly with block size.
+        // Return zero if the underlying block is empty.
+        const Index nested_sz = m_block.nestedExpression().size();        
+        return nested_sz == 0 ? 0 : m_argImpl.nonZerosEstimate() * m_block.size() / nested_sz;
+      }
       return nnz;
     }
 
@@ -503,22 +467,25 @@ template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
 class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::InnerVectorInnerIterator
  : public EvalIterator
 {
-  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  // NOTE MSVC fails to compile if we don't explicitely "import" IsRowMajor from unary_evaluator
+  //      because the base class EvalIterator has a private IsRowMajor enum too. (bug #1786)
+  // NOTE We cannot call it IsRowMajor because it would shadow unary_evaluator::IsRowMajor
+  enum { XprIsRowMajor = unary_evaluator::IsRowMajor };
   const XprType& m_block;
   Index m_end;
 public:
 
   EIGEN_STRONG_INLINE InnerVectorInnerIterator(const unary_evaluator& aEval, Index outer)
-    : EvalIterator(aEval.m_argImpl, outer + (IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol())),
+    : EvalIterator(aEval.m_argImpl, outer + (XprIsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol())),
       m_block(aEval.m_block),
-      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows())
+      m_end(XprIsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows())
   {
-    while( (EvalIterator::operator bool()) && (EvalIterator::index() < (IsRowMajor ? m_block.startCol() : m_block.startRow())) )
+    while( (EvalIterator::operator bool()) && (EvalIterator::index() < (XprIsRowMajor ? m_block.startCol() : m_block.startRow())) )
       EvalIterator::operator++();
   }
 
-  inline StorageIndex index() const { return EvalIterator::index() - convert_index<StorageIndex>(IsRowMajor ? m_block.startCol() : m_block.startRow()); }
-  inline Index outer()  const { return EvalIterator::outer() - (IsRowMajor ? m_block.startRow() : m_block.startCol()); }
+  inline StorageIndex index() const { return EvalIterator::index() - convert_index<StorageIndex>(XprIsRowMajor ? m_block.startCol() : m_block.startRow()); }
+  inline Index outer()  const { return EvalIterator::outer() - (XprIsRowMajor ? m_block.startRow() : m_block.startCol()); }
   inline Index row()    const { return EvalIterator::row()   - m_block.startRow(); }
   inline Index col()    const { return EvalIterator::col()   - m_block.startCol(); }
 
@@ -528,7 +495,8 @@ class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBas
 template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
 class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::OuterVectorInnerIterator
 {
-  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  // NOTE see above
+  enum { XprIsRowMajor = unary_evaluator::IsRowMajor };
   const unary_evaluator& m_eval;
   Index m_outerPos;
   const Index m_innerIndex;
@@ -538,9 +506,9 @@ class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBas
 
   EIGEN_STRONG_INLINE OuterVectorInnerIterator(const unary_evaluator& aEval, Index outer)
     : m_eval(aEval),
-      m_outerPos( (IsRowMajor ? aEval.m_block.startCol() : aEval.m_block.startRow()) ),
-      m_innerIndex(IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol()),
-      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows()),
+      m_outerPos( (XprIsRowMajor ? aEval.m_block.startCol() : aEval.m_block.startRow()) ),
+      m_innerIndex(XprIsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol()),
+      m_end(XprIsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows()),
       m_it(m_eval.m_argImpl, m_outerPos)
   {
     EIGEN_UNUSED_VARIABLE(outer);
@@ -551,10 +519,10 @@ class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBas
       ++(*this);
   }
 
-  inline StorageIndex index() const { return convert_index<StorageIndex>(m_outerPos - (IsRowMajor ? m_eval.m_block.startCol() : m_eval.m_block.startRow())); }
+  inline StorageIndex index() const { return convert_index<StorageIndex>(m_outerPos - (XprIsRowMajor ? m_eval.m_block.startCol() : m_eval.m_block.startRow())); }
   inline Index outer()  const { return 0; }
-  inline Index row()    const { return IsRowMajor ? 0 : index(); }
-  inline Index col()    const { return IsRowMajor ? index() : 0; }
+  inline Index row()    const { return XprIsRowMajor ? 0 : index(); }
+  inline Index col()    const { return XprIsRowMajor ? index() : 0; }
 
   inline Scalar value() const { return m_it.value(); }
   inline Scalar& valueRef() { return m_it.valueRef(); }
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCompressedBase.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCompressedBase.h
index e0b3c22b6c..6a2c7a8ce6 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCompressedBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCompressedBase.h
@@ -128,6 +128,28 @@ class SparseCompressedBase
   protected:
     /** Default constructor. Do nothing. */
     SparseCompressedBase() {}
+
+    /** \internal return the index of the coeff at (row,col) or just before if it does not exist.
+      * This is an analogue of std::lower_bound.
+      */
+    internal::LowerBoundIndex lower_bound(Index row, Index col) const
+    {
+      eigen_internal_assert(row>=0 && row<this->rows() && col>=0 && col<this->cols());
+
+      const Index outer = Derived::IsRowMajor ? row : col;
+      const Index inner = Derived::IsRowMajor ? col : row;
+
+      Index start = this->outerIndexPtr()[outer];
+      Index end = this->isCompressed() ? this->outerIndexPtr()[outer+1] : this->outerIndexPtr()[outer] + this->innerNonZeroPtr()[outer];
+      eigen_assert(end>=start && "you are using a non finalized sparse matrix or written coefficient does not exist");
+      internal::LowerBoundIndex p;
+      p.value = std::lower_bound(this->innerIndexPtr()+start, this->innerIndexPtr()+end,inner) - this->innerIndexPtr();
+      p.found = (p.value<end) && (this->innerIndexPtr()[p.value]==inner);
+      return p;
+    }
+
+    friend struct internal::evaluator<SparseCompressedBase<Derived> >;
+
   private:
     template<typename OtherDerived> explicit SparseCompressedBase(const SparseCompressedBase<OtherDerived>&);
 };
@@ -333,17 +355,8 @@ struct evaluator<SparseCompressedBase<Derived> >
 
   Index find(Index row, Index col) const
   {
-    eigen_internal_assert(row>=0 && row<m_matrix->rows() && col>=0 && col<m_matrix->cols());
-
-    const Index outer = Derived::IsRowMajor ? row : col;
-    const Index inner = Derived::IsRowMajor ? col : row;
-
-    Index start = m_matrix->outerIndexPtr()[outer];
-    Index end = m_matrix->isCompressed() ? m_matrix->outerIndexPtr()[outer+1] : m_matrix->outerIndexPtr()[outer] + m_matrix->innerNonZeroPtr()[outer];
-    eigen_assert(end>=start && "you are using a non finalized sparse matrix or written coefficient does not exist");
-    const Index p = std::lower_bound(m_matrix->innerIndexPtr()+start, m_matrix->innerIndexPtr()+end,inner) - m_matrix->innerIndexPtr();
-
-    return ((p<end) && (m_matrix->innerIndexPtr()[p]==inner)) ? p : Dynamic;
+    internal::LowerBoundIndex p = m_matrix->lower_bound(row,col);
+    return p.found ? p.value : Dynamic;
   }
 
   const Derived *m_matrix;
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
index c41c07af13..9b0d3f98dc 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
@@ -101,7 +101,7 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, Iterat
       }
       else
       {
-        m_value = 0; // this is to avoid a compilation warning
+        m_value = Scalar(0); // this is to avoid a compilation warning
         m_id = -1;
       }
       return *this;
@@ -126,7 +126,7 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, Iterat
   
   
   enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
   
@@ -211,7 +211,7 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IteratorB
 
 
   enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
 
@@ -298,7 +298,7 @@ struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IndexB
 
 
   enum {
-    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
 
@@ -457,7 +457,7 @@ struct sparse_conjunction_evaluator<XprType, IteratorBased, IteratorBased>
   
   
   enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<LhsArg>::CoeffReadCost) + int(evaluator<RhsArg>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
   
@@ -530,7 +530,7 @@ struct sparse_conjunction_evaluator<XprType, IndexBased, IteratorBased>
   
   
   enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<LhsArg>::CoeffReadCost) + int(evaluator<RhsArg>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
   
@@ -604,7 +604,7 @@ struct sparse_conjunction_evaluator<XprType, IteratorBased, IndexBased>
   
   
   enum {
-    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    CoeffReadCost = int(evaluator<LhsArg>::CoeffReadCost) + int(evaluator<RhsArg>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
     Flags = XprType::Flags
   };
   
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
index ea79737901..32dac0f786 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
@@ -24,7 +24,7 @@ struct unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>
     class InnerIterator;
     
     enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+      CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<UnaryOp>::Cost),
       Flags = XprType::Flags
     };
     
@@ -49,6 +49,7 @@ template<typename UnaryOp, typename ArgType>
 class unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::InnerIterator
     : public unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator
 {
+  protected:
     typedef typename XprType::Scalar Scalar;
     typedef typename unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
@@ -78,7 +79,7 @@ struct unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>
     class InnerIterator;
     
     enum {
-      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+      CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<ViewOp>::Cost),
       Flags = XprType::Flags
     };
     
@@ -99,6 +100,7 @@ template<typename ViewOp, typename ArgType>
 class unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::InnerIterator
     : public unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator
 {
+  protected:
     typedef typename XprType::Scalar Scalar;
     typedef typename unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseDenseProduct.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseDenseProduct.h
index 0547db5968..f005a18a18 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseDenseProduct.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseDenseProduct.h
@@ -88,10 +88,11 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, A
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename LhsEval::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
   {
-    evaluator<Lhs> lhsEval(lhs);
+    LhsEval lhsEval(lhs);
     for(Index c=0; c<rhs.cols(); ++c)
     {
       for(Index j=0; j<lhs.outerSize(); ++j)
@@ -111,17 +112,38 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, t
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename LhsEval::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
-    evaluator<Lhs> lhsEval(lhs);
-    for(Index j=0; j<lhs.outerSize(); ++j)
+    Index n = lhs.rows();
+    LhsEval lhsEval(lhs);
+
+#ifdef EIGEN_HAS_OPENMP
+    Eigen::initParallel();
+    Index threads = Eigen::nbThreads();
+    // This 20000 threshold has been found experimentally on 2D and 3D Poisson problems.
+    // It basically represents the minimal amount of work to be done to be worth it.
+    if(threads>1 && lhsEval.nonZerosEstimate()*rhs.cols() > 20000)
     {
-      typename Res::RowXpr res_j(res.row(j));
-      for(LhsInnerIterator it(lhsEval,j); it ;++it)
-        res_j += (alpha*it.value()) * rhs.row(it.index());
+      #pragma omp parallel for schedule(dynamic,(n+threads*4-1)/(threads*4)) num_threads(threads)
+      for(Index i=0; i<n; ++i)
+        processRow(lhsEval,rhs,res,alpha,i);
+    }
+    else
+#endif
+    {
+      for(Index i=0; i<n; ++i)
+        processRow(lhsEval, rhs, res, alpha, i);
     }
   }
+
+  static void processRow(const LhsEval& lhsEval, const DenseRhsType& rhs, Res& res, const typename Res::Scalar& alpha, Index i)
+  {
+    typename Res::RowXpr res_i(res.row(i));
+    for(LhsInnerIterator it(lhsEval,i); it ;++it)
+      res_i += (alpha*it.value()) * rhs.row(it.index());
+  }
 };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrix.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrix.h
index 323c2323b5..616b4a0c24 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrix.h
@@ -21,7 +21,7 @@ namespace Eigen {
   * This class implements a more versatile variants of the common \em compressed row/column storage format.
   * Each colmun's (resp. row) non zeros are stored as a pair of value with associated row (resp. colmiun) index.
   * All the non zeros are stored in a single large buffer. Unlike the \em compressed format, there might be extra
-  * space inbetween the nonzeros of two successive colmuns (resp. rows) such that insertion of new non-zero
+  * space in between the nonzeros of two successive colmuns (resp. rows) such that insertion of new non-zero
   * can be done with limited memory reallocation and copies.
   *
   * A call to the function makeCompressed() turns the matrix into the standard \em compressed format
@@ -99,6 +99,8 @@ class SparseMatrix
     typedef SparseCompressedBase<SparseMatrix> Base;
     using Base::convert_index;
     friend class SparseVector<_Scalar,0,_StorageIndex>;
+    template<typename, typename, typename, typename, typename>
+    friend struct internal::Assignment;
   public:
     using Base::isCompressed;
     using Base::nonZeros;
@@ -327,7 +329,8 @@ class SparseMatrix
           m_outerIndex[j] = newOuterIndex[j];
           m_innerNonZeros[j] = innerNNZ;
         }
-        m_outerIndex[m_outerSize] = m_outerIndex[m_outerSize-1] + m_innerNonZeros[m_outerSize-1] + reserveSizes[m_outerSize-1];
+        if(m_outerSize>0)
+          m_outerIndex[m_outerSize] = m_outerIndex[m_outerSize-1] + m_innerNonZeros[m_outerSize-1] + reserveSizes[m_outerSize-1];
         
         m_data.resize(m_outerIndex[m_outerSize]);
       }
@@ -502,8 +505,8 @@ class SparseMatrix
         m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i]; 
       }
     }
-    
-    /** Suppresses all nonzeros which are \b much \b smaller \b than \a reference under the tolerence \a epsilon */
+
+    /** Suppresses all nonzeros which are \b much \b smaller \b than \a reference under the tolerance \a epsilon */
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       prune(default_prunning_func(reference,epsilon));
@@ -576,10 +579,12 @@ class SparseMatrix
       else if (innerChange < 0) 
       {
         // Inner size decreased: allocate a new m_innerNonZeros
-        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc((m_outerSize+outerChange+1) * sizeof(StorageIndex)));
+        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc((m_outerSize + outerChange) * sizeof(StorageIndex)));
         if (!m_innerNonZeros) internal::throw_std_bad_alloc();
-        for(Index i = 0; i < m_outerSize; i++)
+        for(Index i = 0; i < m_outerSize + (std::min)(outerChange, Index(0)); i++)
           m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i];
+        for(Index i = m_outerSize; i < m_outerSize + outerChange; i++)
+          m_innerNonZeros[i] = 0;
       }
       
       // Change the m_innerNonZeros in case of a decrease of inner size
@@ -604,9 +609,9 @@ class SparseMatrix
       m_outerIndex = newOuterIndex;
       if (outerChange > 0)
       {
-        StorageIndex last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
+        StorageIndex lastIdx = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
         for(Index i=m_outerSize; i<m_outerSize+outerChange+1; i++)          
-          m_outerIndex[i] = last; 
+          m_outerIndex[i] = lastIdx; 
       }
       m_outerSize += outerChange;
     }
@@ -780,6 +785,9 @@ class SparseMatrix
     template<typename OtherDerived>
     inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
     { return Base::operator=(other.derived()); }
+
+    template<typename Lhs, typename Rhs>
+    inline SparseMatrix& operator=(const Product<Lhs,Rhs,AliasFreeProduct>& other);
 #endif // EIGEN_PARSED_BY_DOXYGEN
 
     template<typename OtherDerived>
@@ -893,7 +901,114 @@ class SparseMatrix
 
       Index p = m_outerIndex[outer] + m_innerNonZeros[outer]++;
       m_data.index(p) = convert_index(inner);
-      return (m_data.value(p) = 0);
+      return (m_data.value(p) = Scalar(0));
+    }
+protected:
+    struct IndexPosPair {
+      IndexPosPair(Index a_i, Index a_p) : i(a_i), p(a_p) {}
+      Index i;
+      Index p;
+    };
+
+    /** \internal assign \a diagXpr to the diagonal of \c *this
+      * There are different strategies:
+      *   1 - if *this is overwritten (Func==assign_op) or *this is empty, then we can work treat *this as a dense vector expression.
+      *   2 - otherwise, for each diagonal coeff,
+      *     2.a - if it already exists, then we update it,
+      *     2.b - otherwise, if *this is uncompressed and that the current inner-vector has empty room for at least 1 element, then we perform an in-place insertion.
+      *     2.c - otherwise, we'll have to reallocate and copy everything, so instead of doing so for each new element, it is recorded in a std::vector.
+      *   3 - at the end, if some entries failed to be inserted in-place, then we alloc a new buffer, copy each chunk at the right position, and insert the new elements.
+      * 
+      * TODO: some piece of code could be isolated and reused for a general in-place update strategy.
+      * TODO: if we start to defer the insertion of some elements (i.e., case 2.c executed once),
+      *       then it *might* be better to disable case 2.b since they will have to be copied anyway.
+      */
+    template<typename DiagXpr, typename Func>
+    void assignDiagonal(const DiagXpr diagXpr, const Func& assignFunc)
+    {
+      Index n = diagXpr.size();
+
+      const bool overwrite = internal::is_same<Func, internal::assign_op<Scalar,Scalar> >::value;
+      if(overwrite)
+      {
+        if((this->rows()!=n) || (this->cols()!=n))
+          this->resize(n, n);
+      }
+
+      if(m_data.size()==0 || overwrite)
+      {
+        typedef Array<StorageIndex,Dynamic,1> ArrayXI;  
+        this->makeCompressed();
+        this->resizeNonZeros(n);
+        Eigen::Map<ArrayXI>(this->innerIndexPtr(), n).setLinSpaced(0,StorageIndex(n)-1);
+        Eigen::Map<ArrayXI>(this->outerIndexPtr(), n+1).setLinSpaced(0,StorageIndex(n));
+        Eigen::Map<Array<Scalar,Dynamic,1> > values = this->coeffs();
+        values.setZero();
+        internal::call_assignment_no_alias(values, diagXpr, assignFunc);
+      }
+      else
+      {
+        bool isComp = isCompressed();
+        internal::evaluator<DiagXpr> diaEval(diagXpr);
+        std::vector<IndexPosPair> newEntries;
+
+        // 1 - try in-place update and record insertion failures
+        for(Index i = 0; i<n; ++i)
+        {
+          internal::LowerBoundIndex lb = this->lower_bound(i,i);
+          Index p = lb.value;
+          if(lb.found)
+          {
+            // the coeff already exists
+            assignFunc.assignCoeff(m_data.value(p), diaEval.coeff(i));
+          }
+          else if((!isComp) && m_innerNonZeros[i] < (m_outerIndex[i+1]-m_outerIndex[i]))
+          {
+            // non compressed mode with local room for inserting one element
+            m_data.moveChunk(p, p+1, m_outerIndex[i]+m_innerNonZeros[i]-p);
+            m_innerNonZeros[i]++;
+            m_data.value(p) = Scalar(0);
+            m_data.index(p) = StorageIndex(i);
+            assignFunc.assignCoeff(m_data.value(p), diaEval.coeff(i));
+          }
+          else
+          {
+            // defer insertion
+            newEntries.push_back(IndexPosPair(i,p));
+          }
+        }
+        // 2 - insert deferred entries
+        Index n_entries = Index(newEntries.size());
+        if(n_entries>0)
+        {
+          Storage newData(m_data.size()+n_entries);
+          Index prev_p = 0;
+          Index prev_i = 0;
+          for(Index k=0; k<n_entries;++k)
+          {
+            Index i = newEntries[k].i;
+            Index p = newEntries[k].p;
+            internal::smart_copy(m_data.valuePtr()+prev_p, m_data.valuePtr()+p, newData.valuePtr()+prev_p+k);
+            internal::smart_copy(m_data.indexPtr()+prev_p, m_data.indexPtr()+p, newData.indexPtr()+prev_p+k);
+            for(Index j=prev_i;j<i;++j)
+              m_outerIndex[j+1] += k;
+            if(!isComp)
+              m_innerNonZeros[i]++;
+            prev_p = p;
+            prev_i = i;
+            newData.value(p+k) = Scalar(0);
+            newData.index(p+k) = StorageIndex(i);
+            assignFunc.assignCoeff(newData.value(p+k), diaEval.coeff(i));
+          }
+          {
+            internal::smart_copy(m_data.valuePtr()+prev_p, m_data.valuePtr()+m_data.size(), newData.valuePtr()+prev_p+n_entries);
+            internal::smart_copy(m_data.indexPtr()+prev_p, m_data.indexPtr()+m_data.size(), newData.indexPtr()+prev_p+n_entries);
+            for(Index j=prev_i+1;j<=m_outerSize;++j)
+              m_outerIndex[j] += n_entries;
+          }
+          m_data.swap(newData);
+        }
+      }
     }
 
 private:
@@ -973,7 +1088,7 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
   * \code
     typedef Triplet<double> T;
     std::vector<T> tripletList;
-    triplets.reserve(estimation_of_entries);
+    tripletList.reserve(estimation_of_entries);
     for(...)
     {
       // ...
@@ -986,7 +1101,7 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
   *
   * \warning The list of triplets is read multiple times (at least twice). Therefore, it is not recommended to define
   * an abstract iterator over a complex data-structure that would be expensive to evaluate. The triplets should rather
-  * be explicitely stored into a std::vector for instance.
+  * be explicitly stored into a std::vector for instance.
   */
 template<typename Scalar, int _Options, typename _StorageIndex>
 template<typename InputIterators>
@@ -1232,7 +1347,7 @@ typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Sca
     }
     
     m_data.index(p) = convert_index(inner);
-    return (m_data.value(p) = 0);
+    return (m_data.value(p) = Scalar(0));
   }
   
   if(m_data.size() != m_data.allocatedSize())
@@ -1274,7 +1389,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar&
   m_innerNonZeros[outer]++;
 
   m_data.index(p) = inner;
-  return (m_data.value(p) = 0);
+  return (m_data.value(p) = Scalar(0));
 }
 
 template<typename _Scalar, int _Options, typename _StorageIndex>
@@ -1381,7 +1496,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar&
   }
 
   m_data.index(p) = inner;
-  return (m_data.value(p) = 0);
+  return (m_data.value(p) = Scalar(0));
 }
 
 namespace internal {
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrixBase.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrixBase.h
index c6b548f11a..229449f022 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -87,6 +87,11 @@ 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). */
 
+      NumDimensions = int(MaxSizeAtCompileTime) == 1 ? 0 : bool(IsVectorAtCompileTime) ? 1 : 2,
+        /**< This value is equal to Tensor::NumDimensions, i.e. 0 for scalars, 1 for vectors,
+         * and 2 for matrices.
+         */
+
       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".
@@ -350,18 +355,6 @@ template<typename Derived> class SparseMatrixBase
     const ConstTransposeReturnType transpose() const { return ConstTransposeReturnType(derived()); }
     const AdjointReturnType adjoint() const { return AdjointReturnType(transpose()); }
 
-    // inner-vector
-    typedef Block<Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true>       InnerVectorReturnType;
-    typedef Block<const Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true> ConstInnerVectorReturnType;
-    InnerVectorReturnType innerVector(Index outer);
-    const ConstInnerVectorReturnType innerVector(Index outer) const;
-
-    // set of inner-vectors
-    typedef Block<Derived,Dynamic,Dynamic,true> InnerVectorsReturnType;
-    typedef Block<const Derived,Dynamic,Dynamic,true> ConstInnerVectorsReturnType;
-    InnerVectorsReturnType innerVectors(Index outerStart, Index outerSize);
-    const ConstInnerVectorsReturnType innerVectors(Index outerStart, Index outerSize) const;
-
     DenseMatrixType toDense() const
     {
       return DenseMatrixType(derived());
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseProduct.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseProduct.h
index 4cbf68781a..af8a7744dd 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseProduct.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseProduct.h
@@ -17,7 +17,7 @@ namespace Eigen {
   * The automatic pruning of the small values can be achieved by calling the pruned() function
   * in which case a totally different product algorithm is employed:
   * \code
-  * C = (A*B).pruned();             // supress numerical zeros (exact)
+  * C = (A*B).pruned();             // suppress numerical zeros (exact)
   * C = (A*B).pruned(ref);
   * C = (A*B).pruned(ref,epsilon);
   * \endcode
@@ -164,6 +164,18 @@ struct unary_evaluator<SparseView<Product<Lhs, Rhs, Options> >, IteratorBased>
 
 } // end namespace internal
 
+// sparse matrix = sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template<typename Scalar, int _Options, typename _StorageIndex>
+template<typename Lhs, typename Rhs>
+SparseMatrix<Scalar,_Options,_StorageIndex>& SparseMatrix<Scalar,_Options,_StorageIndex>::operator=(const Product<Lhs,Rhs,AliasFreeProduct>& src)
+{
+  // std::cout << "in Assignment : " << DstOptions << "\n";
+  SparseMatrix dst(src.rows(),src.cols());
+  internal::generic_product_impl<Lhs, Rhs>::evalTo(dst,src.lhs(),src.rhs());
+  this->swap(dst);
+  return *this;
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEPRODUCT_H
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseRef.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseRef.h
index d91f38f97c..748f87d626 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseRef.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseRef.h
@@ -201,7 +201,7 @@ class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType
 
     ~Ref() {
       if(m_hasCopy) {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(&m_storage);
         obj->~TPlainObjectType();
       }
     }
@@ -213,7 +213,7 @@ class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType
     {
       if((Options & int(StandardCompressedFormat)) && (!expr.isCompressed()))
       {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(&m_storage);
         ::new (obj) TPlainObjectType(expr);
         m_hasCopy = true;
         Base::construct(*obj);
@@ -227,14 +227,14 @@ class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType
     template<typename Expression>
     void construct(const Expression& expr, internal::false_type)
     {
-      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(&m_storage);
       ::new (obj) TPlainObjectType(expr);
       m_hasCopy = true;
       Base::construct(*obj);
     }
 
   protected:
-    char m_object_bytes[sizeof(TPlainObjectType)];
+    typename internal::aligned_storage<sizeof(TPlainObjectType), EIGEN_ALIGNOF(TPlainObjectType)>::type m_storage;
     bool m_hasCopy;
 };
 
@@ -319,7 +319,7 @@ class Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType
 
     ~Ref() {
       if(m_hasCopy) {
-        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(&m_storage);
         obj->~TPlainObjectType();
       }
     }
@@ -335,14 +335,14 @@ class Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType
     template<typename Expression>
     void construct(const Expression& expr, internal::false_type)
     {
-      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(&m_storage);
       ::new (obj) TPlainObjectType(expr);
       m_hasCopy = true;
       Base::construct(*obj);
     }
 
   protected:
-    char m_object_bytes[sizeof(TPlainObjectType)];
+    typename internal::aligned_storage<sizeof(TPlainObjectType), EIGEN_ALIGNOF(TPlainObjectType)>::type m_storage;
     bool m_hasCopy;
 };
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseSelfAdjointView.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseSelfAdjointView.h
index 5ab64f1a88..85b00e10e9 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseSelfAdjointView.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseSelfAdjointView.h
@@ -142,6 +142,9 @@ template<typename MatrixType, unsigned int _Mode> class SparseSelfAdjointView
       return *this = src.twistedBy(pnull);
     }
 
+    // Since we override the copy-assignment operator, we need to explicitly re-declare the copy-constructor
+    EIGEN_DEFAULT_COPY_CONSTRUCTOR(SparseSelfAdjointView)
+
     template<typename SrcMatrixType,unsigned int SrcMode>
     SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcMode>& src)
     {
@@ -311,7 +314,7 @@ inline void sparse_selfadjoint_time_dense_product(const SparseLhsType& lhs, cons
         while (i && i.index()<j) ++i;
         if(i && i.index()==j)
         {
-          res(j,k) += alpha * i.value() * rhs(j,k);
+          res.coeffRef(j,k) += alpha * i.value() * rhs.coeff(j,k);
           ++i;
         }
       }
@@ -324,14 +327,14 @@ inline void sparse_selfadjoint_time_dense_product(const SparseLhsType& lhs, cons
       {
         LhsScalar lhs_ij = i.value();
         if(!LhsIsRowMajor) lhs_ij = numext::conj(lhs_ij);
-        res_j += lhs_ij * rhs(i.index(),k);
+        res_j += lhs_ij * rhs.coeff(i.index(),k);
         res(i.index(),k) += numext::conj(lhs_ij) * rhs_j;
       }
-      res(j,k) += alpha * res_j;
+      res.coeffRef(j,k) += alpha * res_j;
 
       // handle diagonal coeff
       if (ProcessFirstHalf && i && (i.index()==j))
-        res(j,k) += alpha * i.value() * rhs(j,k);
+        res.coeffRef(j,k) += alpha * i.value() * rhs.coeff(j,k);
     }
   }
 }
@@ -453,7 +456,7 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
       Index r = it.row();
       Index c = it.col();
       Index ip = perm ? perm[i] : i;
-      if(Mode==(Upper|Lower))
+      if(Mode==int(Upper|Lower))
         count[StorageOrderMatch ? jp : ip]++;
       else if(r==c)
         count[ip]++;
@@ -486,7 +489,7 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
       StorageIndex jp = perm ? perm[j] : j;
       StorageIndex ip = perm ? perm[i] : i;
       
-      if(Mode==(Upper|Lower))
+      if(Mode==int(Upper|Lower))
       {
         Index k = count[StorageOrderMatch ? jp : ip]++;
         dest.innerIndexPtr()[k] = StorageOrderMatch ? ip : jp;
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseUtil.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseUtil.h
index 74df0d4964..ceb9368879 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseUtil.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseUtil.h
@@ -140,6 +140,14 @@ struct SparseSelfAdjointShape { static std::string debugName() { return "SparseS
 template<> struct glue_shapes<SparseShape,SelfAdjointShape> { typedef SparseSelfAdjointShape type;  };
 template<> struct glue_shapes<SparseShape,TriangularShape > { typedef SparseTriangularShape  type;  };
 
+// return type of SparseCompressedBase::lower_bound;
+struct LowerBoundIndex {
+  LowerBoundIndex() : value(-1), found(false) {}
+  LowerBoundIndex(Index val, bool ok) : value(val), found(ok) {}
+  Index value;
+  bool found;
+};
+
 } // end namespace internal
 
 /** \ingroup SparseCore_Module
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseVector.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseVector.h
index 19b0fbc9d7..05779be685 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseVector.h
@@ -281,7 +281,7 @@ class SparseVector
     }
 
     /** Swaps the values of \c *this and \a other.
-      * Overloaded for performance: this version performs a \em shallow swap by swaping pointers and attributes only.
+      * Overloaded for performance: this version performs a \em shallow swap by swapping pointers and attributes only.
       * \sa SparseMatrixBase::swap()
       */
     inline void swap(SparseVector& other)
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseView.h b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseView.h
index 7c4aea743e..92b3d1f7ba 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseView.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseCore/SparseView.h
@@ -90,6 +90,7 @@ struct unary_evaluator<SparseView<ArgType>, IteratorBased>
     
     class InnerIterator : public EvalIterator
     {
+      protected:
         typedef typename XprType::Scalar Scalar;
       public:
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU.h
index f883ab383d..0c8d8939be 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU.h
@@ -18,6 +18,63 @@ template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename
 template <typename MappedSparseMatrixType> struct SparseLUMatrixLReturnType;
 template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixUReturnType;
 
+template <bool Conjugate,class SparseLUType>
+class SparseLUTransposeView : public SparseSolverBase<SparseLUTransposeView<Conjugate,SparseLUType> >
+{
+protected:
+  typedef SparseSolverBase<SparseLUTransposeView<Conjugate,SparseLUType> > APIBase;
+  using APIBase::m_isInitialized;
+public:
+  typedef typename SparseLUType::Scalar Scalar;
+  typedef typename SparseLUType::StorageIndex StorageIndex;
+  typedef typename SparseLUType::MatrixType MatrixType;
+  typedef typename SparseLUType::OrderingType OrderingType;
+
+  enum {
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+  };
+
+  SparseLUTransposeView() : m_sparseLU(NULL) {}
+  SparseLUTransposeView(const SparseLUTransposeView& view) {
+    this->m_sparseLU = view.m_sparseLU;
+  }
+  void setIsInitialized(const bool isInitialized) {this->m_isInitialized = isInitialized;}
+  void setSparseLU(SparseLUType* sparseLU) {m_sparseLU = sparseLU;}
+  using APIBase::_solve_impl;
+  template<typename Rhs, typename Dest>
+  bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
+  {
+    Dest& X(X_base.derived());
+    eigen_assert(m_sparseLU->info() == Success && "The matrix should be factorized first");
+    EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,
+                        THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+
+
+    // this ugly const_cast_derived() helps to detect aliasing when applying the permutations
+    for(Index j = 0; j < B.cols(); ++j){
+      X.col(j) = m_sparseLU->colsPermutation() * B.const_cast_derived().col(j);
+    }
+    //Forward substitution with transposed or adjoint of U
+    m_sparseLU->matrixU().template solveTransposedInPlace<Conjugate>(X);
+
+    //Backward substitution with transposed or adjoint of L
+    m_sparseLU->matrixL().template solveTransposedInPlace<Conjugate>(X);
+
+    // Permute back the solution
+    for (Index j = 0; j < B.cols(); ++j)
+      X.col(j) = m_sparseLU->rowsPermutation().transpose() * X.col(j);
+    return true;
+  }
+  inline Index rows() const { return m_sparseLU->rows(); }
+  inline Index cols() const { return m_sparseLU->cols(); }
+
+private:
+  SparseLUType *m_sparseLU;
+  SparseLUTransposeView& operator=(const SparseLUTransposeView&);
+};
+
+
 /** \ingroup SparseLU_Module
   * \class SparseLU
   * 
@@ -26,7 +83,7 @@ template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixURetu
   * This class implements the supernodal LU factorization for general matrices.
   * It uses the main techniques from the sequential SuperLU package 
   * (http://crd-legacy.lbl.gov/~xiaoye/SuperLU/). It handles transparently real 
-  * and complex arithmetics with single and double precision, depending on the 
+  * and complex arithmetic with single and double precision, depending on the 
   * scalar type of your input matrix. 
   * The code has been optimized to provide BLAS-3 operations during supernode-panel updates. 
   * It benefits directly from the built-in high-performant Eigen BLAS routines. 
@@ -43,8 +100,8 @@ template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixURetu
   * Simple example with key steps 
   * \code
   * VectorXd x(n), b(n);
-  * SparseMatrix<double, ColMajor> A;
-  * SparseLU<SparseMatrix<scalar, ColMajor>, COLAMDOrdering<Index> >   solver;
+  * SparseMatrix<double> A;
+  * SparseLU<SparseMatrix<double>, COLAMDOrdering<int> >   solver;
   * // fill A and b;
   * // Compute the ordering permutation vector from the structural pattern of A
   * solver.analyzePattern(A); 
@@ -97,6 +154,7 @@ class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >,
     };
     
   public:
+
     SparseLU():m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
     {
       initperfvalues(); 
@@ -128,6 +186,45 @@ class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >,
       //Factorize
       factorize(matrix);
     } 
+
+    /** \returns an expression of the transposed of the factored matrix.
+      *
+      * A typical usage is to solve for the transposed problem A^T x = b:
+      * \code
+      * solver.compute(A);
+      * x = solver.transpose().solve(b);
+      * \endcode
+      *
+      * \sa adjoint(), solve()
+      */
+    const SparseLUTransposeView<false,SparseLU<_MatrixType,_OrderingType> > transpose()
+    {
+      SparseLUTransposeView<false,  SparseLU<_MatrixType,_OrderingType> > transposeView;
+      transposeView.setSparseLU(this);
+      transposeView.setIsInitialized(this->m_isInitialized);
+      return transposeView;
+    }
+
+
+    /** \returns an expression of the adjoint of the factored matrix
+      *
+      * A typical usage is to solve for the adjoint problem A' x = b:
+      * \code
+      * solver.compute(A);
+      * x = solver.adjoint().solve(b);
+      * \endcode
+      *
+      * For real scalar types, this function is equivalent to transpose().
+      *
+      * \sa transpose(), solve()
+      */
+    const SparseLUTransposeView<true, SparseLU<_MatrixType,_OrderingType> > adjoint()
+    {
+      SparseLUTransposeView<true,  SparseLU<_MatrixType,_OrderingType> > adjointView;
+      adjointView.setSparseLU(this);
+      adjointView.setIsInitialized(this->m_isInitialized);
+      return adjointView;
+    }
     
     inline Index rows() const { return m_mat.rows(); }
     inline Index cols() const { return m_mat.cols(); }
@@ -193,7 +290,7 @@ class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >,
     
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the LU factorization reports a problem, zero diagonal for instance
       *          \c InvalidInput if the input matrix is invalid
       *
@@ -355,6 +452,9 @@ class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >,
       return (m_detPermR * m_detPermC) > 0 ? det : -det;
     }
 
+    Index nnzL() const { return m_nnzL; };
+    Index nnzU() const { return m_nnzU; };
+
   protected:
     // Functions 
     void initperfvalues()
@@ -391,7 +491,6 @@ class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >,
   private:
     // Disable copy constructor 
     SparseLU (const SparseLU& );
-  
 }; // End class SparseLU
 
 
@@ -499,11 +598,8 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
   eigen_assert((matrix.rows() == matrix.cols()) && "Only for squared matrices");
   
-  typedef typename IndexVector::Scalar StorageIndex; 
-  
   m_isInitialized = true;
   
-  
   // Apply the column permutation computed in analyzepattern()
   //   m_mat = matrix * m_perm_c.inverse(); 
   m_mat = matrix;
@@ -587,7 +683,6 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   //  (a) a relaxed supernode at the bottom of the etree, or
   //  (b) panel_size contiguous columns, <panel_size> defined by the user
   Index jcol; 
-  IndexVector panel_histo(n);
   Index pivrow; // Pivotal row number in the original row matrix
   Index nseg1; // Number of segments in U-column above panel row jcol
   Index nseg; // Number of segments in each U-column 
@@ -706,13 +801,19 @@ struct SparseLUMatrixLReturnType : internal::no_assignment_operator
   typedef typename MappedSupernodalType::Scalar Scalar;
   explicit SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
   { }
-  Index rows() { return m_mapL.rows(); }
-  Index cols() { return m_mapL.cols(); }
+  Index rows() const { return m_mapL.rows(); }
+  Index cols() const { return m_mapL.cols(); }
   template<typename Dest>
   void solveInPlace( MatrixBase<Dest> &X) const
   {
     m_mapL.solveInPlace(X);
   }
+  template<bool Conjugate, typename Dest>
+  void solveTransposedInPlace( MatrixBase<Dest> &X) const
+  {
+    m_mapL.template solveTransposedInPlace<Conjugate>(X);
+  }
+
   const MappedSupernodalType& m_mapL;
 };
 
@@ -723,8 +824,8 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
   SparseLUMatrixUReturnType(const MatrixLType& mapL, const MatrixUType& mapU)
   : m_mapL(mapL),m_mapU(mapU)
   { }
-  Index rows() { return m_mapL.rows(); }
-  Index cols() { return m_mapL.cols(); }
+  Index rows() const { return m_mapL.rows(); }
+  Index cols() const { return m_mapL.cols(); }
 
   template<typename Dest>   void solveInPlace(MatrixBase<Dest> &X) const
   {
@@ -747,8 +848,9 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
       }
       else
       {
+        // FIXME: the following lines should use Block expressions and not Map!
         Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X.coeffRef(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
         U = A.template triangularView<Upper>().solve(U);
       }
 
@@ -766,6 +868,52 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
       }
     } // End For U-solve
   }
+
+  template<bool Conjugate, typename Dest>   void solveTransposedInPlace(MatrixBase<Dest> &X) const
+  {
+    using numext::conj;
+    Index nrhs = X.cols();
+    Index n    = X.rows();
+    // Forward solve with U
+    for (Index k = 0; k <=  m_mapL.nsuper(); k++)
+    {
+      Index fsupc = m_mapL.supToCol()[k];
+      Index lda = m_mapL.colIndexPtr()[fsupc+1] - m_mapL.colIndexPtr()[fsupc]; // leading dimension
+      Index nsupc = m_mapL.supToCol()[k+1] - fsupc;
+      Index luptr = m_mapL.colIndexPtr()[fsupc];
+
+      for (Index j = 0; j < nrhs; ++j)
+      {
+        for (Index jcol = fsupc; jcol < fsupc + nsupc; jcol++)
+        {
+          typename MatrixUType::InnerIterator it(m_mapU, jcol);
+          for ( ; it; ++it)
+          {
+            Index irow = it.index();
+            X(jcol, j) -= X(irow, j) * (Conjugate? conj(it.value()): it.value());
+          }
+        }
+      }
+      if (nsupc == 1)
+      {
+        for (Index j = 0; j < nrhs; j++)
+        {
+          X(fsupc, j) /= (Conjugate? conj(m_mapL.valuePtr()[luptr]) : m_mapL.valuePtr()[luptr]);
+        }
+      }
+      else
+      {
+        Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
+        if(Conjugate)
+          U = A.adjoint().template triangularView<Lower>().solve(U);
+        else
+          U = A.transpose().template triangularView<Lower>().solve(U);
+      }
+    }// End For U-solve
+  }
+
+
   const MatrixLType& m_mapL;
   const MatrixUType& m_mapU;
 };
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_Memory.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_Memory.h
index 4dc42e87ba..349bfd585b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_Memory.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_Memory.h
@@ -51,7 +51,7 @@ inline Index LUTempSpace(Index&m, Index& w)
 
 
 /** 
-  * Expand the existing storage to accomodate more fill-ins
+  * Expand the existing storage to accommodate more fill-ins
   * \param vec Valid pointer to the vector to allocate or expand
   * \param[in,out] length  At input, contain the current length of the vector that is to be increased. At output, length of the newly allocated vector
   * \param[in] nbElts Current number of elements in the factors
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
index 721e1883ba..0be293d17f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
@@ -75,12 +75,12 @@ class MappedSuperNodalMatrix
     /**
      * Number of rows
      */
-    Index rows() { return m_row; }
+    Index rows() const { return m_row; }
     
     /**
      * Number of columns
      */
-    Index cols() { return m_col; }
+    Index cols() const { return m_col; }
     
     /**
      * Return the array of nonzero values packed by column
@@ -156,6 +156,9 @@ class MappedSuperNodalMatrix
     class InnerIterator; 
     template<typename Dest>
     void solveInPlace( MatrixBase<Dest>&X) const;
+    template<bool Conjugate, typename Dest>
+    void solveTransposedInPlace( MatrixBase<Dest>&X) const;
+
     
       
       
@@ -294,6 +297,77 @@ void MappedSuperNodalMatrix<Scalar,Index_>::solveInPlace( MatrixBase<Dest>&X) co
     } 
 }
 
+template<typename Scalar, typename Index_>
+template<bool Conjugate, typename Dest>
+void MappedSuperNodalMatrix<Scalar,Index_>::solveTransposedInPlace( MatrixBase<Dest>&X) const
+{
+    using numext::conj;
+  Index n    = int(X.rows());
+  Index nrhs = Index(X.cols());
+  const Scalar * Lval = valuePtr();                 // Nonzero values
+  Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor> work(n, nrhs);     // working vector
+  work.setZero();
+  for (Index k = nsuper(); k >= 0; k--)
+  {
+    Index fsupc = supToCol()[k];                    // First column of the current supernode
+    Index istart = rowIndexPtr()[fsupc];            // Pointer index to the subscript of the current column
+    Index nsupr = rowIndexPtr()[fsupc+1] - istart;  // Number of rows in the current supernode
+    Index nsupc = supToCol()[k+1] - fsupc;          // Number of columns in the current supernode
+    Index nrow = nsupr - nsupc;                     // Number of rows in the non-diagonal part of the supernode
+    Index irow;                                     //Current index row
+
+    if (nsupc == 1 )
+    {
+      for (Index j = 0; j < nrhs; j++)
+      {
+        InnerIterator it(*this, fsupc);
+        ++it; // Skip the diagonal element
+        for (; it; ++it)
+        {
+          irow = it.row();
+          X(fsupc,j) -= X(irow, j) * (Conjugate?conj(it.value()):it.value());
+        }
+      }
+    }
+    else
+    {
+      // The supernode has more than one column
+      Index luptr = colIndexPtr()[fsupc];
+      Index lda = colIndexPtr()[fsupc+1] - luptr;
+
+      //Begin Gather
+      for (Index j = 0; j < nrhs; j++)
+      {
+        Index iptr = istart + nsupc;
+        for (Index i = 0; i < nrow; i++)
+        {
+          irow = rowIndex()[iptr];
+          work.topRows(nrow)(i,j)= X(irow,j); // Gather operation
+          iptr++;
+        }
+      }
+
+      // Matrix-vector product with transposed submatrix
+      Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
+      Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
+      if(Conjugate)
+        U = U - A.adjoint() * work.topRows(nrow);
+      else
+        U = U - A.transpose() * work.topRows(nrow);
+
+      // Triangular solve (of transposed diagonal block)
+      new (&A) Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > ( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) );
+      if(Conjugate)
+        U = A.adjoint().template triangularView<UnitUpper>().solve(U);
+      else
+        U = A.transpose().template triangularView<UnitUpper>().solve(U);
+
+    }
+
+  }
+}
+
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_column_dfs.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_column_dfs.h
index c98b30e323..5a2c941b4a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_column_dfs.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_column_dfs.h
@@ -151,7 +151,7 @@ Index SparseLUImpl<Scalar,StorageIndex>::column_dfs(const Index m, const Index j
         StorageIndex ito = glu.xlsub(fsupc+1);
         glu.xlsub(jcolm1) = ito; 
         StorageIndex istop = ito + jptr - jm1ptr; 
-        xprune(jcolm1) = istop; // intialize xprune(jcol-1)
+        xprune(jcolm1) = istop; // initialize xprune(jcol-1)
         glu.xlsub(jcol) = istop; 
         
         for (StorageIndex ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
@@ -166,7 +166,7 @@ Index SparseLUImpl<Scalar,StorageIndex>::column_dfs(const Index m, const Index j
   // Tidy up the pointers before exit
   glu.xsup(nsuper+1) = jcolp1; 
   glu.supno(jcolp1) = nsuper; 
-  xprune(jcol) = StorageIndex(nextl);  // Intialize upper bound for pruning
+  xprune(jcol) = StorageIndex(nextl);  // Initialize upper bound for pruning
   glu.xlsub(jcolp1) = StorageIndex(nextl); 
   
   return 0; 
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_gemm_kernel.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
index 95ba7413f2..e37c2fe0d0 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
@@ -215,7 +215,7 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize);  }\
                    pstore(C0+i+(I)*PacketSize, c0);
         
-        // agressive vectorization and peeling
+        // aggressive vectorization and peeling
         for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
         {
           EIGEN_ASM_COMMENT("SPARSELU_GEMML_KERNEL2");
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_panel_bmod.h
index 822cf32c34..f052001c8f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_panel_bmod.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseLU/SparseLU_panel_bmod.h
@@ -38,7 +38,7 @@ namespace internal {
  * \brief Performs numeric block updates (sup-panel) in topological order.
  * 
  * Before entering this routine, the original nonzeros in the panel
- * were already copied i nto the spa[m,w]
+ * were already copied into the spa[m,w]
  * 
  * \param m number of rows in the matrix
  * \param w Panel size
diff --git a/examples/ThirdPartyLibs/Eigen/src/SparseQR/SparseQR.h b/examples/ThirdPartyLibs/Eigen/src/SparseQR/SparseQR.h
index f7111fe2ea..d1fb96f5cb 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SparseQR/SparseQR.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SparseQR/SparseQR.h
@@ -41,18 +41,19 @@ namespace internal {
 /**
   * \ingroup SparseQR_Module
   * \class SparseQR
-  * \brief Sparse left-looking rank-revealing QR factorization
+  * \brief Sparse left-looking QR factorization with numerical column pivoting
   * 
-  * This class implements a left-looking rank-revealing QR decomposition 
-  * of sparse matrices. When a column has a norm less than a given tolerance
+  * This class implements a left-looking QR decomposition of sparse matrices
+  * with numerical column pivoting.
+  * When a column has a norm less than a given tolerance
   * it is implicitly permuted to the end. The QR factorization thus obtained is 
   * given by A*P = Q*R where R is upper triangular or trapezoidal. 
   * 
   * P is the column permutation which is the product of the fill-reducing and the
-  * rank-revealing permutations. Use colsPermutation() to get it.
+  * numerical permutations. Use colsPermutation() to get it.
   * 
   * Q is the orthogonal matrix represented as products of Householder reflectors. 
-  * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
+  * Use matrixQ() to get an expression and matrixQ().adjoint() to get the adjoint.
   * You can then apply it to a vector.
   * 
   * R is the sparse triangular or trapezoidal matrix. The later occurs when A is rank-deficient.
@@ -64,7 +65,19 @@ namespace internal {
   * 
   * \implsparsesolverconcept
   *
+  * The numerical pivoting strategy and default threshold are the same as in SuiteSparse QR, and
+  * detailed in the following paper:
+  * <i>
+  * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
+  * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011.
+  * </i>
+  * Even though it is qualified as "rank-revealing", this strategy might fail for some 
+  * rank deficient problems. When this class is used to solve linear or least-square problems
+  * it is thus strongly recommended to check the accuracy of the computed solution. If it
+  * failed, it usually helps to increase the threshold with setPivotThreshold.
+  * 
   * \warning The input sparse matrix A must be in compressed mode (see SparseMatrix::makeCompressed()).
+  * \warning For complex matrices matrixQ().transpose() will actually return the adjoint matrix.
   * 
   */
 template<typename _MatrixType, typename _OrderingType>
@@ -196,9 +209,9 @@ class SparseQR : public SparseSolverBase<SparseQR<_MatrixType,_OrderingType> >
 
       Index rank = this->rank();
       
-      // Compute Q^T * b;
+      // Compute Q^* * b;
       typename Dest::PlainObject y, b;
-      y = this->matrixQ().transpose() * B; 
+      y = this->matrixQ().adjoint() * B;
       b = y;
       
       // Solve with the triangular matrix R
@@ -327,10 +340,10 @@ void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
   internal::coletree(matCpy, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
   m_isEtreeOk = true;
   
-  m_R.resize(diagSize, n);
+  m_R.resize(m, n);
   m_Q.resize(m, diagSize);
   
-  // Allocate space for nonzero elements : rough estimation
+  // Allocate space for nonzero elements: rough estimation
   m_R.reserve(2*mat.nonZeros()); //FIXME Get a more accurate estimation through symbolic factorization with the etree
   m_Q.reserve(2*mat.nonZeros());
   m_hcoeffs.resize(diagSize);
@@ -604,7 +617,7 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
   // Get the references 
   SparseQR_QProduct(const SparseQRType& qr, const Derived& other, bool transpose) : 
   m_qr(qr),m_other(other),m_transpose(transpose) {}
-  inline Index rows() const { return m_transpose ? m_qr.rows() : m_qr.cols(); }
+  inline Index rows() const { return m_qr.matrixQ().rows(); }
   inline Index cols() const { return m_other.cols(); }
   
   // Assign to a vector
@@ -632,16 +645,20 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
     }
     else
     {
-      eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
+      eigen_assert(m_qr.matrixQ().cols() == m_other.rows() && "Non conforming object sizes");
+
+      res.conservativeResize(rows(), cols());
+
       // Compute res = Q * other column by column
       for(Index j = 0; j < res.cols(); j++)
       {
-        for (Index k = diagSize-1; k >=0; k--)
+        Index start_k = internal::is_identity<Derived>::value ? numext::mini(j,diagSize-1) : diagSize-1;
+        for (Index k = start_k; k >=0; k--)
         {
           Scalar tau = Scalar(0);
           tau = m_qr.m_Q.col(k).dot(res.col(j));
           if(tau==Scalar(0)) continue;
-          tau = tau * m_qr.m_hcoeffs(k);
+          tau = tau * numext::conj(m_qr.m_hcoeffs(k));
           res.col(j) -= tau * m_qr.m_Q.col(k);
         }
       }
@@ -650,7 +667,7 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
   
   const SparseQRType& m_qr;
   const Derived& m_other;
-  bool m_transpose;
+  bool m_transpose; // TODO this actually means adjoint
 };
 
 template<typename SparseQRType>
@@ -668,13 +685,14 @@ struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<Sp
   {
     return SparseQR_QProduct<SparseQRType,Derived>(m_qr,other.derived(),false);
   }
+  // To use for operations with the adjoint of Q
   SparseQRMatrixQTransposeReturnType<SparseQRType> adjoint() const
   {
     return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
   }
   inline Index rows() const { return m_qr.rows(); }
-  inline Index cols() const { return (std::min)(m_qr.rows(),m_qr.cols()); }
-  // To use for operations with the transpose of Q
+  inline Index cols() const { return m_qr.rows(); }
+  // To use for operations with the transpose of Q FIXME this is the same as adjoint at the moment
   SparseQRMatrixQTransposeReturnType<SparseQRType> transpose() const
   {
     return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
@@ -682,6 +700,7 @@ struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<Sp
   const SparseQRType& m_qr;
 };
 
+// TODO this actually represents the adjoint of Q
 template<typename SparseQRType>
 struct SparseQRMatrixQTransposeReturnType
 {
@@ -712,7 +731,7 @@ struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal:
   typedef typename DstXprType::StorageIndex StorageIndex;
   static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
   {
-    typename DstXprType::PlainObject idMat(src.m_qr.rows(), src.m_qr.rows());
+    typename DstXprType::PlainObject idMat(src.rows(), src.cols());
     idMat.setIdentity();
     // Sort the sparse householder reflectors if needed
     const_cast<SparseQRType *>(&src.m_qr)->_sort_matrix_Q();
diff --git a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdDeque.h b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdDeque.h
index cf1fedf927..6d47e75722 100644
--- a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdDeque.h
+++ b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdDeque.h
@@ -36,7 +36,7 @@ namespace std \
     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(iterator start_, iterator end_) : deque_base(start_, end_) {}  \
     deque& operator=(const deque& x) {  \
       deque_base::operator=(x);  \
       return *this;  \
@@ -62,7 +62,7 @@ namespace std {
     : 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(iterator start_, iterator end_) : deque_base(start_, end_) {}  \
     deque& operator=(const deque& x) {  \
       deque_base::operator=(x);  \
       return *this;  \
@@ -98,17 +98,7 @@ namespace std {
   { 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)
   {
diff --git a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdList.h b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdList.h
index e1eba49859..8ba3fada0a 100644
--- a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdList.h
+++ b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdList.h
@@ -35,7 +35,7 @@ namespace std \
     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(iterator start_, iterator end_) : list_base(start_, end_) {}  \
     list& operator=(const list& x) {  \
       list_base::operator=(x);  \
       return *this;  \
@@ -62,7 +62,7 @@ namespace std
     : 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(iterator start_, iterator end_) : list_base(start_, end_) {}  \
     list& operator=(const list& x) {  \
     list_base::operator=(x);  \
     return *this; \
diff --git a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdVector.h b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdVector.h
index ec22821d26..9fcf19bce8 100644
--- a/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdVector.h
+++ b/examples/ThirdPartyLibs/Eigen/src/StlSupport/StdVector.h
@@ -36,7 +36,7 @@ namespace std \
     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(iterator start_, iterator end_) : vector_base(start_, end_) {}  \
     vector& operator=(const vector& x) {  \
       vector_base::operator=(x);  \
       return *this;  \
@@ -62,7 +62,7 @@ namespace std {
     : 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(iterator start_, iterator end_) : vector_base(start_, end_) {}  \
     vector& operator=(const vector& x) {  \
       vector_base::operator=(x);  \
       return *this;  \
diff --git a/examples/ThirdPartyLibs/Eigen/src/SuperLUSupport/SuperLUSupport.h b/examples/ThirdPartyLibs/Eigen/src/SuperLUSupport/SuperLUSupport.h
index 50a69f3066..d1d3ad7f19 100644
--- a/examples/ThirdPartyLibs/Eigen/src/SuperLUSupport/SuperLUSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/SuperLUSupport/SuperLUSupport.h
@@ -217,12 +217,12 @@ struct SluMatrix : SuperMatrix
     res.setScalarType<typename MatrixType::Scalar>();
 
     // FIXME the following is not very accurate
-    if (MatrixType::Flags & Upper)
+    if (int(MatrixType::Flags) & int(Upper))
       res.Mtype = SLU_TRU;
-    if (MatrixType::Flags & Lower)
+    if (int(MatrixType::Flags) & int(Lower))
       res.Mtype = SLU_TRL;
 
-    eigen_assert(((MatrixType::Flags & SelfAdjoint)==0) && "SelfAdjoint matrix shape not supported by SuperLU");
+    eigen_assert(((int(MatrixType::Flags) & int(SelfAdjoint))==0) && "SelfAdjoint matrix shape not supported by SuperLU");
 
     return res;
   }
@@ -297,8 +297,8 @@ SluMatrix asSluMatrix(MatrixType& mat)
 template<typename Scalar, int Flags, typename Index>
 MappedSparseMatrix<Scalar,Flags,Index> map_superlu(SluMatrix& sluMat)
 {
-  eigen_assert((Flags&RowMajor)==RowMajor && sluMat.Stype == SLU_NR
-         || (Flags&ColMajor)==ColMajor && sluMat.Stype == SLU_NC);
+  eigen_assert(((Flags&RowMajor)==RowMajor && sluMat.Stype == SLU_NR)
+         || ((Flags&ColMajor)==ColMajor && sluMat.Stype == SLU_NC));
 
   Index outerSize = (Flags&RowMajor)==RowMajor ? sluMat.ncol : sluMat.nrow;
 
@@ -352,7 +352,7 @@ class SuperLUBase : public SparseSolverBase<Derived>
     
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix.appears to be negative.
       */
     ComputationInfo info() const
@@ -650,9 +650,8 @@ void SuperLU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
-  const Index size = m_matrix.rows();
   const Index rhsCols = b.cols();
-  eigen_assert(size==b.rows());
+  eigen_assert(m_matrix.rows()==b.rows());
 
   m_sluOptions.Trans = NOTRANS;
   m_sluOptions.Fact = FACTORED;
@@ -974,9 +973,8 @@ void SuperILU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
-  const int size = m_matrix.rows();
   const int rhsCols = b.cols();
-  eigen_assert(size==b.rows());
+  eigen_assert(m_matrix.rows()==b.rows());
 
   m_sluOptions.Trans = NOTRANS;
   m_sluOptions.Fact = FACTORED;
diff --git a/examples/ThirdPartyLibs/Eigen/src/UmfPackSupport/UmfPackSupport.h b/examples/ThirdPartyLibs/Eigen/src/UmfPackSupport/UmfPackSupport.h
index 9568cc1d5f..e3a333f80f 100644
--- a/examples/ThirdPartyLibs/Eigen/src/UmfPackSupport/UmfPackSupport.h
+++ b/examples/ThirdPartyLibs/Eigen/src/UmfPackSupport/UmfPackSupport.h
@@ -10,6 +10,16 @@
 #ifndef EIGEN_UMFPACKSUPPORT_H
 #define EIGEN_UMFPACKSUPPORT_H
 
+// for compatibility with super old version of umfpack,
+// not sure this is really needed, but this is harmless.
+#ifndef SuiteSparse_long
+#ifdef UF_long
+#define SuiteSparse_long UF_long
+#else
+#error neither SuiteSparse_long nor UF_long are defined
+#endif
+#endif
+
 namespace Eigen {
 
 /* TODO extract L, extract U, compute det, etc... */
@@ -17,42 +27,85 @@ namespace Eigen {
 // generic double/complex<double> wrapper functions:
 
 
-inline void umfpack_defaults(double control[UMFPACK_CONTROL], double)
+ // Defaults
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], double, int)
 { umfpack_di_defaults(control); }
 
-inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>)
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>, int)
 { umfpack_zi_defaults(control); }
 
-inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], double)
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], double, SuiteSparse_long)
+{ umfpack_dl_defaults(control); }
+
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_defaults(control); }
+
+// Report info
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], double, int)
 { umfpack_di_report_info(control, info);}
 
-inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], std::complex<double>)
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], std::complex<double>, int)
 { umfpack_zi_report_info(control, info);}
 
-inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, double)
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], double, SuiteSparse_long)
+{ umfpack_dl_report_info(control, info);}
+
+inline void umfpack_report_info(double control[UMFPACK_CONTROL], double info[UMFPACK_INFO], std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_report_info(control, info);}
+
+// Report status
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, double, int)
 { umfpack_di_report_status(control, status);}
 
-inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, std::complex<double>)
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, std::complex<double>, int)
 { umfpack_zi_report_status(control, status);}
 
-inline void umfpack_report_control(double control[UMFPACK_CONTROL], double)
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, double, SuiteSparse_long)
+{ umfpack_dl_report_status(control, status);}
+
+inline void umfpack_report_status(double control[UMFPACK_CONTROL], int status, std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_report_status(control, status);}
+
+// report control
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], double, int)
 { umfpack_di_report_control(control);}
 
-inline void umfpack_report_control(double control[UMFPACK_CONTROL], std::complex<double>)
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], std::complex<double>, int)
 { umfpack_zi_report_control(control);}
 
-inline void umfpack_free_numeric(void **Numeric, double)
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], double, SuiteSparse_long)
+{ umfpack_dl_report_control(control);}
+
+inline void umfpack_report_control(double control[UMFPACK_CONTROL], std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_report_control(control);}
+
+// Free numeric
+inline void umfpack_free_numeric(void **Numeric, double, int)
 { umfpack_di_free_numeric(Numeric); *Numeric = 0; }
 
-inline void umfpack_free_numeric(void **Numeric, std::complex<double>)
+inline void umfpack_free_numeric(void **Numeric, std::complex<double>, int)
 { umfpack_zi_free_numeric(Numeric); *Numeric = 0; }
 
-inline void umfpack_free_symbolic(void **Symbolic, double)
+inline void umfpack_free_numeric(void **Numeric, double, SuiteSparse_long)
+{ umfpack_dl_free_numeric(Numeric); *Numeric = 0; }
+
+inline void umfpack_free_numeric(void **Numeric, std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_free_numeric(Numeric); *Numeric = 0; }
+
+// Free symbolic
+inline void umfpack_free_symbolic(void **Symbolic, double, int)
 { umfpack_di_free_symbolic(Symbolic); *Symbolic = 0; }
 
-inline void umfpack_free_symbolic(void **Symbolic, std::complex<double>)
+inline void umfpack_free_symbolic(void **Symbolic, std::complex<double>, int)
 { umfpack_zi_free_symbolic(Symbolic); *Symbolic = 0; }
 
+inline void umfpack_free_symbolic(void **Symbolic, double, SuiteSparse_long)
+{ umfpack_dl_free_symbolic(Symbolic); *Symbolic = 0; }
+
+inline void umfpack_free_symbolic(void **Symbolic, std::complex<double>, SuiteSparse_long)
+{ umfpack_zl_free_symbolic(Symbolic); *Symbolic = 0; }
+
+// 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])
@@ -66,7 +119,21 @@ inline int umfpack_symbolic(int n_row,int n_col,
 {
   return umfpack_zi_symbolic(n_row,n_col,Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Control,Info);
 }
+inline SuiteSparse_long umfpack_symbolic( SuiteSparse_long n_row,SuiteSparse_long n_col,
+                                          const SuiteSparse_long Ap[], const SuiteSparse_long Ai[], const double Ax[], void **Symbolic,
+                                          const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
+{
+  return umfpack_dl_symbolic(n_row,n_col,Ap,Ai,Ax,Symbolic,Control,Info);
+}
 
+inline SuiteSparse_long umfpack_symbolic( SuiteSparse_long n_row,SuiteSparse_long n_col,
+                                          const SuiteSparse_long Ap[], const SuiteSparse_long Ai[], const std::complex<double> Ax[], void **Symbolic,
+                                          const double Control [UMFPACK_CONTROL], double Info [UMFPACK_INFO])
+{
+  return umfpack_zl_symbolic(n_row,n_col,Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Control,Info);
+}
+
+// Numeric
 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])
@@ -80,7 +147,21 @@ inline int umfpack_numeric( const int Ap[], const int Ai[], const std::complex<d
 {
   return umfpack_zi_numeric(Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Numeric,Control,Info);
 }
+inline SuiteSparse_long umfpack_numeric(const SuiteSparse_long Ap[], const SuiteSparse_long Ai[], const double Ax[],
+                                        void *Symbolic, void **Numeric,
+                                        const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
+{
+  return umfpack_dl_numeric(Ap,Ai,Ax,Symbolic,Numeric,Control,Info);
+}
 
+inline SuiteSparse_long umfpack_numeric(const SuiteSparse_long Ap[], const SuiteSparse_long Ai[], const std::complex<double> Ax[],
+                                        void *Symbolic, void **Numeric,
+                                        const double Control[UMFPACK_CONTROL],double Info [UMFPACK_INFO])
+{
+  return umfpack_zl_numeric(Ap,Ai,&numext::real_ref(Ax[0]),0,Symbolic,Numeric,Control,Info);
+}
+
+// solve
 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])
@@ -95,6 +176,21 @@ inline int umfpack_solve( int sys, const int Ap[], const int Ai[], const std::co
   return umfpack_zi_solve(sys,Ap,Ai,&numext::real_ref(Ax[0]),0,&numext::real_ref(X[0]),0,&numext::real_ref(B[0]),0,Numeric,Control,Info);
 }
 
+inline SuiteSparse_long umfpack_solve(int sys, const SuiteSparse_long Ap[], const SuiteSparse_long Ai[], const double Ax[],
+                                      double X[], const double B[], void *Numeric,
+                                      const double Control[UMFPACK_CONTROL], double Info[UMFPACK_INFO])
+{
+  return umfpack_dl_solve(sys,Ap,Ai,Ax,X,B,Numeric,Control,Info);
+}
+
+inline SuiteSparse_long umfpack_solve(int sys, const SuiteSparse_long Ap[], const SuiteSparse_long 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_zl_solve(sys,Ap,Ai,&numext::real_ref(Ax[0]),0,&numext::real_ref(X[0]),0,&numext::real_ref(B[0]),0,Numeric,Control,Info);
+}
+
+// Get Lunz
 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);
@@ -105,6 +201,19 @@ inline int umfpack_get_lunz(int *lnz, int *unz, int *n_row, int *n_col, int *nz_
   return umfpack_zi_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
 }
 
+inline SuiteSparse_long umfpack_get_lunz( SuiteSparse_long *lnz, SuiteSparse_long *unz, SuiteSparse_long *n_row, SuiteSparse_long *n_col,
+                                          SuiteSparse_long *nz_udiag, void *Numeric, double)
+{
+  return umfpack_dl_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
+}
+
+inline SuiteSparse_long umfpack_get_lunz( SuiteSparse_long *lnz, SuiteSparse_long *unz, SuiteSparse_long *n_row, SuiteSparse_long *n_col,
+                                          SuiteSparse_long *nz_udiag, void *Numeric, std::complex<double>)
+{
+  return umfpack_zl_get_lunz(lnz,unz,n_row,n_col,nz_udiag,Numeric);
+}
+
+// Get 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)
 {
@@ -120,18 +229,45 @@ inline int umfpack_get_numeric(int Lp[], int Lj[], std::complex<double> Lx[], in
   return umfpack_zi_get_numeric(Lp,Lj,Lx?&lx0_real:0,0,Up,Ui,Ux?&ux0_real:0,0,P,Q,
                                 Dx?&dx0_real:0,0,do_recip,Rs,Numeric);
 }
+inline SuiteSparse_long umfpack_get_numeric(SuiteSparse_long Lp[], SuiteSparse_long Lj[], double Lx[], SuiteSparse_long Up[], SuiteSparse_long Ui[], double Ux[],
+                                            SuiteSparse_long P[], SuiteSparse_long Q[], double Dx[], SuiteSparse_long *do_recip, double Rs[], void *Numeric)
+{
+  return umfpack_dl_get_numeric(Lp,Lj,Lx,Up,Ui,Ux,P,Q,Dx,do_recip,Rs,Numeric);
+}
 
-inline int umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO])
+inline SuiteSparse_long umfpack_get_numeric(SuiteSparse_long Lp[], SuiteSparse_long Lj[], std::complex<double> Lx[], SuiteSparse_long Up[], SuiteSparse_long Ui[], std::complex<double> Ux[],
+                                            SuiteSparse_long P[], SuiteSparse_long Q[], std::complex<double> Dx[], SuiteSparse_long *do_recip, double Rs[], void *Numeric)
+{
+  double& lx0_real = numext::real_ref(Lx[0]);
+  double& ux0_real = numext::real_ref(Ux[0]);
+  double& dx0_real = numext::real_ref(Dx[0]);
+  return umfpack_zl_get_numeric(Lp,Lj,Lx?&lx0_real:0,0,Up,Ui,Ux?&ux0_real:0,0,P,Q,
+                                Dx?&dx0_real:0,0,do_recip,Rs,Numeric);
+}
+
+// Get Determinant
+inline int umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO], int)
 {
   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])
+inline int umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO], int)
 {
   double& mx_real = numext::real_ref(*Mx);
   return umfpack_zi_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info);
 }
 
+inline SuiteSparse_long umfpack_get_determinant(double *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO], SuiteSparse_long)
+{
+  return umfpack_dl_get_determinant(Mx,Ex,NumericHandle,User_Info);
+}
+
+inline SuiteSparse_long umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *NumericHandle, double User_Info [UMFPACK_INFO], SuiteSparse_long)
+{
+  double& mx_real = numext::real_ref(*Mx);
+  return umfpack_zl_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info);
+}
+
 
 /** \ingroup UmfPackSupport_Module
   * \brief A sparse LU factorization and solver based on UmfPack
@@ -164,7 +300,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
     typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
     typedef SparseMatrix<Scalar> LUMatrixType;
-    typedef SparseMatrix<Scalar,ColMajor,int> UmfpackMatrixType;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> UmfpackMatrixType;
     typedef Ref<const UmfpackMatrixType, StandardCompressedFormat> UmfpackMatrixRef;
     enum {
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
@@ -192,8 +328,8 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
 
     ~UmfPackLU()
     {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
+      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar(), StorageIndex());
+      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar(), StorageIndex());
     }
 
     inline Index rows() const { return mp_matrix.rows(); }
@@ -201,7 +337,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
 
     /** \brief Reports whether previous computation was successful.
       *
-      * \returns \c Success if computation was succesful,
+      * \returns \c Success if computation was successful,
       *          \c NumericalIssue if the matrix.appears to be negative.
       */
     ComputationInfo info() const
@@ -241,8 +377,8 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
     template<typename InputMatrixType>
     void compute(const InputMatrixType& matrix)
     {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
+      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar(),StorageIndex());
+      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar(),StorageIndex());
       grab(matrix.derived());
       analyzePattern_impl();
       factorize_impl();
@@ -257,8 +393,8 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
     template<typename InputMatrixType>
     void analyzePattern(const InputMatrixType& matrix)
     {
-      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
-      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
+      if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar(),StorageIndex());
+      if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar(),StorageIndex());
 
       grab(matrix.derived());
 
@@ -309,7 +445,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
     {
       eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
       if(m_numeric)
-        umfpack_free_numeric(&m_numeric,Scalar());
+        umfpack_free_numeric(&m_numeric,Scalar(),StorageIndex());
 
       grab(matrix.derived());
 
@@ -322,7 +458,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
       */
     void printUmfpackControl()
     {
-      umfpack_report_control(m_control.data(), Scalar());
+      umfpack_report_control(m_control.data(), Scalar(),StorageIndex());
     }
 
     /** Prints statistics collected by UmfPack.
@@ -332,7 +468,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
     void printUmfpackInfo()
     {
       eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
-      umfpack_report_info(m_control.data(), m_umfpackInfo.data(), Scalar());
+      umfpack_report_info(m_control.data(), m_umfpackInfo.data(), Scalar(),StorageIndex());
     }
 
     /** Prints the status of the previous factorization operation performed by UmfPack (symbolic or numerical factorization).
@@ -341,7 +477,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
       */
     void printUmfpackStatus() {
       eigen_assert(m_analysisIsOk && "UmfPackLU: you must first call analyzePattern()");
-      umfpack_report_status(m_control.data(), m_fact_errorCode, Scalar());
+      umfpack_report_status(m_control.data(), m_fact_errorCode, Scalar(),StorageIndex());
     }
 
     /** \internal */
@@ -362,13 +498,13 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
       m_symbolic              = 0;
       m_extractedDataAreDirty = true;
 
-      umfpack_defaults(m_control.data(), Scalar());
+      umfpack_defaults(m_control.data(), Scalar(),StorageIndex());
     }
 
     void analyzePattern_impl()
     {
-      m_fact_errorCode = umfpack_symbolic(internal::convert_index<int>(mp_matrix.rows()),
-                                          internal::convert_index<int>(mp_matrix.cols()),
+      m_fact_errorCode = umfpack_symbolic(internal::convert_index<StorageIndex>(mp_matrix.rows()),
+                                          internal::convert_index<StorageIndex>(mp_matrix.cols()),
                                           mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
                                           &m_symbolic, m_control.data(), m_umfpackInfo.data());
 
@@ -408,7 +544,7 @@ class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
 
     // cached data to reduce reallocation, etc.
     mutable LUMatrixType m_l;
-    int m_fact_errorCode;
+    StorageIndex m_fact_errorCode;
     UmfpackControl m_control;
     mutable UmfpackInfo m_umfpackInfo;
 
@@ -438,7 +574,7 @@ void UmfPackLU<MatrixType>::extractData() const
   if (m_extractedDataAreDirty)
   {
     // get size of the data
-    int lnz, unz, rows, cols, nz_udiag;
+    StorageIndex lnz, unz, rows, cols, nz_udiag;
     umfpack_get_lunz(&lnz, &unz, &rows, &cols, &nz_udiag, m_numeric, Scalar());
 
     // allocate data
@@ -464,7 +600,7 @@ template<typename MatrixType>
 typename UmfPackLU<MatrixType>::Scalar UmfPackLU<MatrixType>::determinant() const
 {
   Scalar det;
-  umfpack_get_determinant(&det, 0, m_numeric, 0);
+  umfpack_get_determinant(&det, 0, m_numeric, 0, StorageIndex());
   return det;
 }
 
@@ -477,7 +613,6 @@ bool UmfPackLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBas
   eigen_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major result yet");
   eigen_assert(b.derived().data() != x.derived().data() && " Umfpack does not support inplace solve");
 
-  int errorCode;
   Scalar* x_ptr = 0;
   Matrix<Scalar,Dynamic,1> x_tmp;
   if(x.innerStride()!=1)
@@ -489,9 +624,10 @@ bool UmfPackLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBas
   {
     if(x.innerStride()==1)
       x_ptr = &x.col(j).coeffRef(0);
-    errorCode = umfpack_solve(UMFPACK_A,
-        mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
-        x_ptr, &b.const_cast_derived().col(j).coeffRef(0), m_numeric, m_control.data(), m_umfpackInfo.data());
+    StorageIndex errorCode = umfpack_solve(UMFPACK_A,
+                                mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+                                x_ptr, &b.const_cast_derived().col(j).coeffRef(0),
+                                m_numeric, m_control.data(), m_umfpackInfo.data());
     if(x.innerStride()!=1)
       x.col(j) = x_tmp;
     if (errorCode!=0)
diff --git a/examples/ThirdPartyLibs/Eigen/src/misc/lapacke.h b/examples/ThirdPartyLibs/Eigen/src/misc/lapacke.h
old mode 100644
new mode 100755
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseBinaryOps.h
index 1f8a531af5..1b422e2015 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -30,15 +30,40 @@ operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   *
   * \sa max()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(min,min)
+template <int NaNPropagation, typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+min
+#else
+(min)
+#endif
+(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,PropagateFast>, const Derived, const OtherDerived>
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+min
+#else
+(min)
+#endif
+(const OtherDerived &other) const
+{
+  return (min<PropagateFast>)(other);
+}
 
 /** \returns an expression of the coefficient-wise min of \c *this and scalar \a other
   *
   * \sa max()
   */
+template <int NaNPropagation>
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived,
-                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived,
+    const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 min
 #else
@@ -46,7 +71,20 @@ min
 #endif
 (const Scalar &other) const
 {
-  return (min)(Derived::PlainObject::Constant(rows(), cols(), other));
+  return (min<NaNPropagation>)(Derived::PlainObject::Constant(rows(), cols(), other));
+}
+
+EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,PropagateFast>, const Derived,
+    const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+min
+#else
+(min)
+#endif
+(const Scalar &other) const
+{
+  return (min<PropagateFast>)(Derived::PlainObject::Constant(rows(), cols(), other));
 }
 
 /** \returns an expression of the coefficient-wise max of \c *this and \a other
@@ -56,14 +94,52 @@ min
   *
   * \sa min()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(max,max)
+template <int NaNPropagation, typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+max
+#else
+(max)
+#endif
+(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
+template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,PropagateFast>, const Derived, const OtherDerived>
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+max
+#else
+(max)
+#endif
+(const OtherDerived &other) const
+{
+  return (max<PropagateFast>)(other);
+}
 
 /** \returns an expression of the coefficient-wise max of \c *this and scalar \a other
   *
   * \sa min()
   */
+template <int NaNPropagation>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived,
+                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+max
+#else
+(max)
+#endif
+(const Scalar &other) const
+{
+  return (max<NaNPropagation>)(Derived::PlainObject::Constant(rows(), cols(), other));
+}
+
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived,
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,PropagateFast>, const Derived,
                                         const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 max
@@ -72,7 +148,33 @@ max
 #endif
 (const Scalar &other) const
 {
-  return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
+  return (max<PropagateFast>)(Derived::PlainObject::Constant(rows(), cols(), other));
+}
+
+/** \returns an expression of the coefficient-wise absdiff of \c *this and \a other
+  *
+  * Example: \include Cwise_absolute_difference.cpp
+  * Output: \verbinclude Cwise_absolute_difference.out
+  *
+  * \sa absolute_difference()
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(absolute_difference,absolute_difference)
+
+/** \returns an expression of the coefficient-wise absolute_difference of \c *this and scalar \a other
+  *
+  * \sa absolute_difference()
+  */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_absolute_difference_op<Scalar,Scalar>, const Derived,
+                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+absolute_difference
+#else
+(absolute_difference)
+#endif
+(const Scalar &other) const
+{
+  return (absolute_difference)(Derived::PlainObject::Constant(rows(), cols(), other));
 }
 
 /** \returns an expression of the coefficient-wise power of \c *this to the given array of \a exponents.
@@ -119,7 +221,7 @@ OP(const Scalar& s) const { \
   return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \
 } \
 EIGEN_DEVICE_FUNC friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
-OP(const Scalar& s, const Derived& d) { \
+OP(const Scalar& s, const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& d) { \
   return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \
 }
 
@@ -314,9 +416,9 @@ polygamma(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedN> &n) const
   *
   * It returns the Riemann zeta function of two arguments \c *this and \a q:
   *
-  * \param *this is the exposent, it must be > 1
   * \param q is the shift, it must be > 0
   *
+  * \note *this is the exponent, it must be > 1.
   * \note This function supports only float and double scalar types. To support other scalar types, the user has
   * to provide implementations of zeta(T,T) for any scalar type T to be supported.
   *
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseUnaryOps.h
index 43615bd562..13c55f4b11 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -14,6 +14,7 @@ typedef CwiseUnaryOp<internal::scalar_expm1_op<Scalar>, const Derived> Expm1Retu
 typedef CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived> LogReturnType;
 typedef CwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived> Log1pReturnType;
 typedef CwiseUnaryOp<internal::scalar_log10_op<Scalar>, const Derived> Log10ReturnType;
+typedef CwiseUnaryOp<internal::scalar_log2_op<Scalar>, const Derived> Log2ReturnType;
 typedef CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived> CosReturnType;
 typedef CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived> SinReturnType;
 typedef CwiseUnaryOp<internal::scalar_tan_op<Scalar>, const Derived> TanReturnType;
@@ -21,11 +22,18 @@ typedef CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived> AcosReturn
 typedef CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived> AsinReturnType;
 typedef CwiseUnaryOp<internal::scalar_atan_op<Scalar>, const Derived> AtanReturnType;
 typedef CwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived> TanhReturnType;
+typedef CwiseUnaryOp<internal::scalar_logistic_op<Scalar>, const Derived> LogisticReturnType;
 typedef CwiseUnaryOp<internal::scalar_sinh_op<Scalar>, const Derived> SinhReturnType;
+#if EIGEN_HAS_CXX11_MATH
+typedef CwiseUnaryOp<internal::scalar_atanh_op<Scalar>, const Derived> AtanhReturnType;
+typedef CwiseUnaryOp<internal::scalar_asinh_op<Scalar>, const Derived> AsinhReturnType;
+typedef CwiseUnaryOp<internal::scalar_acosh_op<Scalar>, const Derived> AcoshReturnType;
+#endif
 typedef CwiseUnaryOp<internal::scalar_cosh_op<Scalar>, const Derived> CoshReturnType;
 typedef CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived> SquareReturnType;
 typedef CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived> CubeReturnType;
 typedef CwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived> RoundReturnType;
+typedef CwiseUnaryOp<internal::scalar_rint_op<Scalar>, const Derived> RintReturnType;
 typedef CwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived> FloorReturnType;
 typedef CwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived> CeilReturnType;
 typedef CwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived> IsNaNReturnType;
@@ -152,6 +160,18 @@ log10() const
   return Log10ReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise base-2 logarithm of *this.
+  *
+  * This function computes the coefficient-wise base-2 logarithm.
+  *
+  */
+EIGEN_DEVICE_FUNC
+inline const Log2ReturnType
+log2() const
+{
+  return Log2ReturnType(derived());
+}
+
 /** \returns an expression of the coefficient-wise square root of *this.
   *
   * This function computes the coefficient-wise square root. The function MatrixBase::sqrt() in the
@@ -326,7 +346,7 @@ sinh() const
   * Example: \include Cwise_cosh.cpp
   * Output: \verbinclude Cwise_cosh.out
   *
-  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tan(), sinh(), cosh()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tanh(), sinh(), cosh()
   */
 EIGEN_DEVICE_FUNC
 inline const CoshReturnType
@@ -335,6 +355,50 @@ cosh() const
   return CoshReturnType(derived());
 }
 
+#if EIGEN_HAS_CXX11_MATH
+/** \returns an expression of the coefficient-wise inverse hyperbolic tan of *this.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_atanh">Math functions</a>, atanh(), asinh(), acosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const AtanhReturnType
+atanh() const
+{
+  return AtanhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise inverse hyperbolic sin of *this.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_asinh">Math functions</a>, atanh(), asinh(), acosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const AsinhReturnType
+asinh() const
+{
+  return AsinhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise inverse hyperbolic cos of *this.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_acosh">Math functions</a>, atanh(), asinh(), acosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const AcoshReturnType
+acosh() const
+{
+  return AcoshReturnType(derived());
+}
+#endif
+
+/** \returns an expression of the coefficient-wise logistic of *this.
+  */
+EIGEN_DEVICE_FUNC
+inline const LogisticReturnType
+logistic() const
+{
+  return LogisticReturnType(derived());
+}
+
 /** \returns an expression of the coefficient-wise inverse of *this.
   *
   * Example: \include Cwise_inverse.cpp
@@ -377,6 +441,20 @@ cube() const
   return CubeReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise rint of *this.
+  *
+  * Example: \include Cwise_rint.cpp
+  * Output: \verbinclude Cwise_rint.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_rint">Math functions</a>, ceil(), floor()
+  */
+EIGEN_DEVICE_FUNC
+inline const RintReturnType
+rint() const
+{
+  return RintReturnType(derived());
+}
+
 /** \returns an expression of the coefficient-wise round of *this.
   *
   * Example: \include Cwise_round.cpp
@@ -419,6 +497,45 @@ ceil() const
   return CeilReturnType(derived());
 }
 
+template<int N> struct ShiftRightXpr {
+  typedef CwiseUnaryOp<internal::scalar_shift_right_op<Scalar, N>, const Derived> Type;
+};
+
+/** \returns an expression of \c *this with the \a Scalar type arithmetically
+  * shifted right by \a N bit positions.
+  *
+  * The template parameter \a N specifies the number of bit positions to shift.
+  * 
+  * \sa shiftLeft()
+  */
+template<int N>
+EIGEN_DEVICE_FUNC
+typename ShiftRightXpr<N>::Type
+shiftRight() const
+{
+  return typename ShiftRightXpr<N>::Type(derived());
+}
+
+
+template<int N> struct ShiftLeftXpr {
+  typedef CwiseUnaryOp<internal::scalar_shift_left_op<Scalar, N>, const Derived> Type;
+};
+
+/** \returns an expression of \c *this with the \a Scalar type logically
+  * shifted left by \a N bit positions.
+  *
+  * The template parameter \a N specifies the number of bit positions to shift.
+  *
+  * \sa shiftRight()
+  */
+template<int N>
+EIGEN_DEVICE_FUNC
+typename ShiftLeftXpr<N>::Type
+shiftLeft() const
+{
+  return typename ShiftLeftXpr<N>::Type(derived());
+}
+
 /** \returns an expression of the coefficient-wise isnan of *this.
   *
   * Example: \include Cwise_isNaN.cpp
@@ -486,14 +603,12 @@ typedef CwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived> LgammaRe
 typedef CwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived> DigammaReturnType;
 typedef CwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived> ErfReturnType;
 typedef CwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived> ErfcReturnType;
+typedef CwiseUnaryOp<internal::scalar_ndtri_op<Scalar>, const Derived> NdtriReturnType;
 
 /** \cpp11 \returns an expression of the coefficient-wise ln(|gamma(*this)|).
   *
   * \specialfunctions_module
   *
-  * Example: \include Cwise_lgamma.cpp
-  * Output: \verbinclude Cwise_lgamma.out
-  *
   * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
   * or float/double in non c++11 mode, the user has to provide implementations of lgamma(T) for any scalar
   * type T to be supported.
@@ -529,9 +644,6 @@ digamma() const
   *
   * \specialfunctions_module
   *
-  * Example: \include Cwise_erf.cpp
-  * Output: \verbinclude Cwise_erf.out
-  *
   * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
   * or float/double in non c++11 mode, the user has to provide implementations of erf(T) for any scalar
   * type T to be supported.
@@ -550,9 +662,6 @@ erf() const
   *
   * \specialfunctions_module
   *
-  * Example: \include Cwise_erfc.cpp
-  * Output: \verbinclude Cwise_erfc.out
-  *
   * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
   * or float/double in non c++11 mode, the user has to provide implementations of erfc(T) for any scalar
   * type T to be supported.
@@ -565,3 +674,23 @@ erfc() const
 {
   return ErfcReturnType(derived());
 }
+
+/** \returns an expression of the coefficient-wise inverse of the CDF of the Normal distribution function
+  * function of *this.
+  *
+  * \specialfunctions_module
+  * 
+  * In other words, considering `x = ndtri(y)`, it returns the argument, x, for which the area under the
+  * Gaussian probability density function (integrated from minus infinity to x) is equal to y.
+  *
+  * \note This function supports only float and double scalar types. To support other scalar types,
+  * the user has to provide implementations of ndtri(T) for any scalar type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_ndtri">Math functions</a>
+  */
+EIGEN_DEVICE_FUNC
+inline const NdtriReturnType
+ndtri() const
+{
+  return NdtriReturnType(derived());
+}
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/BlockMethods.h b/examples/ThirdPartyLibs/Eigen/src/plugins/BlockMethods.h
index 5caf144690..63a52a6ffa 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/BlockMethods.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/BlockMethods.h
@@ -40,6 +40,14 @@ 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; };
 
+/// \internal inner-vector
+typedef Block<Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true>       InnerVectorReturnType;
+typedef Block<const Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true> ConstInnerVectorReturnType;
+
+/// \internal set of inner-vectors
+typedef Block<Derived,Dynamic,Dynamic,true> InnerVectorsReturnType;
+typedef Block<const Derived,Dynamic,Dynamic,true> ConstInnerVectorsReturnType;
+
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 /// \returns an expression of a block in \c *this with either dynamic or fixed sizes.
@@ -79,11 +87,11 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block, fix, fix<N>(int)
 ///
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename FixedBlockXpr<...,...>::Type
+typename FixedBlockXpr<...,...>::Type
 #endif
 block(Index startRow, Index startCol, NRowsType blockRows, NColsType blockCols)
 {
@@ -93,11 +101,11 @@ block(Index startRow, Index startCol, NRowsType blockRows, NColsType blockCols)
 
 /// This is the const version of block(Index,Index,NRowsType,NColsType)
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstFixedBlockXpr<...,...>::Type
+const typename ConstFixedBlockXpr<...,...>::Type
 #endif
 block(Index startRow, Index startCol, NRowsType blockRows, NColsType blockCols) const
 {
@@ -125,11 +133,11 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename FixedBlockXpr<...,...>::Type
+typename FixedBlockXpr<...,...>::Type
 #endif
 topRightCorner(NRowsType cRows, NColsType cCols)
 {
@@ -139,11 +147,11 @@ topRightCorner(NRowsType cRows, NColsType cCols)
 
 /// This is the const version of topRightCorner(NRowsType, NColsType).
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstFixedBlockXpr<...,...>::Type
+const typename ConstFixedBlockXpr<...,...>::Type
 #endif
 topRightCorner(NRowsType cRows, NColsType cCols) const
 {
@@ -164,16 +172,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block, block<int,int>(Index,Index)
 ///
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
 }
 
 /// This is the const version of topRightCorner<int, int>().
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
 }
@@ -198,14 +206,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block
 ///
 template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
 /// This is the const version of topRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
@@ -230,11 +240,11 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename FixedBlockXpr<...,...>::Type
+typename FixedBlockXpr<...,...>::Type
 #endif
 topLeftCorner(NRowsType cRows, NColsType cCols)
 {
@@ -244,11 +254,11 @@ topLeftCorner(NRowsType cRows, NColsType cCols)
 
 /// This is the const version of topLeftCorner(Index, Index).
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstFixedBlockXpr<...,...>::Type
+const typename ConstFixedBlockXpr<...,...>::Type
 #endif
 topLeftCorner(NRowsType cRows, NColsType cCols) const
 {
@@ -268,16 +278,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
 }
 
 /// This is the const version of topLeftCorner<int, int>().
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
 }
@@ -302,14 +312,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block
 ///
 template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
 
 /// This is the const version of topLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
@@ -334,11 +346,11 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename FixedBlockXpr<...,...>::Type
+typename FixedBlockXpr<...,...>::Type
 #endif
 bottomRightCorner(NRowsType cRows, NColsType cCols)
 {
@@ -349,11 +361,11 @@ bottomRightCorner(NRowsType cRows, NColsType cCols)
 
 /// This is the const version of bottomRightCorner(NRowsType, NColsType).
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstFixedBlockXpr<...,...>::Type
+const typename ConstFixedBlockXpr<...,...>::Type
 #endif
 bottomRightCorner(NRowsType cRows, NColsType cCols) const
 {
@@ -374,16 +386,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
 }
 
 /// This is the const version of bottomRightCorner<int, int>().
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
 }
@@ -408,14 +420,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block
 ///
 template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
 /// This is the const version of bottomRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
@@ -440,11 +454,11 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename FixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename FixedBlockXpr<...,...>::Type
+typename FixedBlockXpr<...,...>::Type
 #endif
 bottomLeftCorner(NRowsType cRows, NColsType cCols)
 {
@@ -455,11 +469,11 @@ bottomLeftCorner(NRowsType cRows, NColsType cCols)
 
 /// This is the const version of bottomLeftCorner(NRowsType, NColsType).
 template<typename NRowsType, typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
+typename ConstFixedBlockXpr<internal::get_fixed_value<NRowsType>::value,internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename ConstFixedBlockXpr<...,...>::Type
+typename ConstFixedBlockXpr<...,...>::Type
 #endif
 bottomLeftCorner(NRowsType cRows, NColsType cCols) const
 {
@@ -480,16 +494,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
 }
 
 /// This is the const version of bottomLeftCorner<int, int>().
 template<int CRows, int CCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
 }
@@ -514,14 +528,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa class Block
 ///
 template<int CRows, int CCols>
-inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
+EIGEN_STRONG_INLINE
+typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
 {
   return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
 /// This is the const version of bottomLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
+EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
 {
   return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
@@ -545,11 +561,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline typename NRowsBlockXpr<...>::Type
+typename NRowsBlockXpr<...>::Type
 #endif
 topRows(NRowsType n)
 {
@@ -559,11 +575,11 @@ topRows(NRowsType n)
 
 /// This is the const version of topRows(NRowsType).
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline const typename ConstNRowsBlockXpr<...>::Type
+const typename ConstNRowsBlockXpr<...>::Type
 #endif
 topRows(NRowsType n) const
 {
@@ -587,16 +603,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type topRows(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NRowsBlockXpr<N>::Type topRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
 }
 
 /// This is the const version of topRows<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
 }
@@ -620,11 +636,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline typename NRowsBlockXpr<...>::Type
+typename NRowsBlockXpr<...>::Type
 #endif
 bottomRows(NRowsType n)
 {
@@ -634,11 +650,11 @@ bottomRows(NRowsType n)
 
 /// This is the const version of bottomRows(NRowsType).
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline const typename ConstNRowsBlockXpr<...>::Type
+const typename ConstNRowsBlockXpr<...>::Type
 #endif
 bottomRows(NRowsType n) const
 {
@@ -662,16 +678,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
 }
 
 /// This is the const version of bottomRows<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
 }
@@ -696,11 +712,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+typename NRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline typename NRowsBlockXpr<...>::Type
+typename NRowsBlockXpr<...>::Type
 #endif
 middleRows(Index startRow, NRowsType n)
 {
@@ -710,11 +726,11 @@ middleRows(Index startRow, NRowsType n)
 
 /// This is the const version of middleRows(Index,NRowsType).
 template<typename NRowsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
+const typename ConstNRowsBlockXpr<internal::get_fixed_value<NRowsType>::value>::Type
 #else
-inline const typename ConstNRowsBlockXpr<...>::Type
+const typename ConstNRowsBlockXpr<...>::Type
 #endif
 middleRows(Index startRow, NRowsType n) const
 {
@@ -739,16 +755,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
 }
 
 /// This is the const version of middleRows<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
 }
@@ -772,11 +788,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename NColsBlockXpr<...>::Type
+typename NColsBlockXpr<...>::Type
 #endif
 leftCols(NColsType n)
 {
@@ -786,11 +802,11 @@ leftCols(NColsType n)
 
 /// This is the const version of leftCols(NColsType).
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstNColsBlockXpr<...>::Type
+const typename ConstNColsBlockXpr<...>::Type
 #endif
 leftCols(NColsType n) const
 {
@@ -814,16 +830,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type leftCols(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NColsBlockXpr<N>::Type leftCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
 }
 
 /// This is the const version of leftCols<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
 }
@@ -847,11 +863,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename NColsBlockXpr<...>::Type
+typename NColsBlockXpr<...>::Type
 #endif
 rightCols(NColsType n)
 {
@@ -861,11 +877,11 @@ rightCols(NColsType n)
 
 /// This is the const version of rightCols(NColsType).
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstNColsBlockXpr<...>::Type
+const typename ConstNColsBlockXpr<...>::Type
 #endif
 rightCols(NColsType n) const
 {
@@ -889,16 +905,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type rightCols(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NColsBlockXpr<N>::Type rightCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
 }
 
 /// This is the const version of rightCols<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
 }
@@ -923,11 +939,11 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+typename NColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline typename NColsBlockXpr<...>::Type
+typename NColsBlockXpr<...>::Type
 #endif
 middleCols(Index startCol, NColsType numCols)
 {
@@ -937,11 +953,11 @@ middleCols(Index startCol, NColsType numCols)
 
 /// This is the const version of middleCols(Index,NColsType).
 template<typename NColsType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
+const typename ConstNColsBlockXpr<internal::get_fixed_value<NColsType>::value>::Type
 #else
-inline const typename ConstNColsBlockXpr<...>::Type
+const typename ConstNColsBlockXpr<...>::Type
 #endif
 middleCols(Index startCol, NColsType numCols) const
 {
@@ -966,16 +982,16 @@ EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
 }
 
 /// This is the const version of middleCols<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
 }
@@ -1007,16 +1023,16 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int NRows, int NCols>
-EIGEN_DEVICE_FUNC
-inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
 {
   return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
 }
 
 /// This is the const version of block<>(Index, Index). */
 template<int NRows, int NCols>
-EIGEN_DEVICE_FUNC
-inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
 {
   return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
 }
@@ -1036,7 +1052,7 @@ inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow
 /// \a NRows is \a Dynamic, and the same for the number of columns.
 ///
 /// Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
-/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.out
 ///
 /// \note The usage of of this overload is discouraged from %Eigen 3.4, better used the generic
 /// block(Index,Index,NRowsType,NColsType), here is the one-to-one complete equivalence:
@@ -1053,7 +1069,8 @@ EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
 /// \sa block(Index,Index,NRowsType,NColsType), class Block
 ///
 template<int NRows, int NCols>
-inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                   Index blockRows, Index blockCols)
 {
   return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
@@ -1061,7 +1078,8 @@ inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index sta
 
 /// This is the const version of block<>(Index, Index, Index, Index).
 template<int NRows, int NCols>
-inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                               Index blockRows, Index blockCols) const
 {
   return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
@@ -1075,15 +1093,15 @@ inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow
 EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
 /**
   * \sa row(), class Block */
-EIGEN_DEVICE_FUNC
-inline ColXpr col(Index i)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ColXpr col(Index i)
 {
   return ColXpr(derived(), i);
 }
 
 /// This is the const version of col().
-EIGEN_DEVICE_FUNC
-inline ConstColXpr col(Index i) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ConstColXpr col(Index i) const
 {
   return ConstColXpr(derived(), i);
 }
@@ -1096,15 +1114,15 @@ inline ConstColXpr col(Index i) const
 EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
 /**
   * \sa col(), class Block */
-EIGEN_DEVICE_FUNC
-inline RowXpr row(Index i)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+RowXpr row(Index i)
 {
   return RowXpr(derived(), i);
 }
 
 /// This is the const version of row(). */
-EIGEN_DEVICE_FUNC
-inline ConstRowXpr row(Index i) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+ConstRowXpr row(Index i) const
 {
   return ConstRowXpr(derived(), i);
 }
@@ -1131,11 +1149,11 @@ inline ConstRowXpr row(Index i) const
 /// \sa block(Index,Index,NRowsType,NColsType), fix<N>, fix<N>(int), class Block
 ///
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline typename FixedSegmentReturnType<...>::Type
+typename FixedSegmentReturnType<...>::Type
 #endif
 segment(Index start, NType n)
 {
@@ -1147,11 +1165,11 @@ segment(Index start, NType n)
 
 /// This is the const version of segment(Index,NType).
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline const typename ConstFixedSegmentReturnType<...>::Type
+const typename ConstFixedSegmentReturnType<...>::Type
 #endif
 segment(Index start, NType n) const
 {
@@ -1181,11 +1199,11 @@ segment(Index start, NType n) const
 /// \sa class Block, block(Index,Index)
 ///
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline typename FixedSegmentReturnType<...>::Type
+typename FixedSegmentReturnType<...>::Type
 #endif
 head(NType n)
 {
@@ -1196,11 +1214,11 @@ head(NType n)
 
 /// This is the const version of head(NType).
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline const typename ConstFixedSegmentReturnType<...>::Type
+const typename ConstFixedSegmentReturnType<...>::Type
 #endif
 head(NType n) const
 {
@@ -1230,11 +1248,11 @@ head(NType n) const
 /// \sa class Block, block(Index,Index)
 ///
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+typename FixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline typename FixedSegmentReturnType<...>::Type
+typename FixedSegmentReturnType<...>::Type
 #endif
 tail(NType n)
 {
@@ -1245,11 +1263,11 @@ tail(NType n)
 
 /// This is the const version of tail(Index).
 template<typename NType>
-EIGEN_DEVICE_FUNC
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-inline const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
+const typename ConstFixedSegmentReturnType<internal::get_fixed_value<NType>::value>::Type
 #else
-inline const typename ConstFixedSegmentReturnType<...>::Type
+const typename ConstFixedSegmentReturnType<...>::Type
 #endif
 tail(NType n) const
 {
@@ -1275,8 +1293,8 @@ tail(NType n) const
 /// \sa segment(Index,NType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), start, n);
@@ -1284,8 +1302,8 @@ inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N
 
 /// This is the const version of segment<int>(Index).
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), start, n);
@@ -1307,8 +1325,8 @@ inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index
 /// \sa head(NType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedSegmentReturnType<N>::Type head(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), 0, n);
@@ -1316,8 +1334,8 @@ inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
 
 /// This is the const version of head<int>().
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), 0, n);
@@ -1339,8 +1357,8 @@ inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
 /// \sa tail(NType), class Block
 ///
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename FixedSegmentReturnType<N>::Type tail(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), size() - n);
@@ -1348,9 +1366,77 @@ inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
 
 /// This is the const version of tail<int>.
 template<int N>
-EIGEN_DEVICE_FUNC
-inline typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), size() - n);
 }
+
+/// \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+/// is col-major (resp. row-major).
+///
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+InnerVectorReturnType innerVector(Index outer)
+{ return InnerVectorReturnType(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.
+///
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const ConstInnerVectorReturnType innerVector(Index outer) const
+{ return ConstInnerVectorReturnType(derived(), outer); }
+
+/// \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
+/// is col-major (resp. row-major).
+///
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+InnerVectorsReturnType
+innerVectors(Index outerStart, Index outerSize)
+{
+  return Block<Derived,Dynamic,Dynamic,true>(derived(),
+                                             IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
+                                             IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : 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.
+///
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+const ConstInnerVectorsReturnType
+innerVectors(Index outerStart, Index outerSize) const
+{
+  return Block<const Derived,Dynamic,Dynamic,true>(derived(),
+                                                  IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
+                                                  IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
+
+}
+
+/** \returns the i-th subvector (column or vector) according to the \c Direction
+  * \sa subVectors()
+  */
+template<DirectionType Direction>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename internal::conditional<Direction==Vertical,ColXpr,RowXpr>::type
+subVector(Index i)
+{
+  return typename internal::conditional<Direction==Vertical,ColXpr,RowXpr>::type(derived(),i);
+}
+
+/** This is the const version of subVector(Index) */
+template<DirectionType Direction>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+typename internal::conditional<Direction==Vertical,ConstColXpr,ConstRowXpr>::type
+subVector(Index i) const
+{
+  return typename internal::conditional<Direction==Vertical,ConstColXpr,ConstRowXpr>::type(derived(),i);
+}
+
+/** \returns the number of subvectors (rows or columns) in the direction \c Direction
+  * \sa subVector(Index)
+  */
+template<DirectionType Direction>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR
+Index subVectors() const
+{ return (Direction==Vertical)?cols():rows(); }
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/CommonCwiseUnaryOps.h b/examples/ThirdPartyLibs/Eigen/src/plugins/CommonCwiseUnaryOps.h
index 89f4faaac6..5418dc4154 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/CommonCwiseUnaryOps.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -76,6 +76,20 @@ conjugate() const
   return ConjugateReturnType(derived());
 }
 
+/// \returns an expression of the complex conjugate of \c *this if Cond==true, returns derived() otherwise.
+///
+EIGEN_DOC_UNARY_ADDONS(conjugate,complex conjugate)
+///
+/// \sa conjugate()
+template<bool Cond>
+EIGEN_DEVICE_FUNC
+inline typename internal::conditional<Cond,ConjugateReturnType,const Derived&>::type
+conjugateIf() const
+{
+  typedef typename internal::conditional<Cond,ConjugateReturnType,const Derived&>::type ReturnType;
+  return ReturnType(derived());
+}
+
 /// \returns a read-only expression of the real part of \c *this.
 ///
 EIGEN_DOC_UNARY_ADDONS(real,real part function)
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/IndexedViewMethods.h b/examples/ThirdPartyLibs/Eigen/src/plugins/IndexedViewMethods.h
index a7ec63adf9..5bfb19ac6c 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/IndexedViewMethods.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/IndexedViewMethods.h
@@ -53,11 +53,6 @@ ivcSize(const Indices& indices) const {
   return internal::makeIndexedViewCompatible(indices, internal::variable_if_dynamic<Index,SizeAtCompileTime>(derived().size()),Specialized);
 }
 
-template<typename RowIndices, typename ColIndices>
-struct valid_indexed_view_overload {
-  enum { value = !(internal::is_valid_index_type<RowIndices>::value && internal::is_valid_index_type<ColIndices>::value) };
-};
-
 public:
 
 #endif
@@ -72,7 +67,7 @@ struct EIGEN_INDEXED_VIEW_METHOD_TYPE {
 // This is the generic version
 
 template<typename RowIndices, typename ColIndices>
-typename internal::enable_if<valid_indexed_view_overload<RowIndices,ColIndices>::value
+typename internal::enable_if<internal::valid_indexed_view_overload<RowIndices,ColIndices>::value
   && internal::traits<typename EIGEN_INDEXED_VIEW_METHOD_TYPE<RowIndices,ColIndices>::type>::ReturnAsIndexedView,
   typename EIGEN_INDEXED_VIEW_METHOD_TYPE<RowIndices,ColIndices>::type >::type
 operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_INDEXED_VIEW_METHOD_CONST
@@ -84,7 +79,7 @@ operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_IND
 // The following overload returns a Block<> object
 
 template<typename RowIndices, typename ColIndices>
-typename internal::enable_if<valid_indexed_view_overload<RowIndices,ColIndices>::value
+typename internal::enable_if<internal::valid_indexed_view_overload<RowIndices,ColIndices>::value
   && internal::traits<typename EIGEN_INDEXED_VIEW_METHOD_TYPE<RowIndices,ColIndices>::type>::ReturnAsBlock,
   typename internal::traits<typename EIGEN_INDEXED_VIEW_METHOD_TYPE<RowIndices,ColIndices>::type>::BlockType>::type
 operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_INDEXED_VIEW_METHOD_CONST
@@ -102,7 +97,7 @@ operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_IND
 // The following overload returns a Scalar
 
 template<typename RowIndices, typename ColIndices>
-typename internal::enable_if<valid_indexed_view_overload<RowIndices,ColIndices>::value
+typename internal::enable_if<internal::valid_indexed_view_overload<RowIndices,ColIndices>::value
   && internal::traits<typename EIGEN_INDEXED_VIEW_METHOD_TYPE<RowIndices,ColIndices>::type>::ReturnAsScalar,
   CoeffReturnType >::type
 operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_INDEXED_VIEW_METHOD_CONST
@@ -112,7 +107,7 @@ operator()(const RowIndices& rowIndices, const ColIndices& colIndices) EIGEN_IND
 
 #if EIGEN_HAS_STATIC_ARRAY_TEMPLATE
 
-// The folowing three overloads are needed to handle raw Index[N] arrays.
+// The following three overloads are needed to handle raw Index[N] arrays.
 
 template<typename RowIndicesT, std::size_t RowIndicesN, typename ColIndices>
 IndexedView<EIGEN_INDEXED_VIEW_METHOD_CONST Derived,const RowIndicesT (&)[RowIndicesN],typename IvcColType<ColIndices>::type>
@@ -166,7 +161,7 @@ operator()(const Indices& indices) EIGEN_INDEXED_VIEW_METHOD_CONST
 
 template<typename Indices>
 typename internal::enable_if<
-  (internal::get_compile_time_incr<typename IvcType<Indices>::type>::value==1) && (!internal::is_valid_index_type<Indices>::value) && (!Symbolic::is_symbolic<Indices>::value),
+  (internal::get_compile_time_incr<typename IvcType<Indices>::type>::value==1) && (!internal::is_valid_index_type<Indices>::value) && (!symbolic::is_symbolic<Indices>::value),
   VectorBlock<EIGEN_INDEXED_VIEW_METHOD_CONST Derived,internal::array_size<Indices>::value> >::type
 operator()(const Indices& indices) EIGEN_INDEXED_VIEW_METHOD_CONST
 {
@@ -177,7 +172,7 @@ operator()(const Indices& indices) EIGEN_INDEXED_VIEW_METHOD_CONST
 }
 
 template<typename IndexType>
-typename internal::enable_if<Symbolic::is_symbolic<IndexType>::value, CoeffReturnType >::type
+typename internal::enable_if<symbolic::is_symbolic<IndexType>::value, CoeffReturnType >::type
 operator()(const IndexType& id) EIGEN_INDEXED_VIEW_METHOD_CONST
 {
   return Base::operator()(internal::eval_expr_given_size(id,size()));
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseBinaryOps.h
index f1084abefb..514d83a71d 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -39,10 +39,10 @@ cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   */
 template<typename OtherDerived>
 EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
+inline const CwiseBinaryOp<numext::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());
+  return CwiseBinaryOp<numext::equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise != operator of *this and \a other
@@ -59,10 +59,10 @@ cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   */
 template<typename OtherDerived>
 EIGEN_DEVICE_FUNC
-inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
+inline const CwiseBinaryOp<numext::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());
+  return CwiseBinaryOp<numext::not_equal_to<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise min of *this and \a other
@@ -72,23 +72,39 @@ cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   *
   * \sa class CwiseBinaryOp, max()
   */
+template<int NaNPropagation, typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>
+cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
 template<typename OtherDerived>
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,PropagateFast>, const Derived, const OtherDerived>
 cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return cwiseMin<PropagateFast>(other);
 }
 
 /** \returns an expression of the coefficient-wise min of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
+template<int NaNPropagation>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,NaNPropagation>, const Derived, const ConstantReturnType>
+cwiseMin(const Scalar &other) const
+{
+  return cwiseMin<NaNPropagation>(Derived::Constant(rows(), cols(), other));
+}
+
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar,PropagateFast>, const Derived, const ConstantReturnType>
 cwiseMin(const Scalar &other) const
 {
-  return cwiseMin(Derived::Constant(rows(), cols(), other));
+  return cwiseMin<PropagateFast>(Derived::Constant(rows(), cols(), other));
 }
 
 /** \returns an expression of the coefficient-wise max of *this and \a other
@@ -98,23 +114,39 @@ cwiseMin(const Scalar &other) const
   *
   * \sa class CwiseBinaryOp, min()
   */
+template<int NaNPropagation, typename OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>
+cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived, const OtherDerived>(derived(), other.derived());
+}
+
 template<typename OtherDerived>
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,PropagateFast>, const Derived, const OtherDerived>
 cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return cwiseMax<PropagateFast>(other);
 }
 
 /** \returns an expression of the coefficient-wise max of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
+template<int NaNPropagation>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,NaNPropagation>, const Derived, const ConstantReturnType>
+cwiseMax(const Scalar &other) const
+{
+  return cwiseMax<NaNPropagation>(Derived::Constant(rows(), cols(), other));
+}
+
 EIGEN_DEVICE_FUNC
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar,PropagateFast>, const Derived, const ConstantReturnType>
 cwiseMax(const Scalar &other) const
 {
-  return cwiseMax(Derived::Constant(rows(), cols(), other));
+  return cwiseMax<PropagateFast>(Derived::Constant(rows(), cols(), other));
 }
 
 
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseUnaryOps.h
index b1be3d566c..0514d8f78b 100644
--- a/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -14,6 +14,7 @@
 
 typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
 typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_arg_op<Scalar>, const Derived> CwiseArgReturnType;
 typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
 typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
 typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
@@ -82,4 +83,13 @@ EIGEN_DEVICE_FUNC
 inline const CwiseInverseReturnType
 cwiseInverse() const { return CwiseInverseReturnType(derived()); }
 
+/// \returns an expression of the coefficient-wise phase angle of \c *this
+///
+/// Example: \include MatrixBase_cwiseArg.cpp
+/// Output: \verbinclude MatrixBase_cwiseArg.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseArg,arg)
 
+EIGEN_DEVICE_FUNC
+inline const CwiseArgReturnType
+cwiseArg() const { return CwiseArgReturnType(derived()); }
diff --git a/examples/ThirdPartyLibs/Eigen/src/plugins/ReshapedMethods.h b/examples/ThirdPartyLibs/Eigen/src/plugins/ReshapedMethods.h
new file mode 100644
index 0000000000..482a6b045e
--- /dev/null
+++ b/examples/ThirdPartyLibs/Eigen/src/plugins/ReshapedMethods.h
@@ -0,0 +1,149 @@
+
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+
+/// \returns an expression of \c *this with reshaped sizes.
+///
+/// \param nRows the number of rows in the reshaped expression, specified at either run-time or compile-time, or AutoSize
+/// \param nCols the number of columns in the reshaped expression, specified at either run-time or compile-time, or AutoSize
+/// \tparam Order specifies whether the coefficients should be processed in column-major-order (ColMajor), in row-major-order (RowMajor),
+///               or follows the \em natural order of the nested expression (AutoOrder). The default is ColMajor.
+/// \tparam NRowsType the type of the value handling the number of rows, typically Index.
+/// \tparam NColsType the type of the value handling the number of columns, typically Index.
+///
+/// Dynamic size example: \include MatrixBase_reshaped_int_int.cpp
+/// Output: \verbinclude MatrixBase_reshaped_int_int.out
+///
+/// The number of rows \a nRows and columns \a nCols can also be specified at compile-time by passing Eigen::fix<N>,
+/// or Eigen::fix<N>(n) as arguments. In the later case, \c n plays the role of a runtime fallback value in case \c N equals Eigen::Dynamic.
+/// Here is an example with a fixed number of rows and columns:
+/// \include MatrixBase_reshaped_fixed.cpp
+/// Output: \verbinclude MatrixBase_reshaped_fixed.out
+///
+/// Finally, one of the sizes parameter can be automatically deduced from the other one by passing AutoSize as in the following example:
+/// \include MatrixBase_reshaped_auto.cpp
+/// Output: \verbinclude MatrixBase_reshaped_auto.out
+/// AutoSize does preserve compile-time sizes when possible, i.e., when the sizes of the input are known at compile time \b and
+/// that the other size is passed at compile-time using Eigen::fix<N> as above.
+///
+/// \sa class Reshaped, fix, fix<N>(int)
+///
+template<int Order = ColMajor, typename NRowsType, typename NColsType>
+EIGEN_DEVICE_FUNC
+inline Reshaped<Derived,...>
+reshaped(NRowsType nRows, NColsType nCols);
+
+/// This is the const version of reshaped(NRowsType,NColsType).
+template<int Order = ColMajor, typename NRowsType, typename NColsType>
+EIGEN_DEVICE_FUNC
+inline const Reshaped<const Derived,...>
+reshaped(NRowsType nRows, NColsType nCols) const;
+
+/// \returns an expression of \c *this with columns (or rows) stacked to a linear column vector
+///
+/// \tparam Order specifies whether the coefficients should be processed in column-major-order (ColMajor), in row-major-order (RowMajor),
+///               or follows the \em natural order of the nested expression (AutoOrder). The default is ColMajor.
+///
+/// This overloads is essentially a shortcut for `A.reshaped<Order>(AutoSize,fix<1>)`.
+///
+/// - If `Order==ColMajor` (the default), then it returns a column-vector from the stacked columns of \c *this.
+/// - If `Order==RowMajor`, then it returns a column-vector from the stacked rows of \c *this.
+/// - If `Order==AutoOrder`, then it returns a column-vector with elements stacked following the storage order of \c *this.
+///   This mode is the recommended one when the particular ordering of the element is not relevant.
+///
+/// Example:
+/// \include MatrixBase_reshaped_to_vector.cpp
+/// Output: \verbinclude MatrixBase_reshaped_to_vector.out
+///
+/// If you want more control, you can still fall back to reshaped(NRowsType,NColsType).
+///
+/// \sa reshaped(NRowsType,NColsType), class Reshaped
+///
+template<int Order = ColMajor>
+EIGEN_DEVICE_FUNC
+inline Reshaped<Derived,...>
+reshaped();
+
+/// This is the const version of reshaped().
+template<int Order = ColMajor>
+EIGEN_DEVICE_FUNC
+inline const Reshaped<const Derived,...>
+reshaped() const;
+
+#else
+
+// This file is automatically included twice to generate const and non-const versions
+
+#ifndef EIGEN_RESHAPED_METHOD_2ND_PASS
+#define EIGEN_RESHAPED_METHOD_CONST const
+#else
+#define EIGEN_RESHAPED_METHOD_CONST
+#endif
+
+#ifndef EIGEN_RESHAPED_METHOD_2ND_PASS
+
+// This part is included once
+
+#endif
+
+template<typename NRowsType, typename NColsType>
+EIGEN_DEVICE_FUNC
+inline Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,
+                internal::get_compiletime_reshape_size<NRowsType,NColsType,SizeAtCompileTime>::value,
+                internal::get_compiletime_reshape_size<NColsType,NRowsType,SizeAtCompileTime>::value>
+reshaped(NRowsType nRows, NColsType nCols) EIGEN_RESHAPED_METHOD_CONST
+{
+  return Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,
+                  internal::get_compiletime_reshape_size<NRowsType,NColsType,SizeAtCompileTime>::value,
+                  internal::get_compiletime_reshape_size<NColsType,NRowsType,SizeAtCompileTime>::value>
+                (derived(),
+                 internal::get_runtime_reshape_size(nRows,internal::get_runtime_value(nCols),size()),
+                 internal::get_runtime_reshape_size(nCols,internal::get_runtime_value(nRows),size()));
+}
+
+template<int Order, typename NRowsType, typename NColsType>
+EIGEN_DEVICE_FUNC
+inline Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,
+                internal::get_compiletime_reshape_size<NRowsType,NColsType,SizeAtCompileTime>::value,
+                internal::get_compiletime_reshape_size<NColsType,NRowsType,SizeAtCompileTime>::value,
+                internal::get_compiletime_reshape_order<Flags,Order>::value>
+reshaped(NRowsType nRows, NColsType nCols) EIGEN_RESHAPED_METHOD_CONST
+{
+  return Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,
+                  internal::get_compiletime_reshape_size<NRowsType,NColsType,SizeAtCompileTime>::value,
+                  internal::get_compiletime_reshape_size<NColsType,NRowsType,SizeAtCompileTime>::value,
+                  internal::get_compiletime_reshape_order<Flags,Order>::value>
+                (derived(),
+                 internal::get_runtime_reshape_size(nRows,internal::get_runtime_value(nCols),size()),
+                 internal::get_runtime_reshape_size(nCols,internal::get_runtime_value(nRows),size()));
+}
+
+// Views as linear vectors
+
+EIGEN_DEVICE_FUNC
+inline Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,SizeAtCompileTime,1>
+reshaped() EIGEN_RESHAPED_METHOD_CONST
+{
+  return Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived,SizeAtCompileTime,1>(derived(),size(),1);
+}
+
+template<int Order>
+EIGEN_DEVICE_FUNC
+inline Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived, SizeAtCompileTime, 1,
+                internal::get_compiletime_reshape_order<Flags,Order>::value>
+reshaped() EIGEN_RESHAPED_METHOD_CONST
+{
+  EIGEN_STATIC_ASSERT(Order==RowMajor || Order==ColMajor || Order==AutoOrder, INVALID_TEMPLATE_PARAMETER);
+  return Reshaped<EIGEN_RESHAPED_METHOD_CONST Derived, SizeAtCompileTime, 1,
+                  internal::get_compiletime_reshape_order<Flags,Order>::value>
+                (derived(), size(), 1);
+}
+
+#undef EIGEN_RESHAPED_METHOD_CONST
+
+#ifndef EIGEN_RESHAPED_METHOD_2ND_PASS
+#define EIGEN_RESHAPED_METHOD_2ND_PASS
+#include "ReshapedMethods.h"
+#undef EIGEN_RESHAPED_METHOD_2ND_PASS
+#endif
+
+#endif // EIGEN_PARSED_BY_DOXYGEN
diff --git a/examples/ThirdPartyLibs/Gwen/LICENSE.txt b/examples/ThirdPartyLibs/Gwen/LICENSE.txt
new file mode 100644
index 0000000000..52bc0f075d
--- /dev/null
+++ b/examples/ThirdPartyLibs/Gwen/LICENSE.txt
@@ -0,0 +1,11 @@
+GWEN modified and adapted for the Bullet Physics Library
+Using the Zlib license with permission from Garry Newman
+Copyright (c) 2010 Facepunch Studios
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/examples/ThirdPartyLibs/Wavefront/LICENSE.txt b/examples/ThirdPartyLibs/Wavefront/LICENSE.txt
new file mode 100644
index 0000000000..1b708b0fbb
--- /dev/null
+++ b/examples/ThirdPartyLibs/Wavefront/LICENSE.txt
@@ -0,0 +1,3 @@
+// Copyright 2012-2013, Syoyo Fujita.
+//
+// Licensed under 2-clause BSD liecense.
diff --git a/examples/ThirdPartyLibs/Wavefront/main.cpp b/examples/ThirdPartyLibs/Wavefront/main.cpp
index 5f86959538..cbf9f75823 100644
--- a/examples/ThirdPartyLibs/Wavefront/main.cpp
+++ b/examples/ThirdPartyLibs/Wavefront/main.cpp
@@ -38,8 +38,8 @@ TestLoadObj(
 
 	std::cout << "Loading " << fullPath << std::endl;
 
-	std::vector<tinyobj::shape_t> shapes;
-	std::string err = tinyobj::LoadObj(shapes, fullPath, prefix[index]);
+	std::vector<bt_tinyobj::shape_t> shapes;
+	std::string err = bt_tinyobj::LoadObj(shapes, fullPath, prefix[index]);
 
 	if (!err.empty())
 	{
diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
index d1b9c63627..3ad7a6f0ab 100644
--- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
@@ -31,7 +31,7 @@
 #include "tiny_obj_loader.h"
 #include <stdio.h>
 
-namespace tinyobj
+namespace bt_tinyobj
 {
 #ifdef USE_STREAM
 //See http://stackoverflow.com/questions/6089231/getting-std-ifstream-to-handle-lf-cr-and-crlf
@@ -880,4 +880,4 @@ LoadObj(
 	return err.str();
 }
 
-};  // namespace tinyobj
+};  // namespace bt_tinyobj
diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
index 1fb15b34a5..f05da52c7c 100644
--- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
@@ -3,8 +3,8 @@
 //
 // Licensed under 2-clause BSD liecense.
 //
-#ifndef _TINY_OBJ_LOADER_H
-#define _TINY_OBJ_LOADER_H
+#ifndef _BT_TINY_OBJ_LOADER_H
+#define _BT_TINY_OBJ_LOADER_H
 
 #include <string>
 #include <vector>
@@ -12,7 +12,7 @@
 
 struct CommonFileIOInterface;
 
-namespace tinyobj
+namespace bt_tinyobj
 {
 struct vertex_index_t
 {
@@ -94,6 +94,6 @@ LoadObj(
 	CommonFileIOInterface* fileIO);
 #endif
 
-};  // namespace tinyobj
+};  // namespace bt_tinyobj
 
-#endif  // _TINY_OBJ_LOADER_H
+#endif  // _BT_TINY_OBJ_LOADER_H
diff --git a/examples/ThirdPartyLibs/clsocket/LICENSE.txt b/examples/ThirdPartyLibs/clsocket/LICENSE.txt
new file mode 100644
index 0000000000..e0264e4ee1
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/LICENSE.txt
@@ -0,0 +1,34 @@
+* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. 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.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED 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 MARK CARRIER OR
+ * ITS 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.
diff --git a/examples/ThirdPartyLibs/cpp_base64/base64.cpp b/examples/ThirdPartyLibs/cpp_base64/base64.cpp
index 40b555c449..b0c002783c 100644
--- a/examples/ThirdPartyLibs/cpp_base64/base64.cpp
+++ b/examples/ThirdPartyLibs/cpp_base64/base64.cpp
@@ -136,7 +136,7 @@ std::string base64_decode(std::string const& encoded_string, bool remove_linebre
        std::string copy(encoded_string);
 
        size_t pos=0;
-       while ((pos = copy.find("\n", pos)) != std::string::npos) {
+       while ((pos = copy.find('\n', pos)) != std::string::npos) {
            copy.erase(pos, 1);
        }
 
diff --git a/examples/ThirdPartyLibs/crossguid/LICENSE.txt b/examples/ThirdPartyLibs/crossguid/LICENSE.txt
new file mode 100644
index 0000000000..b85fc86b60
--- /dev/null
+++ b/examples/ThirdPartyLibs/crossguid/LICENSE.txt
@@ -0,0 +1,19 @@
+/*
+The MIT License (MIT)
+Copyright (c) 2014 Graeme Hill (http://graemehill.ca)
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
diff --git a/examples/ThirdPartyLibs/enet/LICENSE.txt b/examples/ThirdPartyLibs/enet/LICENSE.txt
new file mode 100644
index 0000000000..6906f8eb0b
--- /dev/null
+++ b/examples/ThirdPartyLibs/enet/LICENSE.txt
@@ -0,0 +1,7 @@
+Copyright (c) 2002-2020 Lee Salzman
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/examples/ThirdPartyLibs/glad/LICENSE.txt b/examples/ThirdPartyLibs/glad/LICENSE.txt
new file mode 100644
index 0000000000..daa649e80a
--- /dev/null
+++ b/examples/ThirdPartyLibs/glad/LICENSE.txt
@@ -0,0 +1,61 @@
+ The MIT License (MIT)
+
+    Copyright (c) 2013-2020 David Herberth
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy of
+    this software and associated documentation files (the "Software"), to deal in
+    the Software without restriction, including without limitation the rights to
+    use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+    the Software, and to permit persons to whom the Software is furnished to do so,
+    subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in all
+    copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+    FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+    COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+    IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+    CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
+The Khronos Specifications:
+
+    Copyright (c) 2013-2020 The Khronos Group Inc.
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+
+
+The EGL Specification and various headers:
+
+    Copyright (c) 2007-2016 The Khronos Group Inc.
+
+    Permission is hereby granted, free of charge, to any person obtaining a
+    copy of this software and/or associated documentation files (the
+    "Materials"), to deal in the Materials without restriction, including
+    without limitation the rights to use, copy, modify, merge, publish,
+    distribute, sublicense, and/or sell copies of the Materials, and to
+    permit persons to whom the Materials are furnished to do so, subject to
+    the following conditions:
+
+    The above copyright notice and this permission notice shall be included
+    in all copies or substantial portions of the Materials.
+
+    THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+    EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+    MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+    IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+    CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+    TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+    MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
diff --git a/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt b/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt
new file mode 100644
index 0000000000..4e77d0510b
--- /dev/null
+++ b/examples/ThirdPartyLibs/lua-5.2.3/LICENSE.txt
@@ -0,0 +1,22 @@
+/******************************************************************************
+* Copyright (C) 1994-2013 Lua.org, PUC-Rio.
+*
+* Permission is hereby granted, free of charge, to any person obtaining
+* a copy of this software and associated documentation files (the
+* "Software"), to deal in the Software without restriction, including
+* without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to
+* permit persons to whom the Software is furnished to do so, subject to
+* the following conditions:
+*
+* The above copyright notice and this permission notice shall be
+* included in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+******************************************************************************/
diff --git a/examples/ThirdPartyLibs/minizip/LICENSE.txt b/examples/ThirdPartyLibs/minizip/LICENSE.txt
new file mode 100644
index 0000000000..b29fdeb5a5
--- /dev/null
+++ b/examples/ThirdPartyLibs/minizip/LICENSE.txt
@@ -0,0 +1,27 @@
+IO for uncompress .zip files using zlib
+   Version 1.1, February 14h, 2010
+   part of the MiniZip project - ( http://www.winimage.com/zLibDll/minizip.html )
+         Copyright (C) 1998-2010 Gilles Vollant (minizip) ( http://www.winimage.com/zLibDll/minizip.html )
+         Modifications of Unzip for Zip64
+         Copyright (C) 2007-2008 Even Rouault
+         Modifications for Zip64 support on both zip and unzip
+         Copyright (C) 2009-2010 Mathias Svensson ( http://result42.com )
+         For more info read MiniZip_info.txt
+  ------------------------------------------------------------------------------------
+  Decryption code comes from crypt.c by Info-ZIP but has been greatly reduced in terms of
+  compatibility with older software. The following is from the original crypt.c.
+  Code woven in by Terry Thorsen 1/2003.
+  Copyright (c) 1990-2000 Info-ZIP.  All rights reserved.
+  See the accompanying file LICENSE, version 2000-Apr-09 or later
+  (the contents of which are also included in zip.h) for terms of use.
+  If, for some reason, all these files are missing, the Info-ZIP license
+  also may be found at:  ftp://ftp.info-zip.org/pub/infozip/license.html
+        crypt.c (full version) by Info-ZIP.      Last revised:  [see crypt.h]
+  The encryption/decryption parts of this source code (as opposed to the
+  non-echoing password parts) were originally written in Europe.  The
+  whole source package can be freely distributed, including from the USA.
+  (Prior to January 2000, re-export from the US was a violation of US law.)
+        This encryption code is a direct transcription of the algorithm from
+  Roger Schlafly, described by Phil Katz in the file appnote.txt.  This
+  file (appnote.txt) is distributed with the PKZIP program (even in the
+  version without encryption capabilities).
diff --git a/examples/ThirdPartyLibs/optionalX11/LICENSE.txt b/examples/ThirdPartyLibs/optionalX11/LICENSE.txt
new file mode 100644
index 0000000000..54f87354d6
--- /dev/null
+++ b/examples/ThirdPartyLibs/optionalX11/LICENSE.txt
@@ -0,0 +1,33 @@
+Copyright 1987, 1998  The Open Group
+Permission to use, copy, modify, distribute, and sell this software and its
+documentation for any purpose is hereby granted without fee, provided that
+the above copyright notice appear in all copies and that both that
+copyright notice and this permission notice appear in supporting
+documentation.
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+OPEN GROUP BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
+AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+Except as contained in this notice, the name of The Open Group shall not be
+used in advertising or otherwise to promote the sale, use or other dealings
+in this Software without prior written authorization from The Open Group.
+Copyright 1987 by Digital Equipment Corporation, Maynard, Massachusetts.
+                        All Rights Reserved
+Permission to use, copy, modify, and distribute this software and its 
+documentation for any purpose and without fee is hereby granted, 
+provided that the above copyright notice appear in all copies and that
+both that copyright notice and this permission notice appear in 
+supporting documentation, and that the name of Digital not be
+used in advertising or publicity pertaining to distribution of the
+software without specific, written prior permission.  
+DIGITAL DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING
+ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL
+DIGITAL BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR
+ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,
+WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
+ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
+SOFTWARE.
diff --git a/examples/ThirdPartyLibs/serial/LICENSE.txt b/examples/ThirdPartyLibs/serial/LICENSE.txt
new file mode 100644
index 0000000000..a0ebfdb0e5
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/LICENSE.txt
@@ -0,0 +1,4 @@
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * This software is made available under the terms of the MIT licence.
+ * A copy of the licence can be obtained from:
+ * http://opensource.org/licenses/MIT
diff --git a/examples/ThirdPartyLibs/stb_image/LICENSE.txt b/examples/ThirdPartyLibs/stb_image/LICENSE.txt
new file mode 100644
index 0000000000..cfd9f3863a
--- /dev/null
+++ b/examples/ThirdPartyLibs/stb_image/LICENSE.txt
@@ -0,0 +1,3 @@
+stbi-1.33 - public domain JPEG/PNG reader - http://nothings.org/stb_image.c
+   when you control the images you're loading
+   no warranty implied; use at your own risk
diff --git a/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt b/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt
new file mode 100644
index 0000000000..2cc6866175
--- /dev/null
+++ b/examples/ThirdPartyLibs/tinyxml2/LICENSE.txt
@@ -0,0 +1,15 @@
+Original code by Lee Thomason (www.grinninglizard.com)
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source
+distribution.
diff --git a/examples/ThirdPartyLibs/zlib/LICENSE.txt b/examples/ThirdPartyLibs/zlib/LICENSE.txt
new file mode 100644
index 0000000000..29597d4b11
--- /dev/null
+++ b/examples/ThirdPartyLibs/zlib/LICENSE.txt
@@ -0,0 +1,21 @@
+zlib.h -- interface of the 'zlib' general purpose compression library
+  version 1.2.8, April 28th, 2013
+  Copyright (C) 1995-2013 Jean-loup Gailly and Mark Adler
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu
+  The data format used by the zlib library is described by RFCs (Request for
+  Comments) 1950 to 1952 in the files http://tools.ietf.org/html/rfc1950
+  (zlib format), rfc1951 (deflate format) and rfc1952 (gzip format).
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 4ea51ebec1..4340ce822d 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -213,6 +213,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
 	m_lightAmbientCoeff = 0.6;
 	m_lightDiffuseCoeff = 0.35;
 	m_lightSpecularCoeff = 0.05;
+
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex)
@@ -254,6 +255,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
 	Vec3f center(0, 0, 0);
 	Vec3f up(0, 0, 1);
 	m_lightDirWorld.setValue(0, 0, 0);
+	m_lightDistance = 10;
 	m_lightColor.setValue(1, 1, 1);
 	m_localScaling.setValue(1, 1, 1);
 	m_modelMatrix = Matrix::identity();
diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp
index fed8c39caa..0cd2e3cb6e 100644
--- a/examples/TinyRenderer/main.cpp
+++ b/examples/TinyRenderer/main.cpp
@@ -56,7 +56,8 @@ void MyKeyboardCallback(int keycode, int state)
 		sOldKeyboardCB(keycode, state);
 }
 #include "TinyRenderer.h"
-float color2[4] = { 1,0,0,1 };
+#include "our_gl.h"
+
 
 int main(int argc, char* argv[])
 {
@@ -108,10 +109,11 @@ int main(int argc, char* argv[])
 
 	b3Vector3 pos = b3MakeVector3(0, 0, 0);
 	b3Quaternion orn(0, 0, 0, 1);
+	float color[4] = {1,1,1,1};
 	
 	b3Vector3 scaling = b3MakeVector3(1, 1, 1);
-	//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
-	//app->m_renderer->writeTransforms();
+	app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+	app->m_renderer->writeTransforms();
 
 	do
 	{
@@ -160,6 +162,15 @@ int main(int argc, char* argv[])
 		tr.setOrigin(org);
 		tr.getOpenGLMatrix(modelMat);
 
+		TinyRender::Vec3f       eye(1,1,3);
+		TinyRender::Vec3f    center(0,0,0);
+		TinyRender::Vec3f        up(0,1,0);
+    
+		renderData.m_viewMatrix = TinyRender::lookat(eye, center, up);
+		renderData.m_viewportMatrix = TinyRender::viewport(gWidth/8, gHeight/8, gWidth*3/4, gHeight*3/4);
+		renderData.m_projectionMatrix = TinyRender::projection(-1.f/(eye-center).norm());
+
+
 		for (int i = 0; i < 4; i++)
 		{
 			for (int j = 0; j < 4; j++)
@@ -170,6 +181,7 @@ int main(int argc, char* argv[])
 		}
 
 		//render the object
+		float color2[4] = { 1,1,1,1 };
 		renderData.m_model->setColorRGBA(color2);
 		TinyRenderer::renderObject(renderData);
 
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 1f5bebc1b2..d0a0091305 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -149,7 +149,7 @@ Vec3f Model::vert(int iface, int nthvert)
 void Model::load_texture(std::string filename, const char *suffix, TGAImage &img)
 {
 	std::string texfile(filename);
-	size_t dot = texfile.find_last_of(".");
+	size_t dot = texfile.find_last_of('.');
 	if (dot != std::string::npos)
 	{
 		texfile = texfile.substr(0, dot) + std::string(suffix);
diff --git a/examples/TwoJoint/CMakeLists.txt b/examples/TwoJoint/CMakeLists.txt
index 11a51f3bbb..210f5ee3b3 100644
--- a/examples/TwoJoint/CMakeLists.txt
+++ b/examples/TwoJoint/CMakeLists.txt
@@ -20,8 +20,6 @@ SET(RobotSimulator_SRCS
 		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
 		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
 		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/OpenGLWindow/SimpleCamera.cpp
-		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
 		../../examples/TinyRenderer/model.cpp
 		../../examples/TinyRenderer/tgaimage.cpp
diff --git a/examples/TwoJoint/TwoJointMain.cpp b/examples/TwoJoint/TwoJointMain.cpp
index 8625bd4833..df74b0d2f5 100644
--- a/examples/TwoJoint/TwoJointMain.cpp
+++ b/examples/TwoJoint/TwoJointMain.cpp
@@ -29,7 +29,12 @@ std::map<std::string, int> jointNameToId;
 
 int main(int argc, char* argv[])
 {
+#ifdef __APPLE__
+	kPhysClient = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
+#else
 	kPhysClient = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
+#endif
+
 	if (!kPhysClient)
 		return -1;
 	// visualizer
@@ -131,4 +136,4 @@ int main(int argc, char* argv[])
 	}
 	b3DisconnectSharedMemory(kPhysClient);
 	return 0;
-}
\ No newline at end of file
+}
diff --git a/examples/Utils/b3BulletDefaultFileIO.h b/examples/Utils/b3BulletDefaultFileIO.h
index fa972de01c..92ff34ee1b 100644
--- a/examples/Utils/b3BulletDefaultFileIO.h
+++ b/examples/Utils/b3BulletDefaultFileIO.h
@@ -6,6 +6,8 @@
 #include "b3ResourcePath.h"
 
 #include <stdio.h>
+#include <string.h>
+
 #define B3_FILEIO_MAX_FILES 1024
 
 struct b3BulletDefaultFileIO : public CommonFileIOInterface
@@ -155,6 +157,7 @@ struct b3BulletDefaultFileIO : public CommonFileIOInterface
 			FILE* f = m_fileHandles[fileHandle];
 			if (f)
 			{
+                                memset(destBuffer, 0, numBytes);
 				char* txt = ::fgets(destBuffer, numBytes, m_fileHandles[fileHandle]);
 				for (int i=0;i<numBytes;i++)
 				{
diff --git a/examples/Vehicles/Hinge2Vehicle.h b/examples/Vehicles/Hinge2Vehicle.h
index d4ac4bc336..be9784f551 100644
--- a/examples/Vehicles/Hinge2Vehicle.h
+++ b/examples/Vehicles/Hinge2Vehicle.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2015 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2015 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/VoronoiFracture/VoronoiFractureDemo.cpp b/examples/VoronoiFracture/VoronoiFractureDemo.cpp
index bbc79b2486..0389ef9228 100644
--- a/examples/VoronoiFracture/VoronoiFractureDemo.cpp
+++ b/examples/VoronoiFracture/VoronoiFractureDemo.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/VoronoiFracture/VoronoiFractureDemo.h b/examples/VoronoiFracture/VoronoiFractureDemo.h
index 49e7ace2df..8b46028825 100644
--- a/examples/VoronoiFracture/VoronoiFractureDemo.h
+++ b/examples/VoronoiFracture/VoronoiFractureDemo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/VoronoiFracture/btConvexConvexMprAlgorithm.cpp b/examples/VoronoiFracture/btConvexConvexMprAlgorithm.cpp
index c9d77460ef..f9cd6bde7d 100644
--- a/examples/VoronoiFracture/btConvexConvexMprAlgorithm.cpp
+++ b/examples/VoronoiFracture/btConvexConvexMprAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2014 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/VoronoiFracture/btConvexConvexMprAlgorithm.h b/examples/VoronoiFracture/btConvexConvexMprAlgorithm.h
index 40f2735312..e1383ad91e 100644
--- a/examples/VoronoiFracture/btConvexConvexMprAlgorithm.h
+++ b/examples/VoronoiFracture/btConvexConvexMprAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 1a7f0d5f23..5ee71645eb 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -13,15 +13,19 @@ IF(BUILD_PYBULLET_NUMPY)
 	)
 ENDIF()
 
-ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN )
 
-SET(pybullet3_SRCS
-	pybullet.c
-	)
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
+)
+ENDIF(ENABLE_VHACD)
 	
 SET(pybullet_SRCS
 	pybullet.c
-
 )
 
 IF(BUILD_CLSOCKET)
diff --git a/examples/pybullet/examples/__init__.py b/examples/pybullet/examples/__init__.py
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/examples/pybullet/examples/__init__.py
@@ -0,0 +1 @@
+
diff --git a/examples/pybullet/examples/biped2d_pybullet.py b/examples/pybullet/examples/biped2d_pybullet.py
index acf7ebeedc..ad76f2178e 100644
--- a/examples/pybullet/examples/biped2d_pybullet.py
+++ b/examples/pybullet/examples/biped2d_pybullet.py
@@ -2,19 +2,130 @@
 import pybullet_data
 import os
 import time
+
+import pybullet as p
+import pybullet_data as pd
+import math
+import time
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+textureId = -1
+
+useProgrammatic = 0
+useTerrainFromPNG = 1
+useDeepLocoCSV = 2
+updateHeightfield = False
+
+heightfieldSource = useProgrammatic
+import random
+random.seed(10)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+heightPerturbationRange = 0.05
+if heightfieldSource==useProgrammatic:
+  numHeightfieldRows = 256
+  numHeightfieldColumns = 256
+  heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns 
+  for j in range (int(numHeightfieldColumns/2)):
+    for i in range (int(numHeightfieldRows/2) ):
+      height = random.uniform(0,heightPerturbationRange)
+      heightfieldData[2*i+2*j*numHeightfieldRows]=height
+      heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
+      heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
+      heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
+      
+      
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns)
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
+
+if heightfieldSource==useDeepLocoCSV:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
+
+if heightfieldSource==useTerrainFromPNG:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
+  textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
+ 
+ 
+p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
+
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0.11]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[0, 0, 1]]
+
+for i in range(3):
+  for j in range(3):
+    for k in range(3):
+      basePosition = [
+          i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
+      ]
+      baseOrientation = [0, 0, 0, 1]
+      if (k & 2):
+        sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
+                                      baseOrientation)
+      else:
+        sphereUid = p.createMultiBody(mass,
+                                      colBoxId,
+                                      visualShapeId,
+                                      basePosition,
+                                      baseOrientation,
+                                      linkMasses=link_Masses,
+                                      linkCollisionShapeIndices=linkCollisionShapeIndices,
+                                      linkVisualShapeIndices=linkVisualShapeIndices,
+                                      linkPositions=linkPositions,
+                                      linkOrientations=linkOrientations,
+                                      linkInertialFramePositions=linkInertialFramePositions,
+                                      linkInertialFrameOrientations=linkInertialFrameOrientations,
+                                      linkParentIndices=indices,
+                                      linkJointTypes=jointTypes,
+                                      linkJointAxis=axis)
+
+      
+      p.changeDynamics(sphereUid,
+                       -1,
+                       spinningFriction=0.001,
+                       rollingFriction=0.001,
+                       linearDamping=0.0)
+      for joint in range(p.getNumJoints(sphereUid)):
+        p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
 GRAVITY = -9.8
 dt = 1e-3
 iters = 2000
 import pybullet_data
 
+#physicsClient = p.connect(p.GUI)
+
+
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
-physicsClient = p.connect(p.GUI)
-p.setAdditionalSearchPath(pybullet_data.getDataPath())
-p.resetSimulation()
+#p.resetSimulation()
 #p.setRealTimeSimulation(True)
 p.setGravity(0, 0, GRAVITY)
 p.setTimeStep(dt)
-planeId = p.loadURDF("plane.urdf")
+#planeId = p.loadURDF("plane.urdf")
 cubeStartPos = [0, 0, 1.13]
 cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0])
 botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation)
diff --git a/examples/pybullet/examples/draw_frames.py b/examples/pybullet/examples/draw_frames.py
new file mode 100644
index 0000000000..0e24192ba8
--- /dev/null
+++ b/examples/pybullet/examples/draw_frames.py
@@ -0,0 +1,370 @@
+import colorsys
+from enum import Enum
+import numpy as np
+import pybullet as p
+import time
+import typing
+
+p.connect(p.GUI)
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(0)
+p.setTimeStep(1 / 1000)
+
+test_case = 1
+rigid_body = False
+apply_force_torque = True
+apply_force_local = True
+apply_torque_local = True
+
+
+if test_case == 1:
+    cs_id = p.createCollisionShape(p.GEOM_BOX,
+                                   halfExtents=[0.25, 0.25, 0.25],
+                                   collisionFramePosition=[0.25, 0, 0],
+                                   collisionFrameOrientation=p.getQuaternionFromEuler([0, 0, 0]))
+    vs_id = p.createVisualShape(p.GEOM_BOX,
+                                halfExtents=[0.25, 0.25, 0.25],
+                                visualFramePosition=[0.25, 0.25, 0],
+                                visualFrameOrientation=p.getQuaternionFromEuler([0, 0, 0]))
+    body = p.createMultiBody(baseMass=1,
+                             baseCollisionShapeIndex=cs_id,
+                             baseVisualShapeIndex=vs_id,
+                             basePosition=[0, 0, 2],
+                             baseOrientation=p.getQuaternionFromEuler([-1.7, -0.8, 0.1]),
+                             baseInertialFramePosition=[0, 0.5, 0],
+                             baseInertialFrameOrientation=p.getQuaternionFromEuler([0.6, 0, 0.4]),
+                             useMaximalCoordinates=rigid_body)
+else:
+    cs_id = p.createCollisionShape(p.GEOM_BOX,
+                                   halfExtents=[0.25, 0.25, 0.25],
+                                   collisionFramePosition=[0, 0, 0],
+                                   collisionFrameOrientation=p.getQuaternionFromEuler([0, 0, 0]))
+    vs_id = p.createVisualShape(p.GEOM_BOX,
+                                halfExtents=[0.25, 0.25, 0.25],
+                                visualFramePosition=[0, 0, 0],
+                                visualFrameOrientation=p.getQuaternionFromEuler([0, 0, 0]))
+    body = p.createMultiBody(baseMass=1,
+                             baseCollisionShapeIndex=cs_id,
+                             baseVisualShapeIndex=vs_id,
+                             basePosition=[0, 0, 2],
+                             baseOrientation=p.getQuaternionFromEuler([0.9, 0.3, 0]),
+                             baseInertialFramePosition=[0, 0, 0],
+                             baseInertialFrameOrientation=p.getQuaternionFromEuler([0, 0, 0]),
+                             linkMasses=[1],
+                             linkCollisionShapeIndices=[cs_id],
+                             linkVisualShapeIndices=[vs_id],
+                             linkPositions=[[1, 0, 0]],
+                             linkOrientations=[p.getQuaternionFromEuler([0, 0, 0])],
+                             linkInertialFramePositions=[[0, 0, 0]],
+                             linkInertialFrameOrientations=[p.getQuaternionFromEuler([0, 0, 0])],
+                             linkParentIndices=[0],
+                             linkJointTypes=[p.JOINT_FIXED],
+                             linkJointAxis=[[1, 0, 0]],
+                             useMaximalCoordinates=False)
+
+
+def get_world_link_pose(body_unique_id: int, link_index: int):
+    """Pose of link frame with respect to world frame expressed in world frame.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+
+    Returns:
+        pos_orn (tuple): See description.
+    """
+    if link_index == -1:
+        world_inertial_pose = get_world_inertial_pose(body_unique_id, -1)
+        dynamics_info = p.getDynamicsInfo(body_unique_id, -1)
+        local_inertial_pose = (dynamics_info[3], dynamics_info[4])
+
+        local_inertial_pose_inv = p.invertTransform(local_inertial_pose[0], local_inertial_pose[1])
+        pos_orn = p.multiplyTransforms(world_inertial_pose[0],
+                                       world_inertial_pose[1],
+                                       local_inertial_pose_inv[0],
+                                       local_inertial_pose_inv[1])
+    else:
+        state = p.getLinkState(body_unique_id, link_index)
+        pos_orn = (state[4], state[5])
+
+    return pos_orn
+
+
+def get_world_inertial_pose(body_unique_id: int, link_index: int):
+    """Pose of inertial frame with respect to world frame expressed in world frame.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+
+    Returns:
+        pos_orn (tuple): See description.
+    """
+    if link_index == -1:
+        pos_orn = p.getBasePositionAndOrientation(body_unique_id)
+    else:
+        state = p.getLinkState(body_unique_id, link_index)
+        pos_orn = (state[0], state[1])
+
+    return pos_orn
+
+
+def get_world_visual_pose(body_unique_id: int, link_index: int):
+    """Pose of visual frame with respect to world frame expressed in world frame.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+
+    Returns:
+        pos_orn (tuple): See description.
+    """
+    world_link_pose = get_world_link_pose(body_unique_id, link_index)
+    visual_shape_data = p.getVisualShapeData(body_unique_id, link_index)
+    local_visual_pose = (visual_shape_data[link_index + 1][5], visual_shape_data[link_index + 1][6])
+
+    return p.multiplyTransforms(world_link_pose[0],
+                                world_link_pose[1],
+                                local_visual_pose[0],
+                                local_visual_pose[1])
+
+
+def get_world_collision_pose(body_unique_id: int, link_index: int):
+    """Pose of collision frame with respect to world frame expressed in world frame.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+
+    Returns:
+        pos_orn (tuple of ): See description.
+    """
+    world_inertial_pose = get_world_inertial_pose(body_unique_id, link_index)
+    collision_shape_data = p.getCollisionShapeData(body_unique_id, link_index)
+    if len(collision_shape_data) > 1:
+        raise NotImplementedError
+    local_collision_pose = (collision_shape_data[0][5], collision_shape_data[0][6])
+
+    return p.multiplyTransforms(world_inertial_pose[0],
+                                world_inertial_pose[1],
+                                local_collision_pose[0],
+                                local_collision_pose[1])
+
+
+def get_link_name(body_unique_id: int, link_index: int):
+    """Returns the link name.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+
+    Returns:
+        link_name (str): Name of the link.
+    """
+    if link_index == -1:
+        link_name = p.getBodyInfo(body_unique_id)[0]
+    else:
+        link_name = p.getJointInfo(body_unique_id, link_index)[12]
+
+    return link_name.decode('UTF-8')
+
+
+class Frame(Enum):
+    LINK = 1,
+    INERTIAL = 2,
+    COLLISION = 3,
+    VISUAL = 4
+
+
+FRAME_NAME = dict()
+FRAME_NAME[Frame.LINK] = 'link'
+FRAME_NAME[Frame.INERTIAL] = 'inertial'
+FRAME_NAME[Frame.COLLISION] = 'collision'
+FRAME_NAME[Frame.VISUAL] = 'visual'
+
+
+def draw_frame(body_unique_id: int,
+               link_index: int,
+               frame: Frame,
+               title: str,
+               replace_item_unique_id: typing.Tuple[int, int, int, int] = None):
+    """Visualizes one of the frames/coordinate systems associated with each link (or base):
+    link, inertial, visual or collision frame.
+
+    Args:
+        body_unique_id (int): The body unique id, as returned by loadURDF, etc.
+        link_index (int): Link index or -1 for the base.
+        frame: The frame to draw (link, inertial, visual, collision)
+        title: Text which is drawn at the origin of the axis.
+        replace_item_unique_id (tuple of 4 ints): Replace existing axis and title to improve
+            performance and to avoid flickering.
+
+    Returns:
+        indices (tuple of 4 ints): The object id of the x-axis, y-axis, z-axis, and the title text.
+    """
+    if frame == Frame.LINK:
+        world_pose = get_world_link_pose(body_unique_id, link_index)
+    elif frame == Frame.INERTIAL:
+        world_pose = get_world_inertial_pose(body_unique_id, link_index)
+    elif frame == Frame.COLLISION:
+        world_pose = get_world_collision_pose(body_unique_id, link_index)
+    elif frame == Frame.VISUAL:
+        world_pose = get_world_visual_pose(body_unique_id, link_index)
+    else:
+        raise NotImplementedError
+
+    axis_scale = 0.1
+
+    pos = np.array(world_pose[0])
+    orn_mat = np.array(p.getMatrixFromQuaternion(world_pose[1])).reshape((3, 3))
+
+    kwargs = dict()
+    kwargs['lineWidth'] = 3
+
+    kwargs['lineColorRGB'] = [1, 0, 0]
+    if replace_item_unique_id is not None:
+        kwargs['replaceItemUniqueId'] = replace_item_unique_id[0]
+    x = p.addUserDebugLine(pos, pos + axis_scale * orn_mat[0:3, 0], **kwargs)
+
+    kwargs['lineColorRGB'] = [0, 1, 0]
+    if replace_item_unique_id is not None:
+        kwargs['replaceItemUniqueId'] = replace_item_unique_id[1]
+    y = p.addUserDebugLine(pos, pos + axis_scale * orn_mat[0:3, 1], **kwargs)
+
+    kwargs['lineColorRGB'] = [0, 0, 1]
+    if replace_item_unique_id is not None:
+        kwargs['replaceItemUniqueId'] = replace_item_unique_id[2]
+    z = p.addUserDebugLine(pos, pos + axis_scale * orn_mat[0:3, 2], **kwargs)
+
+    kwargs.clear()
+    if replace_item_unique_id is not None:
+        kwargs['replaceItemUniqueId'] = replace_item_unique_id[3]
+    title_index = p.addUserDebugText(title, pos, **kwargs)
+
+    return x, y, z, title_index
+
+
+class FrameDrawManager:
+    """Provides a straightforward and efficient way to draw frames/coordinate systems that are
+    associated with each link (or base). This includes the link, inertial, collision, and
+    visual frame.
+    """
+
+    def __init__(self):
+        self.line_indices = dict()
+
+    def _add_frame(self, frame: Frame, body_unique_id: int, link_index: int):
+        # Workaround for the following problem:
+        # When too many lines are added within a short period of time, the following error can occur
+        # "b3Printf: b3Warning[examples/SharedMemory/PhysicsClientSharedMemory.cpp,1286]:
+        # b3Printf: User debug draw failed".
+        time.sleep(1 / 100)
+
+        if self.line_indices.get(body_unique_id) is None:
+            self.line_indices[body_unique_id] = dict()
+
+        if self.line_indices[body_unique_id].get(frame) is None:
+            self.line_indices[body_unique_id][frame] = dict()
+
+        if self.line_indices[body_unique_id][frame].get(link_index) is None:
+            data = dict()
+            data['title'] = \
+                get_link_name(body_unique_id, link_index) + " (" + FRAME_NAME[frame] + " frame)"
+            data['replace_item_unique_id'] = draw_frame(body_unique_id,
+                                                        link_index,
+                                                        frame,
+                                                        data['title'])
+
+            self.line_indices[body_unique_id][frame][link_index] = data
+
+    def add_link_frame(self, body_unique_id: int, link_index: int):
+        self._add_frame(Frame.LINK, body_unique_id, link_index)
+
+    def add_inertial_frame(self, body_unique_id: int, link_index: int):
+        self._add_frame(Frame.INERTIAL, body_unique_id, link_index)
+
+    def add_collision_frame(self, body_unique_id: int, link_index: int):
+        self._add_frame(Frame.COLLISION, body_unique_id, link_index)
+
+    def add_visual_frame(self, body_unique_id: int, link_index: int):
+        self._add_frame(Frame.VISUAL, body_unique_id, link_index)
+
+    def update(self):
+        """Updates the drawing of all known frames. Note that this function is supposed to be
+        called after each simulation step.
+        """
+        for body_unique_id, dict0 in self.line_indices.items():
+            for frame, dict1 in dict0.items():
+                for link_index, dict2 in dict1.items():
+                    draw_frame(body_unique_id,
+                               link_index,
+                               frame,
+                               dict2['title'],
+                               dict2['replace_item_unique_id'])
+
+
+def high_contrast_bodies(alpha: float = 0.5):
+    """Makes all bodies transparent and gives each body an individual color.
+
+    Args:
+        alpha (float): Regulates the strength of transparency.
+    """
+    num_bodies = p.getNumBodies()
+
+    hsv = [(x * 1.0 / num_bodies, 0.5, 0.5) for x in range(num_bodies)]
+    rgb = list(map(lambda x: colorsys.hsv_to_rgb(*x), hsv))
+
+    for i in range(num_bodies):
+        body_unique_id = p.getBodyUniqueId(i)
+        for link_index in range(-1, p.getNumJoints(body_unique_id)):
+            p.changeVisualShape(body_unique_id,
+                                link_index,
+                                rgbaColor=[rgb[i][0], rgb[i][1], rgb[i][2], alpha])
+
+
+high_contrast_bodies()
+
+frame_draw_manager = FrameDrawManager()
+if test_case == 1:
+    frame_draw_manager.add_link_frame(body, -1)
+    frame_draw_manager.add_inertial_frame(body, -1)
+    if not rigid_body:
+        frame_draw_manager.add_collision_frame(body, -1)
+    frame_draw_manager.add_visual_frame(body, -1)
+else:
+    for i in range(-1, p.getNumJoints(body)):
+        frame_draw_manager.add_inertial_frame(body, i)
+
+if apply_force_torque:
+    while 1:
+        # The following two options are equivalent and are suppose to hold the body in place.
+        if apply_force_local:
+            for i in range(-1, p.getNumJoints(body)):
+                pose = get_world_inertial_pose(body, i)
+                pose_inv = p.invertTransform(pose[0], pose[1])
+                force = p.multiplyTransforms([0, 0, 0], pose_inv[1], [0, 0, 10], [0, 0, 0, 1])
+                p.applyExternalForce(body, i, force[0], [0, 0, 0], flags=p.LINK_FRAME)
+        else:
+            for i in range(-1, p.getNumJoints(body)):
+                pose = get_world_inertial_pose(body, i)
+                p.applyExternalForce(body, i, [0, 0, 10], pose[0], flags=p.WORLD_FRAME)
+
+        if test_case == 1:
+            if apply_torque_local:
+                p.applyExternalTorque(body, -1, [0, 0, 100], flags=p.LINK_FRAME)
+            else:
+                p.applyExternalTorque(body, -1, [0, 0, 100], flags=p.WORLD_FRAME)
+        else:
+            if apply_torque_local:
+                p.applyExternalTorque(body, -1, [0, 0, 100], flags=p.LINK_FRAME)
+                p.applyExternalTorque(body, 0, [0, 0, 100], flags=p.LINK_FRAME)
+            else:
+                p.applyExternalTorque(body, -1, [0, 0, 100], flags=p.WORLD_FRAME)
+                p.applyExternalTorque(body, 0, [0, 0, 100], flags=p.WORLD_FRAME)
+
+        p.stepSimulation()
+        frame_draw_manager.update()
+        time.sleep(1 / 10)
+else:
+    while 1:
+        time.sleep(1 / 10)
diff --git a/examples/pybullet/examples/getCameraImageTest.py b/examples/pybullet/examples/getCameraImageTest.py
index ceae995661..7b894e3b03 100644
--- a/examples/pybullet/examples/getCameraImageTest.py
+++ b/examples/pybullet/examples/getCameraImageTest.py
@@ -31,6 +31,7 @@
                           projection_matrix,
                           shadow=True,
                           renderer=p.ER_BULLET_HARDWARE_OPENGL)
+# NOTE: the ordering of height and width change based on the conversion
 rgb_opengl = np.reshape(images[2], (height, width, 4)) * 1. / 255.
 depth_buffer_opengl = np.reshape(images[3], [width, height])
 depth_opengl = far * near / (far - (far - near) * depth_buffer_opengl)
diff --git a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
index 2d0dce2f6a..bb0e26eaaf 100644
--- a/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
+++ b/examples/pybullet/examples/inverse_kinematics_husky_kuka.py
@@ -10,7 +10,12 @@
 
 if (clid < 0):
   p.connect(p.GUI)
+
+p.setPhysicsEngineParameter(enableConeFriction=0)
+
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 husky = p.loadURDF("husky/husky.urdf", [0.290388, 0.329902, -0.310270],
                    [0.002328, -0.000984, 0.996491, 0.083659])
@@ -62,7 +67,7 @@
 useOrientation = 0
 #If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
 #This can be used to test the IK result accuracy.
-useSimulation = 0
+useSimulation = 1
 useRealTimeSimulation = 1
 p.setRealTimeSimulation(useRealTimeSimulation)
 #trailDuration is duration (in seconds) after debug lines will be removed automatically
diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pybullet/examples/mimicJointConstraint.py
index 7a54f5c10f..45a10d918c 100644
--- a/examples/pybullet/examples/mimicJointConstraint.py
+++ b/examples/pybullet/examples/mimicJointConstraint.py
@@ -7,6 +7,8 @@
 
 p.connect(p.GUI)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.resetDebugVisualizerCamera(cameraDistance=1.1, cameraYaw = 3.6,cameraPitch=-27, cameraTargetPosition=[0.19,1.21,-0.44])
+
 p.loadURDF("plane.urdf", 0, 0, -2)
 wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
 for i in range(p.getNumJoints(wheelA)):
@@ -21,7 +23,7 @@
                        jointAxis=[0, 1, 0],
                        parentFramePosition=[0, 0, 0],
                        childFramePosition=[0, 0, 0])
-p.changeConstraint(c, gearRatio=1, maxForce=10000)
+p.changeConstraint(c, gearRatio=1, maxForce=10000,erp=0.2)
 
 c = p.createConstraint(wheelA,
                        2,
@@ -31,7 +33,7 @@
                        jointAxis=[0, 1, 0],
                        parentFramePosition=[0, 0, 0],
                        childFramePosition=[0, 0, 0])
-p.changeConstraint(c, gearRatio=-1, maxForce=10000)
+p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
 
 c = p.createConstraint(wheelA,
                        1,
@@ -41,7 +43,7 @@
                        jointAxis=[0, 1, 0],
                        parentFramePosition=[0, 0, 0],
                        childFramePosition=[0, 0, 0])
-p.changeConstraint(c, gearRatio=-1, maxForce=10000)
+p.changeConstraint(c, gearRatio=-1, maxForce=10000,erp=0.2)
 
 p.setRealTimeSimulation(1)
 while (1):
diff --git a/examples/pybullet/examples/pdControllerStable.py b/examples/pybullet/examples/pdControllerStable.py
index 250a4f56be..bec3356c49 100644
--- a/examples/pybullet/examples/pdControllerStable.py
+++ b/examples/pybullet/examples/pdControllerStable.py
@@ -70,43 +70,34 @@ def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocit
     Kp = np.diagflat(kps)
     Kd = np.diagflat(kds)
 
-    p = Kp.dot(qError)
-
-    #np.savetxt("pb_qError.csv", qError, delimiter=",")
-    #np.savetxt("pb_p.csv", p, delimiter=",")
-
-    d = Kd.dot(qdoterr)
-
-    #np.savetxt("pb_d.csv", d, delimiter=",")
-    #np.savetxt("pbqdoterr.csv", qdoterr, delimiter=",")
-
-    M1 = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
-
-    M2 = np.array(M1)
-    #np.savetxt("M2.csv", M2, delimiter=",")
-
-    M = (M2 + Kd * timeStep)
-
-    #np.savetxt("pbM_tKd.csv",M, delimiter=",")
-
-    c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
-
-    c = np.array(c1)
-    #np.savetxt("pbC.csv",c, delimiter=",")
-    A = M
-    #p = [0]*43
-    b = p + d - c
-    #np.savetxt("pb_acc.csv",b, delimiter=",")
-    qddot = np.linalg.solve(A, b)
-    tau = p + d - Kd.dot(qddot) * timeStep
-    #print("len(tau)=",len(tau))
+    # Compute -Kp(q + qdot - qdes)
+    p_term = Kp.dot(qError - qdot*timeStep)
+    # Compute -Kd(qdot - qdotdes)
+    d_term = Kd.dot(qdoterr)
+
+    # Compute Inertia matrix M(q)
+    M = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
+    M = np.array(M)
+    # Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
+    # Compute Coriolis and External (Gravitational) terms G = C - T_ext
+    G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
+    G = np.array(G)
+    # Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
+    qddot = np.linalg.solve(a=(M + Kd * timeStep),
+                            b=p_term + d_term - G)
+    # Compute control generalized forces (T_int)
+    tau = p_term + d_term - Kd.dot(qddot) * timeStep
+    # Clip generalized forces to actuator limits
     maxF = np.array(maxForces)
-    forces = np.clip(tau, -maxF, maxF)
-    return forces
+    generalized_forces = np.clip(tau, -maxF, maxF)
+    return generalized_forces
 
 
 class PDControllerStable(object):
-
+  """
+  Implementation based on: Tan, J., Liu, K., & Turk, G. (2011). "Stable proportional-derivative controllers"
+  DOI: 10.1109/MCG.2011.30
+  """
   def __init__(self, pb):
     self._pb = pb
 
@@ -121,28 +112,36 @@ def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocit
       q1.append(jointStates[i][0])
       qdot1.append(jointStates[i][1])
       zeroAccelerations.append(0)
+
     q = np.array(q1)
     qdot = np.array(qdot1)
     qdes = np.array(desiredPositions)
     qdotdes = np.array(desiredVelocities)
+
     qError = qdes - q
     qdotError = qdotdes - qdot
+
     Kp = np.diagflat(kps)
     Kd = np.diagflat(kds)
-    p = Kp.dot(qError)
-    d = Kd.dot(qdotError)
-    forces = p + d
-
-    M1 = self._pb.calculateMassMatrix(bodyUniqueId, q1)
-    M2 = np.array(M1)
-    M = (M2 + Kd * timeStep)
-    c1 = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
-    c = np.array(c1)
-    A = M
-    b = -c + p + d
-    qddot = np.linalg.solve(A, b)
-    tau = p + d - Kd.dot(qddot) * timeStep
+
+    # Compute -Kp(q + qdot - qdes)
+    p_term = Kp.dot(qError - qdot*timeStep)
+    # Compute -Kd(qdot - qdotdes)
+    d_term = Kd.dot(qdotError)
+
+    # Compute Inertia matrix M(q)
+    M = self._pb.calculateMassMatrix(bodyUniqueId, q1)
+    M = np.array(M)
+    # Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
+    # Compute Coriolis and External (Gravitational) terms G = C - T_ext
+    G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
+    G = np.array(G)
+    # Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
+    qddot = np.linalg.solve(a=(M + Kd * timeStep),
+                            b=(-G + p_term + d_term))
+    # Compute control generalized forces (T_int)
+    tau = p_term + d_term - (Kd.dot(qddot) * timeStep)
+    # Clip generalized forces to actuator limits
     maxF = np.array(maxForces)
-    forces = np.clip(tau, -maxF, maxF)
-    #print("c=",c)
-    return tau
+    generalized_forces = np.clip(tau, -maxF, maxF)
+    return generalized_forces
diff --git a/examples/pybullet/examples/pointCloudFromCameraImage.py b/examples/pybullet/examples/pointCloudFromCameraImage.py
index a156090f85..23fbe302ff 100644
--- a/examples/pybullet/examples/pointCloudFromCameraImage.py
+++ b/examples/pybullet/examples/pointCloudFromCameraImage.py
@@ -72,8 +72,10 @@ def getRayFromTo(mouseX, mouseY):
 imgH = int(height / 10)
 
 img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
-rgbBuffer = img[2]
-depthBuffer = img[3]
+rgbBuffer = np.reshape(img[2], (imgH, imgW, 4))
+# NOTE: this depth buffer's reshaping does not match the [w, h] convention for
+# OpenGL depth buffers.  See getCameraImageTest.py for an OpenGL depth buffer
+depthBuffer = np.reshape(img[3], [imgH, imgW])
 print("rgbBuffer.shape=", rgbBuffer.shape)
 print("depthBuffer.shape=", depthBuffer.shape)
 
diff --git a/examples/pybullet/examples/profileTiming.py b/examples/pybullet/examples/profileTiming.py
index 96c25b3004..88e987df36 100644
--- a/examples/pybullet/examples/profileTiming.py
+++ b/examples/pybullet/examples/profileTiming.py
@@ -5,13 +5,15 @@
 import pybullet_data
 
 p.connect(p.GUI)
+#p.configureDebugVisualizer(p.ENABLE_RENDERING,0)
+p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 t = time.time() + 3.1
 
-logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "chrome_about_tracing.json")
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "single_step_no_stepsim_chrome_about_tracing.json")
 while (time.time() < t):
-  p.stepSimulation()
+  #p.stepSimulation()
   p.submitProfileTiming("pythontest")
   time.sleep(1./240.)
   p.submitProfileTiming("nested")
diff --git a/examples/pybullet/examples/reduced_deformable_cube.py b/examples/pybullet/examples/reduced_deformable_cube.py
new file mode 100644
index 0000000000..cab91cfdba
--- /dev/null
+++ b/examples/pybullet/examples/reduced_deformable_cube.py
@@ -0,0 +1,27 @@
+import pybullet as p
+from time import sleep
+import pybullet_data
+
+physicsClient = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD)
+p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0])
+p.setGravity(0, 0, -10)
+
+tex = p.loadTexture("uvmap.png")
+planeId = p.loadURDF("plane.urdf", [0,0,-2])
+
+boxId = p.loadURDF("cube.urdf", [1,1,5],useMaximalCoordinates = True)
+
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_cube.mp4")
+cube = p.loadURDF("reduced_cube/reduced_cube.urdf", [1,1,1])
+p.changeVisualShape(cube, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+p.setRealTimeSimulation(0)
+
+while p.isConnected():
+  p.stepSimulation()
+  p.getCameraImage(320,200)
+  p.setGravity(0,0,-10)
diff --git a/examples/pybullet/examples/reduced_deformable_torus.py b/examples/pybullet/examples/reduced_deformable_torus.py
new file mode 100644
index 0000000000..8f42e03723
--- /dev/null
+++ b/examples/pybullet/examples/reduced_deformable_torus.py
@@ -0,0 +1,32 @@
+import pybullet as p
+from time import sleep
+import pybullet_data
+
+physicsClient = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.resetSimulation(p.RESET_USE_REDUCED_DEFORMABLE_WORLD)
+p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0])
+p.setGravity(0, 0, -10)
+
+tex = p.loadTexture("uvmap.png")
+planeId = p.loadURDF("plane.urdf", [0,0,-2])
+
+box1 = p.loadURDF("cube.urdf", [1,1,3],useMaximalCoordinates = True)
+box2 = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
+
+# p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_torus.mp4")
+reduced_obj1= p.loadURDF("reduced_torus/reduced_torus.urdf", [1,1,1])
+p.changeVisualShape(reduced_obj1, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
+
+reduced_obj2 = p.loadURDF("reduced_torus/reduced_torus.urdf", [1,2,1])
+p.changeVisualShape(reduced_obj2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
+
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+p.setRealTimeSimulation(0)
+
+while p.isConnected():
+  p.stepSimulation()
+  p.getCameraImage(320,200)
+  p.setGravity(0,0,-10)
diff --git a/examples/pybullet/examples/spherical_joint_limit.py b/examples/pybullet/examples/spherical_joint_limit.py
new file mode 100644
index 0000000000..c8ee8af015
--- /dev/null
+++ b/examples/pybullet/examples/spherical_joint_limit.py
@@ -0,0 +1,56 @@
+import pybullet as p
+import pybullet_data as pd
+
+#see spherical_joint_limit.urdf
+#lower is the swing range in the joint local X axis
+#upper is the swing range in the joint local Y axis
+#twist is the twist range rotation around the joint local Z axis
+#effort is the maximum force impulse to enforce the joint limit
+#<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
+
+import time
+dt = 1./240.
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+p.setTimeStep(dt)
+
+humanoid = p.loadURDF("spherical_joint_limit.urdf",[0,0,2], useFixedBase=True)
+
+gravxId = p.addUserDebugParameter("grav_x",-20,20,0.3)
+gravyId = p.addUserDebugParameter("grav_y",-20,20,0.3)
+gravzId = p.addUserDebugParameter("grav_y",-20,20,-10)
+
+index= 0
+spherical_index = -1
+
+for j in range(p.getNumJoints(humanoid)):
+  if index<7:
+    ji = p.getJointInfo(humanoid, j)
+    jointType = ji[2]
+    if (jointType == p.JOINT_SPHERICAL):
+      index+=4
+      p.resetJointStateMultiDof(humanoid, j, targetValue=[0,0,0,1], targetVelocity=[0,0,0])
+      #p.changeDynamics(humanoid,j,angularDamping=0, linearDamping=0)
+      spherical_index = j
+      p.setJointMotorControlMultiDof(humanoid, j, controlMode=p.POSITION_CONTROL, 
+          targetPosition=[0,0,0,1],  positionGain=0.2,
+          targetVelocity=[0,0,0], velocityGain=0,
+          force=[0,0,0])
+                                   
+    if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+      index+=1
+      p.resetJointStateMultiDof(humanoid, j, targetValue=[0], targetVelocity=[0])
+      p.setJointMotorControlMultiDof(humanoid, j, controlMode=p.POSITION_CONTROL, 
+          targetPosition=[0], targetVelocity=[0], force=[0])
+
+p.loadURDF("plane.urdf")
+
+p.setRealTimeSimulation(1)
+while p.isConnected():
+  gravX = p.readUserDebugParameter(gravxId)
+  gravY = p.readUserDebugParameter(gravyId)
+  gravZ = p.readUserDebugParameter(gravzId)
+  p.setGravity(gravX,gravY,gravZ)
+  #p.stepSimulation()
+  time.sleep(dt/10.)
diff --git a/examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf b/examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf
new file mode 100644
index 0000000000..4053835ebe
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/TwoJointRobot_w_fixedJoints.urdf
@@ -0,0 +1,182 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from TwoJointRobot.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_01_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_12_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_21_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_23_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <joint name="link_01" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_01_cyl"/>
+    <child link="link_1"/>
+  </joint>
+  <joint name="link_12" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_12_cyl"/>
+  </joint>
+  <joint name="link_21" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_21_cyl"/>
+    <child link="link_2"/>
+  </joint>
+  <joint name="link_23" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_23_cyl"/>
+  </joint>
+  <joint name="joint_1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+    <parent link="base_link"/>
+    <child link="link_01_cyl"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
+    <parent link="link_12_cyl"/>
+    <child link="link_21_cyl"/>
+  </joint>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf b/examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf
new file mode 100644
index 0000000000..bd0dec2154
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/TwoJointRobot_wo_fixedJoints.urdf
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_23_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+  </joint>
+  <joint name="link_23" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_23_cyl"/>
+  </joint>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py
new file mode 100644
index 0000000000..cb4588c464
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.py
@@ -0,0 +1,58 @@
+import pybullet as p
+import time
+import pybullet_data as pd
+import numpy as np
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+dt = 1./240.
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.loadURDF("plane.urdf")
+robot = p.loadURDF("aliengo/aliengo.urdf",[0,0,0.5])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.setGravity(0,0,-9.8)
+
+ALIENGO_DEFAULT_ABDUCTION_ANGLE = 0
+ALIENGO_DEFAULT_HIP_ANGLE = 1.2
+ALIENGO_DEFAULT_KNEE_ANGLE = -2.0
+NUM_LEGS = 4
+INIT_MOTOR_ANGLES = np.array([
+    ALIENGO_DEFAULT_ABDUCTION_ANGLE,
+    ALIENGO_DEFAULT_HIP_ANGLE,
+    ALIENGO_DEFAULT_KNEE_ANGLE
+] * NUM_LEGS)
+
+MOTOR_NAMES = [
+    "FR_hip_joint",
+    "FR_upper_joint",
+    "FR_lower_joint",
+    "FL_hip_joint",
+    "FL_upper_joint",
+    "FL_lower_joint",
+    "RR_hip_joint",
+    "RR_upper_joint",
+    "RR_lower_joint",
+    "RL_hip_joint",
+    "RL_upper_joint",
+    "RL_lower_joint",
+]
+motor_ids = []
+
+for j in range (p.getNumJoints(robot)):
+  joint_info = p.getJointInfo(robot,j)
+  name = joint_info[1].decode('utf-8')
+  print("joint_info[1]=",name)
+  if name in MOTOR_NAMES:
+    motor_ids.append(j)
+
+for index in range (12):
+  joint_id = motor_ids[index]
+  p.setJointMotorControl2(robot, joint_id, p.POSITION_CONTROL, INIT_MOTOR_ANGLES[index])
+  p.resetJointState(robot, joint_id, INIT_MOTOR_ANGLES[index])
+  
+print("motor_ids=",motor_ids)
+while p.isConnected():
+  p.stepSimulation()
+  time.sleep(dt)
+
+
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
new file mode 100644
index 0000000000..0ead55fb2a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/aliengo.urdf
@@ -0,0 +1,493 @@
+<?xml version="1.0" ?>
+<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <link name="trunk">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/trunk.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.647 0.15 0.112"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
+      <mass value="9.041"/>
+      <inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".001 .001 .001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
+    </inertial>
+  </link>
+  <joint name="FR_upper_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" velocity="40"/>
+  </joint>
+  <link name="FR_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
+    </inertial>
+  </link>
+  <joint name="FR_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FR_upper"/>
+    <child link="FR_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
+  </joint>
+  <link name="FR_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+    </inertial>
+  </link>
+  <joint name="FR_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FR_lower"/>
+    <child link="FR_toe"/>
+  </joint>
+  <link name="FR_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0165"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+    </inertial>
+  </link>
+
+  <joint name="FL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
+    </inertial>
+  </link>
+  <joint name="FL_upper_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0.083 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" velocity="40"/>
+  </joint>
+  <link name="FL_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
+    </inertial>
+  </link>
+  <joint name="FL_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FL_upper"/>
+    <child link="FL_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
+  </joint>
+  <link name="FL_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+    </inertial>
+  </link>
+  <joint name="FL_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="FL_lower"/>
+    <child link="FL_toe"/>
+  </joint>
+  <link name="FL_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0165"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
+    </inertial>
+  </link>
+  <joint name="RR_upper_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -0.083 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" velocity="40"/>
+  </joint>
+  <link name="RR_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh_mirror.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
+    </inertial>
+  </link>
+  <joint name="RR_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RR_upper"/>
+    <child link="RR_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
+  </joint>
+  <link name="RR_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+    </inertial>
+  </link>
+  <joint name="RR_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RR_lower"/>
+    <child link="RR_toe"/>
+  </joint>
+  <link name="RR_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0165"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+    </inertial>
+  </link>
+
+  <joint name="RL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-1.2217304764" upper="1.2217304764" velocity="40"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hip.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
+      <geometry>
+        <cylinder length="0.0418" radius="0.046"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
+      <mass value="1.993"/>
+      <inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
+    </inertial>
+  </link>
+  <joint name="RL_upper_joint" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0.083 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_upper"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" velocity="40"/>
+  </joint>
+  <link name="RL_upper">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/thigh.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0374 0.043"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
+      <mass value="0.639"/>
+      <inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
+    </inertial>
+  </link>
+  <joint name="RL_lower_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RL_upper"/>
+    <child link="RL_lower"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0" friction="0"/>
+    <limit effort="44.4" lower="-2.77507351067" upper="-0.645771823238" velocity="40"/>
+  </joint>
+  <link name="RL_lower">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/calf.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
+      <geometry>
+        <box size="0.25 0.0208 0.016"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
+      <mass value="0.207"/>
+      <inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
+    </inertial>
+  </link>
+  <joint name="RL_toe_fixed" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.25"/>
+    <parent link="RL_lower"/>
+    <child link="RL_toe"/>
+  </joint>
+  <link name="RL_toe">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0165"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0265"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.06"/>
+      <inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
+    </inertial>
+  </link>
+
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png b/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png
new file mode 100644
index 0000000000..4024987076
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/aliengo/meshes/aliengo.png differ
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl
new file mode 100644
index 0000000000..42050802a8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj
new file mode 100644
index 0000000000..141bbbc78c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/calf.obj
@@ -0,0 +1,2940 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib calf.mtl
+o Sphere
+v -0.000895 0.003532 -0.225637
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl
new file mode 100644
index 0000000000..ce94ec1942
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj
new file mode 100644
index 0000000000..7f243503fb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/hip.obj
@@ -0,0 +1,1666 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib hip.mtl
+o Cylinder
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl
new file mode 100644
index 0000000000..42050802a8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj
new file mode 100644
index 0000000000..9035049586
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh.obj
@@ -0,0 +1,1221 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib thigh.mtl
+o Cube_Cube.010
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl
new file mode 100644
index 0000000000..42050802a8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj
new file mode 100644
index 0000000000..bf965336ed
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/thigh_mirror.obj
@@ -0,0 +1,1221 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib thigh_mirror.mtl
+o Cube_Cube.010
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diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl
new file mode 100644
index 0000000000..0aeaa583c5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'aliengo.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd aliengo.png
diff --git a/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj
new file mode 100644
index 0000000000..aeebf3fccf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/aliengo/meshes/trunk.obj
@@ -0,0 +1,4878 @@
+# Blender v2.79 (sub 0) OBJ File: 'aliengo.blend'
+# www.blender.org
+mtllib trunk.mtl
+o Cube.001_Cube.002
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diff --git a/examples/pybullet/gym/pybullet_data/ball.vtk b/examples/pybullet/gym/pybullet_data/ball.vtk
new file mode 100644
index 0000000000..a5007a0348
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/ball.vtk
@@ -0,0 +1,5681 @@
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diff --git a/examples/pybullet/gym/pybullet_data/bunny.obj b/examples/pybullet/gym/pybullet_data/bunny.obj
new file mode 100644
index 0000000000..0edf6f97cd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/bunny.obj
@@ -0,0 +1,1360 @@
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+#
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+f 222 84 86
+f 16 230 34
+f 228 19 231
+f 228 231 233
+f 53 52 241
+f 76 79 51
+f 409 431 410
+f 261 259 258
+f 261 258 260
+f 225 208 260
+f 269 270 406
+f 269 406 405
+f 414 363 361
+f 448 9 206
+f 300 298 286
+f 190 282 203
+f 291 289 290
+f 291 290 292
+f 323 322 296
+f 323 296 295
+f 334 324 312
+f 334 312 321
+f 318 317 330
+f 321 161 145
+f 354 326 327
+f 330 333 335
+f 330 335 331
+f 340 339 142
+f 340 142 140
+f 349 346 127
+f 348 357 347
+f 124 350 126
+f 365 354 355
+f 365 355 356
+f 366 365 364
+f 377 392 395
+f 377 395 402
+f 93 377 375
+f 93 375 374
+f 378 91 89
+f 381 380 379
+f 381 379 382
+f 389 388 410
+f 389 410 411
+f 417 394 393
+f 400 399 403
+f 400 403 404
+f 251 429 428
+f 422 418 417
+f 422 417 421
+f 427 428 447
+f 427 447 452
+f 445 443 442
+f 453 452 451
+f 453 451 450
+
diff --git a/examples/pybullet/gym/pybullet_data/checker_grid.jpg b/examples/pybullet/gym/pybullet_data/checker_grid.jpg
new file mode 100644
index 0000000000..4165504847
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/checker_grid.jpg differ
diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.mtl b/examples/pybullet/gym/pybullet_data/cloth_z_up.mtl
new file mode 100644
index 0000000000..8b68eeec84
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/cloth_z_up.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 94.117647
+Ka 1.000000 1.000000 1.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd cube.png
diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.obj b/examples/pybullet/gym/pybullet_data/cloth_z_up.obj
new file mode 100644
index 0000000000..45cc723a7b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/cloth_z_up.obj
@@ -0,0 +1,89 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cloth_z_up.mtl
+o Plane_Plane.001
+v 1.000000 -0.500000 -0.000000
+v 0.500000 -1.000000 -0.000000
+v 0.500000 -0.500000 -0.000000
+v 0.000000 -0.500000 -0.000000
+v -0.500000 -1.000000 -0.000000
+v -0.500000 -0.500000 -0.000000
+v -0.000000 0.500000 0.000000
+v -0.500000 0.000000 -0.000000
+v -0.500000 0.500000 0.000000
+v 1.000000 0.500000 0.000000
+v 0.500000 0.000000 0.000000
+v 0.500000 0.500000 0.000000
+v 0.000000 0.000000 0.000000
+v 0.500000 1.000000 0.000000
+v -0.000000 1.000000 0.000000
+v 1.000000 1.000000 0.000000
+v -1.000000 0.000000 -0.000000
+v -1.000000 0.500000 0.000000
+v -0.500000 1.000000 0.000000
+v -1.000000 1.000000 0.000000
+v -1.000000 -1.000000 -0.000000
+v -1.000000 -0.500000 -0.000000
+v 0.000000 -1.000000 -0.000000
+v 1.000000 0.000000 0.000000
+v 1.000000 -1.000000 -0.000000
+vt 0.976031 1.084981
+vt 0.738016 1.669965
+vt 0.738016 1.084981
+vt 0.499998 1.084981
+vt 0.261984 1.669965
+vt 0.261984 1.084981
+vt 0.499998 -0.084982
+vt 0.261984 0.500000
+vt 0.261984 -0.084982
+vt 0.976031 -0.084982
+vt 0.738016 0.500000
+vt 0.738016 -0.084982
+vt 0.499998 0.500000
+vt 0.738016 -0.669965
+vt 0.499998 -0.669965
+vt 0.976031 -0.669965
+vt 0.023969 0.500000
+vt 0.023969 -0.084982
+vt 0.261984 -0.669965
+vt 0.023969 -0.669965
+vt 0.023969 1.669965
+vt 0.023969 1.084981
+vt 0.499998 1.669965
+vt 0.976031 0.500000
+vt 0.976031 1.669965
+vn 0.0000 0.0000 -1.0000
+usemtl None
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 4/4/1 5/5/1 6/6/1
+f 7/7/1 8/8/1 9/9/1
+f 10/10/1 11/11/1 12/12/1
+f 12/12/1 13/13/1 7/7/1
+f 14/14/1 7/7/1 15/15/1
+f 16/16/1 12/12/1 14/14/1
+f 9/9/1 17/17/1 18/18/1
+f 19/19/1 18/18/1 20/20/1
+f 15/15/1 9/9/1 19/19/1
+f 6/6/1 21/21/1 22/22/1
+f 8/8/1 22/22/1 17/17/1
+f 13/13/1 6/6/1 8/8/1
+f 3/3/1 23/23/1 4/4/1
+f 11/11/1 4/4/1 13/13/1
+f 24/24/1 3/3/1 11/11/1
+f 1/1/1 25/25/1 2/2/1
+f 4/4/1 23/23/1 5/5/1
+f 7/7/1 13/13/1 8/8/1
+f 10/10/1 24/24/1 11/11/1
+f 12/12/1 11/11/1 13/13/1
+f 14/14/1 12/12/1 7/7/1
+f 16/16/1 10/10/1 12/12/1
+f 9/9/1 8/8/1 17/17/1
+f 19/19/1 9/9/1 18/18/1
+f 15/15/1 7/7/1 9/9/1
+f 6/6/1 5/5/1 21/21/1
+f 8/8/1 6/6/1 22/22/1
+f 13/13/1 4/4/1 6/6/1
+f 3/3/1 2/2/1 23/23/1
+f 11/11/1 3/3/1 4/4/1
+f 24/24/1 1/1/1 3/3/1
diff --git a/examples/pybullet/gym/pybullet_data/cloth_z_up.urdf b/examples/pybullet/gym/pybullet_data/cloth_z_up.urdf
new file mode 100644
index 0000000000..72b61d2f65
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/cloth_z_up.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="cloth_z_up.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/configs/__init__.py b/examples/pybullet/gym/pybullet_data/configs/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin
new file mode 100644
index 0000000000..3a70956809
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_gym_config.gin
@@ -0,0 +1,80 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
+
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+NUM_MOTORS = 12
+NOISY_READING = True
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
+robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
+robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
+robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
+robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
+robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
+
+sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
+
+Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
+Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
+Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
+Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
+Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
+Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
+Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
+Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
+Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
+Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
+Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
+Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
+Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+
+
+locomotion_gym_config.LocomotionGymConfig.actions = [
+    @Act0/locomotion_gym_config.ScalarField(),
+    @Act1/locomotion_gym_config.ScalarField(),
+    @Act2/locomotion_gym_config.ScalarField(),
+    @Act3/locomotion_gym_config.ScalarField(),
+    @Act4/locomotion_gym_config.ScalarField(),
+    @Act5/locomotion_gym_config.ScalarField(),
+    @Act6/locomotion_gym_config.ScalarField(),
+    @Act7/locomotion_gym_config.ScalarField(),
+    @Act8/locomotion_gym_config.ScalarField(),
+    @Act9/locomotion_gym_config.ScalarField(),
+    @Act10/locomotion_gym_config.ScalarField(),
+    @Act11/locomotion_gym_config.ScalarField()]
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin
new file mode 100644
index 0000000000..0b3b1ce95d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_gym_env.gin
@@ -0,0 +1,116 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.robots.laikago
+
+URDF_ROOT = "urdf/"
+ABDUCTION_P_GAIN = 220.0
+ABDUCTION_D_GAIN = 0.3
+HIP_P_GAIN = 220.0
+HIP_D_GAIN = 2.0
+KNEE_P_GAIN = 220.0
+KNEE_D_GAIN = 2.0
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
+
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+NUM_MOTORS = 12
+NOISY_READING = True
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
+robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
+robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
+robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
+robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
+robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
+
+sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
+
+Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
+Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
+Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
+Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
+Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
+Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
+Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
+Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
+Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
+Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
+Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
+Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
+Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+
+
+locomotion_gym_config.LocomotionGymConfig.actions = [
+    @Act0/locomotion_gym_config.ScalarField(),
+    @Act1/locomotion_gym_config.ScalarField(),
+    @Act2/locomotion_gym_config.ScalarField(),
+    @Act3/locomotion_gym_config.ScalarField(),
+    @Act4/locomotion_gym_config.ScalarField(),
+    @Act5/locomotion_gym_config.ScalarField(),
+    @Act6/locomotion_gym_config.ScalarField(),
+    @Act7/locomotion_gym_config.ScalarField(),
+    @Act8/locomotion_gym_config.ScalarField(),
+    @Act9/locomotion_gym_config.ScalarField(),
+    @Act10/locomotion_gym_config.ScalarField(),
+    @Act11/locomotion_gym_config.ScalarField()]
+
+
+
+laikago.Laikago.urdf_root = %URDF_ROOT
+laikago.Laikago.time_step = %SIM_TIME_STEP
+laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
+laikago.Laikago.self_collision_enabled = False
+laikago.Laikago.control_latency = 0.002
+laikago.Laikago.pd_latency = 0.0
+laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
+laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
+laikago.Laikago.sensors = %sensors
+
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin
new file mode 100644
index 0000000000..df735f43fb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_example_flat.gin
@@ -0,0 +1,149 @@
+#-*-Python-*-
+
+# NOTE: Should be run with >=10CPU for decent performance.
+
+import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+# Configure the dynamic robot
+
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
+
+
+########################################
+# Configure the sensors
+########################################
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
+
+# Add noise to the IMU sensor and toe position sensor
+IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
+TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
+imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
+toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
+
+frontCamera/camera_sensor.CameraSensor.camera_translation_from_base = (0.197, 0.0, -0.115)
+frontCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
+frontCamera/camera_sensor.CameraSensor.parent_link_id = -1
+frontCamera/camera_sensor.CameraSensor.resolution = (32, 24)
+frontCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
+frontCamera/camera_sensor.CameraSensor.name = "frontCam"
+frontCamera/camera_sensor.CameraSensor.fov_degree = 75
+frontCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
+frontCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
+
+rearCamera/camera_sensor.CameraSensor.camera_translation_from_base = (-0.092, 0.0, -0.105)
+rearCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
+rearCamera/camera_sensor.CameraSensor.parent_link_id = -1
+rearCamera/camera_sensor.CameraSensor.resolution = (32, 24)
+rearCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
+rearCamera/camera_sensor.CameraSensor.name = "rearCam"
+rearCamera/camera_sensor.CameraSensor.fov_degree = 75
+rearCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
+rearCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
+
+sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor(), @frontCamera/camera_sensor.CameraSensor(), @rearCamera/camera_sensor.CameraSensor()]
+laikago_v2.Laikago.sensors = %sensors
+
+
+########################################
+# Specify the motor model and its parameters
+########################################
+LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
+LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
+laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
+laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
+laikago/robot_config.MotorLimits.torque_lower_limits = -30
+laikago/robot_config.MotorLimits.torque_upper_limits = 30
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+hybrid_motor_model.HybridMotorModel.kp = 250
+hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
+
+
+########################################
+# Setup the terrain randomization and simulation parameters
+########################################
+
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+
+
+########################################
+# Setup the task and terminal condition parameters
+########################################
+terminal_conditions.maxstep_terminal_condition.max_step = 2000
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
+terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
+terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
+
+# Setup the terminal condition
+terminal_conditions.logical_any_terminal_condition.conditions = [
+    @terminal_conditions.default_terminal_condition_for_laikago_v2,
+    @terminal_conditions.maxstep_terminal_condition,
+    ]
+
+simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
+
+env_loader.load.wrapper_classes = [
+    @mpc_locomotion_wrapper.MPCLocomotionWrapper,
+]
+
+########################################
+# Configure the MPC-related parameters
+########################################
+torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
+torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
+torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
+
+########################################
+# Configure the foothold wrapper parameters and action space
+########################################
+mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
+mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
+mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
+mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
+mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
+
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
+
+imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False
+
+
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin
new file mode 100644
index 0000000000..fa9ea31e60
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_stepstone.gin
@@ -0,0 +1,143 @@
+#-*-Python-*-
+
+# NOTE: Should be run with >=10CPU for decent performance.
+
+import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+# Configure the dynamic robot
+
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
+
+
+########################################
+# Configure the sensors
+########################################
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
+
+# Add noise to the IMU sensor and toe position sensor
+# IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
+# TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
+# imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
+# toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
+
+
+sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor()]
+laikago_v2.Laikago.sensors = %sensors
+
+
+########################################
+# Specify the motor model and its parameters
+########################################
+LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
+LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
+laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
+laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
+laikago/robot_config.MotorLimits.torque_lower_limits = -30
+laikago/robot_config.MotorLimits.torque_upper_limits = 30
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+hybrid_motor_model.HybridMotorModel.kp = 250
+hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
+
+
+########################################
+# Setup the terrain randomization and simulation parameters
+########################################
+
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.scene = @random_stepstone_scene.RandomStepstoneScene()
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+
+random_stepstone_scene.RandomStepstoneScene.random_seed = 13
+random_stepstone_scene.RandomStepstoneScene.gap_length_lower_bound = 0.07
+random_stepstone_scene.RandomStepstoneScene.gap_length_upper_bound = 0.15
+random_stepstone_scene.RandomStepstoneScene.stone_width_lower_bound = 0.6
+random_stepstone_scene.RandomStepstoneScene.stone_width_upper_bound = 0.6
+
+########################################
+# Setup the task and terminal condition parameters
+########################################
+terminal_conditions.maxstep_terminal_condition.max_step = 2000
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
+terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
+terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
+
+# Setup the terminal condition
+terminal_conditions.logical_any_terminal_condition.conditions = [
+    @terminal_conditions.default_terminal_condition_for_laikago_v2,
+    @terminal_conditions.maxstep_terminal_condition,
+    ]
+
+    simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
+simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.0015
+
+time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
+time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
+time_ordered_buffer.TimeOrderedBuffer.error_on_timestamp_reversal = False
+
+
+observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper.observation_excluded = ('frontCam', 'rearCam')
+
+env_loader.load.wrapper_classes = [
+    @mpc_locomotion_wrapper.MPCLocomotionWrapper,
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
+]
+
+########################################
+# Configure the MPC-related parameters
+########################################
+torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
+torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
+torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
+
+########################################
+# Configure the foothold wrapper parameters and action space
+########################################
+mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
+mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
+mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
+mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
+mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
+
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
+
+imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False
+
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin
new file mode 100644
index 0000000000..9c916b8336
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_mpc_two_camera_random_stepstone.gin
@@ -0,0 +1,165 @@
+#-*-Python-*-
+
+# NOTE: Should be run with >=10CPU for decent performance.
+
+import pybullet_envs.minitaur.agents.baseline_controller.torque_stance_leg_controller
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.mpc_locomotion_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.random_stepstone_scene
+import pybullet_envs.minitaur.envs_v2.sensors.camera_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.last_action_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.toe_position_sensor
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+import pybullet_envs.minitaur.envs_v2.utilities.noise_generators
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+# Configure the dynamic robot
+
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 4 # Control frequency will be 100 Hz
+
+
+########################################
+# Configure the sensors
+########################################
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203, -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203, 6283.18554688, 6283.18554688]
+
+# Add noise to the IMU sensor and toe position sensor
+IMUNoise/noise_generators.NormalNoise.scale = (0.025, 0.025, 0.1, 0.1)
+TOENoise/noise_generators.NormalNoise.scale = (0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005, 0.0025, 0.0025, 0.005)
+imu_sensor.IMUSensor.noise_generator = @IMUNoise/noise_generators.NormalNoise()
+toe_position_sensor.ToePositionSensor.noise_generator = @TOENoise/noise_generators.NormalNoise()
+
+frontCamera/camera_sensor.CameraSensor.camera_translation_from_base = (0.197, 0.0, -0.115)
+frontCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
+frontCamera/camera_sensor.CameraSensor.parent_link_id = -1
+frontCamera/camera_sensor.CameraSensor.resolution = (32, 24)
+frontCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
+frontCamera/camera_sensor.CameraSensor.name = "frontCam"
+frontCamera/camera_sensor.CameraSensor.fov_degree = 75
+frontCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
+frontCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
+
+rearCamera/camera_sensor.CameraSensor.camera_translation_from_base = (-0.092, 0.0, -0.105)
+rearCamera/camera_sensor.CameraSensor.camera_rotation_from_base = (-0.4996018, 0.4999998, 0.4999998, 0.5003982)
+rearCamera/camera_sensor.CameraSensor.parent_link_id = -1
+rearCamera/camera_sensor.CameraSensor.resolution = (32, 24)
+rearCamera/camera_sensor.CameraSensor.sensor_latency = 0.03
+rearCamera/camera_sensor.CameraSensor.name = "rearCam"
+rearCamera/camera_sensor.CameraSensor.fov_degree = 75
+rearCamera/camera_sensor.CameraSensor.camera_mode = %sim_camera.CameraMode.DEPTH
+rearCamera/camera_sensor.CameraSensor.camera_update_frequency_hz = 30.0
+
+sensors = [@imu_sensor.IMUSensor(), @last_action_sensor.LastActionSensor(), @toe_position_sensor.ToePositionSensor(), @frontCamera/camera_sensor.CameraSensor(), @rearCamera/camera_sensor.CameraSensor()]
+laikago_v2.Laikago.sensors = %sensors
+
+
+########################################
+# Specify the motor model and its parameters
+########################################
+LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
+LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
+laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
+laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
+laikago/robot_config.MotorLimits.torque_lower_limits = -30
+laikago/robot_config.MotorLimits.torque_upper_limits = 30
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.HYBRID
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+hybrid_motor_model.HybridMotorModel.kp = 250
+hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
+
+
+########################################
+# Setup the terrain randomization and simulation parameters
+########################################
+
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.scene = @random_stepstone_scene.RandomStepstoneScene()
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+
+random_stepstone_scene.RandomStepstoneScene.random_seed = 13
+random_stepstone_scene.RandomStepstoneScene.gap_length_lower_bound = 0.07
+random_stepstone_scene.RandomStepstoneScene.gap_length_upper_bound = 0.15
+random_stepstone_scene.RandomStepstoneScene.stone_width_lower_bound = 0.6
+random_stepstone_scene.RandomStepstoneScene.stone_width_upper_bound = 0.6
+
+
+########################################
+# Setup the task and terminal condition parameters
+########################################
+terminal_conditions.maxstep_terminal_condition.max_step = 2000
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_roll = 0.25
+terminal_conditions.default_terminal_condition_for_laikago_v2.max_pitch = 1.0
+terminal_conditions.default_terminal_condition_for_laikago_v2.min_height = 0.15
+terminal_conditions.default_terminal_condition_for_laikago_v2.enforce_foot_contacts = True
+
+# Setup the terminal condition
+terminal_conditions.logical_any_terminal_condition.conditions = [
+    @terminal_conditions.default_terminal_condition_for_laikago_v2,
+    @terminal_conditions.maxstep_terminal_condition,
+    ]
+
+simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
+
+simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.0015
+
+time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
+time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
+time_ordered_buffer.TimeOrderedBuffer.error_on_timestamp_reversal = False
+
+
+observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper.observation_excluded = ('frontCam', 'rearCam')
+
+env_loader.load.wrapper_classes = [
+    @mpc_locomotion_wrapper.MPCLocomotionWrapper,
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
+]
+
+########################################
+# Configure the MPC-related parameters
+########################################
+torque_stance_leg_controller.TorqueStanceLegController.qp_weights = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
+torque_stance_leg_controller.TorqueStanceLegController.body_inertia = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0, 0.636175)
+torque_stance_leg_controller.TorqueStanceLegController.friction_coeffs = (0.45, 0.45, 0.45, 0.45)
+
+########################################
+# Configure the foothold wrapper parameters and action space
+########################################
+mpc_locomotion_wrapper.MPCLocomotionWrapper.foot_friction_coeff = 1.0
+mpc_locomotion_wrapper.MPCLocomotionWrapper.locomotion_gait = %mpc_locomotion_wrapper.Gait.TROT
+mpc_locomotion_wrapper.MPCLocomotionWrapper.control_frequency=20
+mpc_locomotion_wrapper.MPCLocomotionWrapper.target_horizontal_com_velocity_heuristic = @mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic()
+mpc_locomotion_wrapper.InverseRaibertTargetHorizontalComVelocityHeuristic.gains = (-0.25, -0.1)
+
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_target_action_range = ((-0.05, -0.05, -0.03), (0.1, 0.05, 0.03))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.pitch_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.roll_action_range = (-0.05, 0.05)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_velocity_action_range = ((-0.05, -0.05), (0.05, 0.05))
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_twist_action_range = (-0.2, 0.2)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.base_height_action_range = (0.42, 0.48)
+mpc_locomotion_wrapper.MPCLocomotionWrapper.swing_clearance_action_range = (0.05, 0.1)
+
+imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator.use_sensor_interface = False
+
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin
new file mode 100644
index 0000000000..b4d6f8ba07
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_reactive.gin
@@ -0,0 +1,133 @@
+#-*-Python-*-
+
+# NOTE: Should be run with >=10CPU for decent performance.
+
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
+import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
+
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.robots.laikago
+
+URDF_ROOT = "urdf/"
+ABDUCTION_P_GAIN = 220.0
+ABDUCTION_D_GAIN = 0.3
+HIP_P_GAIN = 220.0
+HIP_D_GAIN = 2.0
+KNEE_P_GAIN = 220.0
+KNEE_D_GAIN = 2.0
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.sensors.robot_sensors
+
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+NUM_MOTORS = 12
+NOISY_READING = True
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+robot_sensors.IMUSensor.channels = ["R", "P", "dR", "dP"]
+robot_sensors.IMUSensor.noisy_reading = %NOISY_READING
+robot_sensors.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+robot_sensors.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+robot_sensors.MotorAngleSensor.num_motors = %NUM_MOTORS
+robot_sensors.MotorAngleSensor.noisy_reading = %NOISY_READING
+robot_sensors.MotorAngleSensor.lower_bound = -6.28318548203
+robot_sensors.MotorAngleSensor.upper_bound = 6.28318548203
+
+sensors = [@robot_sensors.IMUSensor(), @robot_sensors.MotorAngleSensor()]
+
+Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
+Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
+Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
+Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
+Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
+Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
+Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
+Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
+Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
+Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
+Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
+Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
+Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+
+
+locomotion_gym_config.LocomotionGymConfig.actions = [
+    @Act0/locomotion_gym_config.ScalarField(),
+    @Act1/locomotion_gym_config.ScalarField(),
+    @Act2/locomotion_gym_config.ScalarField(),
+    @Act3/locomotion_gym_config.ScalarField(),
+    @Act4/locomotion_gym_config.ScalarField(),
+    @Act5/locomotion_gym_config.ScalarField(),
+    @Act6/locomotion_gym_config.ScalarField(),
+    @Act7/locomotion_gym_config.ScalarField(),
+    @Act8/locomotion_gym_config.ScalarField(),
+    @Act9/locomotion_gym_config.ScalarField(),
+    @Act10/locomotion_gym_config.ScalarField(),
+    @Act11/locomotion_gym_config.ScalarField()]
+
+
+
+laikago.Laikago.urdf_root = %URDF_ROOT
+laikago.Laikago.time_step = %SIM_TIME_STEP
+laikago.Laikago.action_repeat = %NUM_ACTION_REPEAT
+laikago.Laikago.self_collision_enabled = False
+laikago.Laikago.control_latency = 0.002
+laikago.Laikago.pd_latency = 0.0
+laikago.Laikago.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
+laikago.Laikago.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
+laikago.Laikago.sensors = %sensors
+
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago.Laikago
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+
+
+
+trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()
+env_loader.load.wrapper_classes = [
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper,
+    @trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv]
diff --git a/examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin b/examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin
new file mode 100644
index 0000000000..2b6cd680d3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/laikago_walk_static_gait.gin
@@ -0,0 +1,65 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
+import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+# Specify the gym env parameters
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 4
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+# Specify the world.
+URDF_ROOT = ""
+scene_base.SceneBase.data_root = %URDF_ROOT
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+
+# Specify the task.
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+
+# Specify the sensors. Sensors determine the observation space.
+# Sensors can either be mounted on robots (see below), or passed to envs
+# i.e. like ambient sensors, or provided by tasks (task specific measures).
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE,
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
+SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
+
+# Specify the motor limits, and motor control mode.
+LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
+LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
+laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
+laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+
+# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
+hybrid_motor_model.HybridMotorModel.kp = 2400
+hybrid_motor_model.HybridMotorModel.kd = 5
+
+# Finally, mount sensors specified above to the Laikago.
+laikago_v2.Laikago.sensors = %SENSORS
diff --git a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin b/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin
new file mode 100644
index 0000000000..4b268980de
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_config.gin
@@ -0,0 +1,48 @@
+#-*-Python-*-
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
+import pybullet_envs.minitaur.robots.minitaur_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+UPPER_BOUND = 1.0
+LOWER_BOUND = -1.0
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 20
+NUM_MOTORS = 8
+NOISY_READING = True
+SENSOR_LATENCY = 0.02
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
+robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
+
+minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
+minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
+minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
+minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
+minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
+minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
+
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE
+]
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                    -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                    6283.18554688, 6283.18554688]
+
+motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
+motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
+motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
+minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
diff --git a/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin b/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin
new file mode 100644
index 0000000000..4b5140f0ff
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs/minitaur_gym_env.gin
@@ -0,0 +1,63 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.robots.minitaur_v2
+import pybullet_envs.minitaur.robots.robot_config
+import pybullet_envs.minitaur.robots.robot_urdf_loader
+
+URDF_ROOT = "urdf/"
+#-*-Python-*-
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
+import pybullet_envs.minitaur.robots.minitaur_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+
+UPPER_BOUND = 1.0
+LOWER_BOUND = -1.0
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 20
+NUM_MOTORS = 8
+NOISY_READING = True
+SENSOR_LATENCY = 0.02
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
+robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
+
+minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
+minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
+minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
+minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
+minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
+minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
+
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE
+]
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                    -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                    6283.18554688, 6283.18554688]
+
+motor_angle_sensor.MotorAngleSensor.sensor_latency = %SENSOR_LATENCY
+motor_angle_sensor.MotorAngleSensor.lower_bound = -6.28318548203
+motor_angle_sensor.MotorAngleSensor.upper_bound = 6.28318548203
+minitaur_v2.Minitaur.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
+
+
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/base/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin b/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin
new file mode 100644
index 0000000000..030bf4d8f3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_reactive.gin
@@ -0,0 +1,80 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.simple_openloop
+import pybullet_envs.minitaur.envs_v2.env_wrappers.trajectory_generator_wrapper_env
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.sensors.accelerometer_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.time_ordered_buffer
+
+
+# Specify the gym env parameters
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+
+# Specify the robot
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS = 6.28318548203
+LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS = -6.28318548203
+laikago/robot_config.MotorLimits.angle_lower_limits = %LAIKAGO_MOTOR_ANGLE_LOWER_LIMITS
+laikago/robot_config.MotorLimits.angle_upper_limits = %LAIKAGO_MOTOR_ANGLE_UPPER_LIMITS
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
+
+# Specify the motor model parameters. Notice that we don't need to specify the control mode
+# and motor limits here, as they will be passed from the robot interface.
+hybrid_motor_model.HybridMotorModel.kp = 220
+hybrid_motor_model.HybridMotorModel.kd = (0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0, 0.3, 2.0, 2.0)
+
+# This will make sure the hybrid motor model does not throw error during reset, when the timestamp is alwasy zero.
+time_ordered_buffer.TimeOrderedBuffer.error_on_duplicate_timestamp = False
+time_ordered_buffer.TimeOrderedBuffer.replace_value_on_duplicate_timestamp = True
+
+# Add the sensors
+laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor(), @accelerometer_sensor.AccelerometerSensor()]
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE,
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+# Specify the scene
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+simple_scene.SimpleScene.data_root = "third_party/bullet/data"
+
+# Specify the task.
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago
+
+accelerometer_sensor.AccelerometerSensor.lower_bound = [-50.0, -50.0, -50.0]
+accelerometer_sensor.AccelerometerSensor.upper_bound = [50.0, 50.0, 50.0]
+accelerometer_sensor.AccelerometerSensor.sensor_latency = 0.01
+imu_sensor.IMUSensor.sensor_latency = 0.1
+
+
+# Define the wrappers needed
+env_loader.load.wrapper_classes = [
+    @trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv,
+]
+trajectory_generator_wrapper_env.TrajectoryGeneratorWrapperEnv.trajectory_generator = @simple_openloop.LaikagoPoseOffsetGenerator()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin b/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin
new file mode 100644
index 0000000000..03d7c33089
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/base/laikago_with_imu.gin
@@ -0,0 +1,66 @@
+#import pybullet_data
+#MYPATH = pybullet_data.getDataPath()+'/configs_v2/robots/laikago.gin'
+#MYPATH = 'D:/dev/bullet3/examples/pybullet\gym/pybullet_data/configs_v2/robots/laikago.gin'
+#include '$MYPATH/ambiguous.gin'
+
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.scene_base
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+URDF_ROOT = ""
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE,
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
+SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+# Specify the scene.
+scene_base.SceneBase.data_root = %URDF_ROOT
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+
+# Specify the motor limits, and motor control mode.
+laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
+laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+
+# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
+hybrid_motor_model.HybridMotorModel.kp = 220
+hybrid_motor_model.HybridMotorModel.kd = 2
+
+laikago_v2.Laikago.sensors = %SENSORS
+
+
+laikago_v2.Laikago.sensors = [@imu_sensor.IMUSensor()]
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin b/examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin
new file mode 100644
index 0000000000..d7ebe63f72
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/base/mini_cheetah_with_imu.gin
@@ -0,0 +1,9 @@
+import pybullet_data as pd
+
+include pd.getDataPath()+'/configs_v2/robots/mini_cheetah.gin'
+include pd.getDataPath()+'/configs_v2/sensors/imu.gin'
+
+#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/robots/mini_cheetah.gin'
+#include 'robotics/reinforcement_learning/minitaur/envs_v2/configs_v2/sensors/imu.gin'
+
+mini_cheetah.MiniCheetah.sensors = [@robot_sensors.IMUSensor()]
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/robots/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin b/examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin
new file mode 100644
index 0000000000..a639c83c9d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/robots/laikago.gin
@@ -0,0 +1,58 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.scene_base
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+import pybullet_envs.minitaur.envs_v2.sensors.imu_sensor
+import pybullet_envs.minitaur.envs_v2.sensors.motor_angle_sensor
+import pybullet_envs.minitaur.robots.hybrid_motor_model
+import pybullet_envs.minitaur.robots.laikago_v2
+import pybullet_envs.minitaur.robots.robot_config
+
+URDF_ROOT = ""
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+imu_sensor.IMUSensor.channels = [
+    %imu_sensor.IMUChannel.ROLL,
+    %imu_sensor.IMUChannel.PITCH,
+    %imu_sensor.IMUChannel.ROLL_RATE,
+    %imu_sensor.IMUChannel.PITCH_RATE,
+]
+
+imu_sensor.IMUSensor.lower_bound = [-6.28318548203, -6.28318548203,
+                                       -6283.18554688, -6283.18554688]
+imu_sensor.IMUSensor.upper_bound = [6.28318548203, 6.28318548203,
+                                       6283.18554688, 6283.18554688]
+
+# We use the default confirugration for MotorAngleSensor, which reads limits from the robot.
+SENSORS = [@imu_sensor.IMUSensor(), @motor_angle_sensor.MotorAngleSensor()]
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+# Specify the scene.
+scene_base.SceneBase.data_root = %URDF_ROOT
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
+
+# Specify the motor limits, and motor control mode.
+laikago/robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
+laikago/robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
+laikago_v2.Laikago.motor_limits = @laikago/robot_config.MotorLimits()
+laikago_v2.Laikago.motor_control_mode = %robot_config.MotorControlMode.POSITION
+laikago_v2.Laikago.motor_model_class = @hybrid_motor_model.HybridMotorModel
+locomotion_gym_env.LocomotionGymEnv.robot_class = @laikago_v2.Laikago
+
+# Specify the motor model parameters. Notice that we don't need to specify the control mode or motor limits here.
+hybrid_motor_model.HybridMotorModel.kp = 220
+hybrid_motor_model.HybridMotorModel.kd = 2
+
+laikago_v2.Laikago.sensors = %SENSORS
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin b/examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin
new file mode 100644
index 0000000000..7433da2f85
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/robots/mini_cheetah.gin
@@ -0,0 +1,98 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.robots.mini_cheetah
+import pybullet_data as pd
+
+URDF_ROOT = pd.getDataPath()+"/urdf/"
+
+ABDUCTION_P_GAIN = 100.0
+ABDUCTION_D_GAIN = 1.0
+HIP_P_GAIN = 30
+HIP_D_GAIN = 2.0
+KNEE_P_GAIN = 50
+KNEE_D_GAIN = 2.0
+
+
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 2
+NUM_MOTORS = 12
+NOISY_READING = True
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+
+Act0/locomotion_gym_config.ScalarField.name = "motor_angle_0"
+Act0/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act0/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act1/locomotion_gym_config.ScalarField.name = "motor_angle_1"
+Act1/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act1/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act2/locomotion_gym_config.ScalarField.name = "motor_angle_2"
+Act2/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act2/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act3/locomotion_gym_config.ScalarField.name = "motor_angle_3"
+Act3/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act3/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act4/locomotion_gym_config.ScalarField.name = "motor_angle_4"
+Act4/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act4/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act5/locomotion_gym_config.ScalarField.name = "motor_angle_5"
+Act5/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act5/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act6/locomotion_gym_config.ScalarField.name = "motor_angle_6"
+Act6/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act6/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act7/locomotion_gym_config.ScalarField.name = "motor_angle_7"
+Act7/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act7/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act8/locomotion_gym_config.ScalarField.name = "motor_angle_8"
+Act8/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act8/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act9/locomotion_gym_config.ScalarField.name = "motor_angle_9"
+Act9/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act9/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act10/locomotion_gym_config.ScalarField.name = "motor_angle_10"
+Act10/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act10/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+Act11/locomotion_gym_config.ScalarField.name = "motor_angle_11"
+Act11/locomotion_gym_config.ScalarField.upper_bound = %UPPER_BOUND
+Act11/locomotion_gym_config.ScalarField.lower_bound = %LOWER_BOUND
+
+
+locomotion_gym_config.LocomotionGymConfig.actions = [
+    @Act0/locomotion_gym_config.ScalarField(),
+    @Act1/locomotion_gym_config.ScalarField(),
+    @Act2/locomotion_gym_config.ScalarField(),
+    @Act3/locomotion_gym_config.ScalarField(),
+    @Act4/locomotion_gym_config.ScalarField(),
+    @Act5/locomotion_gym_config.ScalarField(),
+    @Act6/locomotion_gym_config.ScalarField(),
+    @Act7/locomotion_gym_config.ScalarField(),
+    @Act8/locomotion_gym_config.ScalarField(),
+    @Act9/locomotion_gym_config.ScalarField(),
+    @Act10/locomotion_gym_config.ScalarField(),
+    @Act11/locomotion_gym_config.ScalarField()]
+
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+mini_cheetah.MiniCheetah.urdf_root = %URDF_ROOT
+mini_cheetah.MiniCheetah.time_step = %SIM_TIME_STEP
+mini_cheetah.MiniCheetah.action_repeat = %NUM_ACTION_REPEAT
+mini_cheetah.MiniCheetah.self_collision_enabled = False
+mini_cheetah.MiniCheetah.control_latency = 0.002
+mini_cheetah.MiniCheetah.pd_latency = 0.0
+mini_cheetah.MiniCheetah.motor_kp = [%ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN,
+                            %ABDUCTION_P_GAIN, %HIP_P_GAIN, %KNEE_P_GAIN]
+mini_cheetah.MiniCheetah.motor_kd = [%ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN,
+                            %ABDUCTION_D_GAIN, %HIP_D_GAIN, %KNEE_D_GAIN]
+
+locomotion_gym_env.LocomotionGymEnv.robot_class = @mini_cheetah.MiniCheetah
+
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin b/examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin
new file mode 100644
index 0000000000..0914833800
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/robots/minitaur.gin
@@ -0,0 +1,31 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_config
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.robots.minitaur_motor_model_v2
+import pybullet_envs.minitaur.robots.minitaur_v2
+
+URDF_ROOT = "robotics/reinforcement_learning/minitaur/robots/data/urdf/"
+
+UPPER_BOUND = 6.28318548203
+LOWER_BOUND = -6.28318548203
+SIM_TIME_STEP = 0.001
+NUM_ACTION_REPEAT = 6
+NUM_MOTORS = 8
+NOISY_READING = True
+
+locomotion_gym_config.SimulationParameters.sim_time_step_s = %SIM_TIME_STEP
+locomotion_gym_config.SimulationParameters.num_action_repeat = %NUM_ACTION_REPEAT
+locomotion_gym_config.SimulationParameters.enable_rendering = False
+locomotion_gym_config.LocomotionGymConfig.simulation_parameters = @locomotion_gym_config.SimulationParameters()
+locomotion_gym_env.LocomotionGymEnv.gym_config = @locomotion_gym_config.LocomotionGymConfig()
+
+minitaur_v2.Minitaur.motor_control_mode = %robot_config.MotorControlMode.POSITION
+minitaur_v2.Minitaur.motor_limits = @robot_config.MotorLimits()
+minitaur_v2.Minitaur.motor_model_class = @minitaur_motor_model_v2.MinitaurMotorModel
+minitaur_motor_model_v2.MinitaurMotorModel.pd_latency = 0.003
+minitaur_motor_model_v2.MinitaurMotorModel.kp = 1.0
+minitaur_motor_model_v2.MinitaurMotorModel.kd = 0.015
+
+locomotion_gym_env.LocomotionGymEnv.robot_class = @minitaur_v2.Minitaur
+
+robot_config.MotorLimits.angle_lower_limits = %LOWER_BOUND
+robot_config.MotorLimits.angle_upper_limits = %UPPER_BOUND
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin
new file mode 100644
index 0000000000..6cb12467ad
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/simple_scene.gin
@@ -0,0 +1,4 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.scenes.simple_scene
+
+locomotion_gym_env.LocomotionGymEnv.scene = @simple_scene.SimpleScene()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin
new file mode 100644
index 0000000000..134f5774fd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/scenes/stair_scene.gin
@@ -0,0 +1,3 @@
+import pybullet_envs.minitaur.envs_v2.scenes.stair_scene
+# Specify the scene (overwrite the setting from laikago_reactive.gin)
+locomotion_gym_env.LocomotionGymEnv.scene = @stair_scene.StairScene()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin
new file mode 100644
index 0000000000..3164317109
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task.gin
@@ -0,0 +1,4 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin
new file mode 100644
index 0000000000..59a50e4e71
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_laikago.gin
@@ -0,0 +1,8 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
+
+simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0.002
+simple_locomotion_task.SimpleForwardTask.min_com_height = 0.3
+simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.002
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin
new file mode 100644
index 0000000000..5fc8189ca7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination.gin
@@ -0,0 +1,11 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+
+terminal_conditions.maxstep_terminal_condition.max_step = 1500
+# Setup the terminal condition to not to terminate early when the robot falls.
+terminal_conditions.logical_any_terminal_condition.conditions = [
+    @terminal_conditions.maxstep_terminal_condition,
+    ]
+simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.logical_any_terminal_condition
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin
new file mode 100644
index 0000000000..c7d9630d55
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/tasks/fwd_task_no_termination_simplified.gin
@@ -0,0 +1,12 @@
+import pybullet_envs.minitaur.envs_v2.locomotion_gym_env
+import pybullet_envs.minitaur.envs_v2.tasks.simple_locomotion_task
+import pybullet_envs.minitaur.envs_v2.tasks.terminal_conditions
+
+terminal_conditions.maxstep_terminal_condition.max_step = 1500
+simple_locomotion_task.SimpleForwardTask.terminal_condition = @terminal_conditions.default_terminal_condition_for_laikago_v2
+
+simple_locomotion_task.SimpleForwardTask.divide_with_dt = True
+simple_locomotion_task.SimpleForwardTask.clip_velocity = 0.4
+simple_locomotion_task.SimpleForwardTask.energy_penalty_coef = 0
+
+locomotion_gym_env.LocomotionGymEnv.task = @simple_locomotion_task.SimpleForwardTask()
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/__init__.py b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin
new file mode 100644
index 0000000000..f9466a3162
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper.gin
@@ -0,0 +1,18 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
+
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = 1
+pmtg_wrapper_env.PmtgWrapperEnv.intensity_upper_bound = 1.0
+pmtg_wrapper_env.PmtgWrapperEnv.max_delta_time = 4.0
+pmtg_wrapper_env.PmtgWrapperEnv.min_delta_time = 2.0
+pmtg_wrapper_env.PmtgWrapperEnv.residual_range = 0.35
+pmtg_wrapper_env.PmtgWrapperEnv.integrator_coupling_mode = "all coupled"
+pmtg_wrapper_env.PmtgWrapperEnv.walk_height_coupling_mode = "all coupled"
+pmtg_wrapper_env.PmtgWrapperEnv.variable_swing_stance_ratio = 1
+pmtg_wrapper_env.PmtgWrapperEnv.init_gait = "walk"
+
+env_loader.load.wrapper_classes = [
+    @pmtg_wrapper_env.PmtgWrapperEnv,
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin
new file mode 100644
index 0000000000..74251e31cf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_dict.gin
@@ -0,0 +1,6 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
+
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
+
+env_loader.load.wrapper_classes = [@pmtg_wrapper_env.PmtgWrapperEnv]
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin
new file mode 100644
index 0000000000..8f46b1591d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_laikago.gin
@@ -0,0 +1,10 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
+
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_enable = True
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_high_cut = 0.5
+
+env_loader.load.wrapper_classes = [
+    @pmtg_wrapper_env.PmtgWrapperEnv,
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
diff --git a/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin
new file mode 100644
index 0000000000..f6736cb093
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/configs_v2/wrappers/pmtg_wrapper_simplified_env.gin
@@ -0,0 +1,18 @@
+import pybullet_envs.minitaur.envs_v2.env_loader
+import pybullet_envs.minitaur.envs_v2.env_wrappers.observation_dictionary_to_array_wrapper
+import pybullet_envs.minitaur.envs_v2.env_wrappers.pmtg_wrapper_env
+
+
+pmtg_wrapper_env.PmtgWrapperEnv.init_leg_phase_offsets = [0, 0.5, 0.5, 0]
+pmtg_wrapper_env.PmtgWrapperEnv.integrator_coupling_mode = 'all coupled'
+pmtg_wrapper_env.PmtgWrapperEnv.intensity_upper_bound = 0.5
+pmtg_wrapper_env.PmtgWrapperEnv.max_delta_time = 4
+pmtg_wrapper_env.PmtgWrapperEnv.min_delta_time = 1
+pmtg_wrapper_env.PmtgWrapperEnv.residual_range = 0.2
+pmtg_wrapper_env.PmtgWrapperEnv.variable_swing_stance_ratio = False
+pmtg_wrapper_env.PmtgWrapperEnv.walk_height_coupling_mode = 'null'
+pmtg_wrapper_env.PmtgWrapperEnv.action_filter_high_cut = 0.5
+
+env_loader.load.wrapper_classes = [
+    @pmtg_wrapper_env.PmtgWrapperEnv,
+    @observation_dictionary_to_array_wrapper.ObservationDictionaryToArrayWrapper]
diff --git a/examples/pybullet/gym/pybullet_data/cube.urdf b/examples/pybullet/gym/pybullet_data/cube.urdf
new file mode 100644
index 0000000000..83207f9b69
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/cube.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="cube.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf b/examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf
new file mode 100644
index 0000000000..1e4add6fe1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/cube_collisionfilter.urdf
@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+     <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="cube.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision group="0" mask="0">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
index 1f19f174a7..51d2e9abde 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.26 3.14 0 0</pose>
+    <pose>0 0 0.26 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -249,9 +249,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -264,7 +264,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -273,7 +273,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -305,7 +305,7 @@
     </joint>
     
     <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -319,7 +319,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -329,7 +329,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -345,7 +345,7 @@
     </joint>
     
     <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -359,7 +359,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -369,7 +369,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
index 552c36d288..66dfb1a9d9 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
@@ -3,11 +3,11 @@
   <world name='default'>
   <model name='wsg50_with_gripper'>
     
-    <pose frame=''>0 -2.3 2.1 0 0 0</pose>
+    <pose>0 -2.3 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -26,9 +26,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -41,7 +41,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -56,9 +56,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -70,7 +70,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -100,9 +100,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -114,7 +114,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -145,9 +145,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -190,9 +190,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -205,7 +205,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -214,7 +214,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -247,9 +247,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -262,7 +262,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -271,7 +271,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
+      <pose>0.042 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
+      <pose>-0.042 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
index 54f469fe0a..09e43dc226 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.7 3.14 0 0</pose>
+    <pose>0 0 0.7 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
index 0358f7a6a1..e33b9ed8f0 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
@@ -2,11 +2,11 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
+    <pose>1.4 -0.2 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -25,9 +25,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -40,7 +40,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -55,9 +55,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -69,7 +69,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -99,9 +99,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -113,7 +113,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -144,9 +144,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -158,7 +158,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -189,9 +189,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -204,7 +204,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -213,7 +213,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -245,9 +245,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -260,7 +260,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -269,7 +269,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -304,7 +304,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -318,7 +318,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -328,7 +328,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -348,7 +348,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -362,7 +362,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -372,7 +372,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
index 878b1ee144..16847c72c4 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.4 3.14 0 0</pose>
+    <pose>0 0 0.4 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 0</pose>
+      <pose>0.055 0 0.06 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 3.14159</pose>
+        <pose>0 0 -0.06 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 3.14159</pose>
+        <pose>0 0 -0.037 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
index d67959f190..b487816a6e 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+    <pose>0 0 0.27 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -42,7 +42,7 @@
         </inertia>
       </inertial>
       <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
 		<box>
               <size>0.2 0.05 0.05 </size>
@@ -50,7 +50,7 @@
         </geometry>
       </collision>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -67,9 +67,9 @@
     </link>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <pose>-0.055 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -82,7 +82,7 @@
       </inertial>
 	  
       <collision name='gripper_left_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -91,7 +91,7 @@
         </geometry>
       </collision>
       <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -101,7 +101,7 @@
       </collision>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -110,7 +110,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -141,9 +141,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <pose>0.055 0 0 0 -0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -156,7 +156,7 @@
       </inertial>
 	  
       <collision name='gripper_right_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -165,7 +165,7 @@
         </geometry>
       </collision>
       <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -175,7 +175,7 @@
       </collision>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -184,7 +184,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -219,7 +219,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -233,7 +233,7 @@
       </inertial>
 	  
       <collision name='finger_right_collision'>
-	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<pose>0 0 0.042 0 0 0 </pose>
 	<geometry>        
        <box>
               <size>0.02 0.02 0.15 </size>
@@ -243,7 +243,7 @@
       </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -263,7 +263,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -277,7 +277,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -287,7 +287,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
index fd8ba3554b..4d2a07ec69 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -462,9 +462,9 @@
       <child>base_link</child>
     </joint>
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -476,7 +476,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -511,9 +511,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -544,9 +544,9 @@
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -558,7 +558,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -573,7 +573,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,9 +606,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -620,7 +620,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -635,7 +635,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -664,9 +664,9 @@
       </axis>
     </joint>
     <link name='right_finger'>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -678,7 +678,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -697,9 +697,9 @@
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -711,7 +711,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -726,7 +726,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -759,9 +759,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -773,7 +773,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -788,7 +788,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
index 9c3787bcba..d9ef5197f2 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -468,9 +468,9 @@
     
     
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -482,7 +482,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -496,7 +496,7 @@
         </material>
       </visual>
         <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -531,9 +531,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -545,7 +545,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -559,7 +559,7 @@
         </material>
       </visual>
        <collision name='left_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -577,9 +577,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -591,7 +591,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,7 +606,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -639,9 +639,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -653,7 +653,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -668,7 +668,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -701,9 +701,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -715,7 +715,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -729,7 +729,7 @@
         </material>
       </visual>
       <collision name='right_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -752,9 +752,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -766,7 +766,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -781,7 +781,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -814,9 +814,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -828,7 +828,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -843,7 +843,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
index d48d513828..3292b4b2e0 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
@@ -6,9 +6,9 @@
       <child>lbr_iiwa_link_0</child>
     </joint>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0.01</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -20,7 +20,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -29,7 +29,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -39,9 +39,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -53,7 +53,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -62,7 +62,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -92,9 +92,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -106,7 +106,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -115,7 +115,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -145,9 +145,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -168,7 +168,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -198,9 +198,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -212,7 +212,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -221,7 +221,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -251,9 +251,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,7 +274,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -304,9 +304,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -318,7 +318,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -327,7 +327,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -357,9 +357,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -371,7 +371,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -380,7 +380,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
index a93d09c507..4eb2c9c975 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
@@ -1,11 +1,11 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
-  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+  <pose>0 -2.3 0.7 0 0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -17,7 +17,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -26,7 +26,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -42,9 +42,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -56,7 +56,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -65,7 +65,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -101,9 +101,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -115,7 +115,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -124,7 +124,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -160,9 +160,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -174,7 +174,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -183,7 +183,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -219,9 +219,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -233,7 +233,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -242,7 +242,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -278,9 +278,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -292,7 +292,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -301,7 +301,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -337,9 +337,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -351,7 +351,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -360,7 +360,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -396,9 +396,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -410,7 +410,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -419,7 +419,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
index 117357cf44..ea244b8ac5 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
@@ -2,9 +2,9 @@
 <world name='default'>
   <model name='lbr_iiwa'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -16,7 +16,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -25,7 +25,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -35,9 +35,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -49,7 +49,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -88,9 +88,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -102,7 +102,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -111,7 +111,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -141,9 +141,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -155,7 +155,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -164,7 +164,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -194,9 +194,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -208,7 +208,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -217,7 +217,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,9 +247,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -261,7 +261,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -270,7 +270,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -300,9 +300,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -314,7 +314,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -323,7 +323,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -353,9 +353,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -367,7 +367,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -376,7 +376,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -408,11 +408,11 @@
   </model>
   
   <model name='lbr_iiwa'>
-    <pose frame=''>2 2 0 0 -0 0</pose>
+    <pose>2 2 0 0 -0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -424,7 +424,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -433,7 +433,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -443,9 +443,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -457,7 +457,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -466,7 +466,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -496,9 +496,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -510,7 +510,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -519,7 +519,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -549,9 +549,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -563,7 +563,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -572,7 +572,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -602,9 +602,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -616,7 +616,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -625,7 +625,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -655,9 +655,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -669,7 +669,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -678,7 +678,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -708,9 +708,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -722,7 +722,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -731,7 +731,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -761,9 +761,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -775,7 +775,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -784,7 +784,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj
new file mode 100644
index 0000000000..8170a550ba
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj
@@ -0,0 +1,2525 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib chassis_zup.mtl
+o EXP_OTL_-_EXP_OTL_BDYR1_median.002
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj
new file mode 100644
index 0000000000..b6fd3479e4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj
@@ -0,0 +1,301 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib hip_motor.mtl
+o Hip_Motor
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj
new file mode 100644
index 0000000000..233fe7c626
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj
@@ -0,0 +1,268 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf
new file mode 100644
index 0000000000..725e46ac36
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf
@@ -0,0 +1,598 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="chassis">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="13.715"/>
+       <inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz=" 0  0 0"/>
+      <geometry>
+        <mesh filename="chassis_zup_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="FR_hip_motor">
+    <contact>
+      <lateral_friction value="1"/>
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/>
+    </inertial>
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+
+    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="FR_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="FR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FR_hip_motor"/>
+    <child link="FR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="FR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FR_upper_leg"/>
+    <child link="FR_lower_leg"/>
+
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="FL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </material>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+      </link>
+
+   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="FL_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
+
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+  <link name="FL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+
+        <mesh filename="upper_leg_left_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </material>
+    </visual>
+
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+
+  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FL_hip_motor"/>
+    <child link="FL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+  <link name="FL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+       </material>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FL_upper_leg"/>
+    <child link="FL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+
+
+
+
+   <link name="RR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="RR_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
+
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="RR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_mirror2_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RR_hip_motor"/>
+    <child link="RR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="RR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RR_upper_leg"/>
+    <child link="RR_lower_leg"/>
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="RL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+      </link>
+
+   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="RL_hip_motor"/>
+
+    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+  <link name="RL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left2_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+
+  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RL_hip_motor"/>
+    <child link="RL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+  <link name="RL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RL_upper_leg"/>
+    <child link="RL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+   <link name="toeRL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRL" type="fixed">
+    <parent link="RL_lower_leg"/>
+    <child link="toeRL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeRR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRR" type="fixed">
+    <parent link="RR_lower_leg"/>
+    <child link="toeRR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeFL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFL" type="fixed">
+    <parent link="FL_lower_leg"/>
+    <child link="toeFL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeFR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFR" type="fixed">
+    <parent link="FR_lower_leg"/>
+    <child link="toeFR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj
new file mode 100644
index 0000000000..8999169c31
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj
@@ -0,0 +1,334 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib lower_leg3.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj
new file mode 100644
index 0000000000..7c3d9c4476
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj
@@ -0,0 +1,437 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib upper_leg_left2.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj
new file mode 100644
index 0000000000..253ee57760
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj
@@ -0,0 +1,614 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj
new file mode 100644
index 0000000000..b78900f9c0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj
@@ -0,0 +1,551 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj
new file mode 100644
index 0000000000..24e02c3026
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj
@@ -0,0 +1,568 @@
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diff --git a/examples/pybullet/gym/pybullet_data/objects/mug.obj b/examples/pybullet/gym/pybullet_data/objects/mug.obj
new file mode 100644
index 0000000000..4fb8d9186d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/objects/mug.obj
@@ -0,0 +1,1352 @@
+# Blender v2.79 (sub 0) OBJ File: 'mug.blend'
+# www.blender.org
+o mug_Cylinder.002
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diff --git a/examples/pybullet/gym/pybullet_data/objects/mug.urdf b/examples/pybullet/gym/pybullet_data/objects/mug.urdf
new file mode 100644
index 0000000000..ab105ea546
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/objects/mug.urdf
@@ -0,0 +1,28 @@
+<robot name="mug">
+    <link name="base_link">
+        <contact>
+            <lateral_friction value="1.0"/>
+        </contact>
+        <inertial>
+            <origin xyz="0 0 0"/>
+            <mass value="1"/>
+            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="mug.obj"/>
+            </geometry>
+      <material name="mug">
+        <color rgba="1 0.2 0.2 1"/>
+        <specular rgb="1 1 1"/>
+      </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="mug_col.obj"/>
+            </geometry>
+        </collision>
+    </link>
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/objects/mug_col.obj b/examples/pybullet/gym/pybullet_data/objects/mug_col.obj
new file mode 100644
index 0000000000..4d56449df4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/objects/mug_col.obj
@@ -0,0 +1,1310 @@
+# Blender v2.79 (sub 0) OBJ File: 'mug.blend'
+# www.blender.org
+o mug_col_Cylinder.003
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diff --git a/examples/pybullet/gym/pybullet_data/pickup2.zip b/examples/pybullet/gym/pybullet_data/pickup2.zip
new file mode 100644
index 0000000000..31405cfbdf
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/pickup2.zip differ
diff --git a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
index 8d7152860b..65e88248a3 100644
--- a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
+++ b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='floor_obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='floor'>
 			<inertial>
 			<mass>0</mass>
diff --git a/examples/pybullet/gym/pybullet_data/sphere_1cm.urdf b/examples/pybullet/gym/pybullet_data/sphere_1cm.urdf
new file mode 100644
index 0000000000..e5d3b838cc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere_1cm.urdf
@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/sphere_transparent.urdf b/examples/pybullet/gym/pybullet_data/sphere_transparent.urdf
new file mode 100644
index 0000000000..3dfd980348
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/sphere_transparent.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red_transparent">
+        <color rgba="1 0 0 0.5"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf b/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
new file mode 100644
index 0000000000..a3ee524f0f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
@@ -0,0 +1,36 @@
+<robot name="dumpUrdf">
+	<link name="chest" >
+		<inertial>
+				<origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" />
+			 <mass value = "4.000000" />
+			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
+		</inertial>
+		<collision>
+				<origin rpy = "0 0 0" xyz = "0.000000 0.00000 0.000000" />
+			<geometry>
+				<box size="0.6 0.6 0.6"/>
+			</geometry>
+		</collision>
+	</link>
+	<link name="neck" >
+		<inertial>
+				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" />
+			 <mass value = "1.00000" />
+			<inertia ixx = "0.01" ixy = "0" ixz = "0" iyy = "0.001" iyz = "0" izz = "0.001" />
+		</inertial>
+		<collision>
+				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.30000" />
+			<geometry>
+				<box size="0.1 0.2 0.6"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="neck" type="spherical" >
+		<parent link="chest" />
+		<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
+		<child link="neck" />
+				<origin rpy = "0 0 0" xyz = "0.000000 0.0 1.000000" />
+				<axis xyz="0 0 1"/>
+	</joint>
+	
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/stadium.sdf b/examples/pybullet/gym/pybullet_data/stadium.sdf
index 585b4eb167..2e212ab1ff 100644
--- a/examples/pybullet/gym/pybullet_data/stadium.sdf
+++ b/examples/pybullet/gym/pybullet_data/stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='roboschool/models_outdoor/stadium/part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf b/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
index 5ed0b533ae..1681195524 100644
--- a/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
+++ b/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='floor_obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='floor'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/examples/pybullet/gym/pybullet_data/stone.mtl b/examples/pybullet/gym/pybullet_data/stone.mtl
new file mode 100644
index 0000000000..70d3ba1dab
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/stone.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/stone.obj b/examples/pybullet/gym/pybullet_data/stone.obj
new file mode 100644
index 0000000000..0fbe8c5f36
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/stone.obj
@@ -0,0 +1,32 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib stone.mtl
+o Cube
+v -0.246350 -0.246483 -0.000624
+v -0.151407 -0.176325 0.172867
+v -0.246350 0.249205 -0.000624
+v -0.151407 0.129477 0.172867
+v 0.249338 -0.246483 -0.000624
+v 0.154395 -0.176325 0.172867
+v 0.249338 0.249205 -0.000624
+v 0.154395 0.129477 0.172867
+vn -0.8772 0.0000 0.4801
+vn 0.0000 0.8230 0.5680
+vn 0.8772 0.0000 0.4801
+vn 0.0000 -0.9271 0.3749
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+usemtl None
+s off
+f 1//1 4//1 3//1
+f 4//2 7//2 3//2
+f 8//3 5//3 7//3
+f 6//4 1//4 5//4
+f 7//5 1//5 3//5
+f 4//6 6//6 8//6
+f 1//1 2//1 4//1
+f 4//2 8//2 7//2
+f 8//3 6//3 5//3
+f 6//4 2//4 1//4
+f 7//5 5//5 1//5
+f 4//6 2//6 6//6
diff --git a/examples/pybullet/gym/pybullet_data/teddy_large.urdf b/examples/pybullet/gym/pybullet_data/teddy_large.urdf
new file mode 100644
index 0000000000..2dc7d78795
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/teddy_large.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="0.5"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.07 0.05 0.03"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
+      </geometry>
+       <material name="red">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/terrain.obj b/examples/pybullet/gym/pybullet_data/terrain.obj
new file mode 100644
index 0000000000..d8f4e204ab
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/terrain.obj
@@ -0,0 +1,2583 @@
+o Terrain
+v  -15.0   -15.0   0.0
+v  -14.0   -15.0   0.0811990914301
+v  -13.0   -15.0   0.0877441126682
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diff --git a/examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl b/examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl
new file mode 100644
index 0000000000..36228e66e8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/torus/torus_textured.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd ../cube.png
diff --git a/examples/pybullet/gym/pybullet_data/torus/torus_textured.obj b/examples/pybullet/gym/pybullet_data/torus/torus_textured.obj
new file mode 100644
index 0000000000..ede99fd1d2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/torus/torus_textured.obj
@@ -0,0 +1,2270 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib torus_textured.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/torus_deform.urdf b/examples/pybullet/gym/pybullet_data/torus_deform.urdf
new file mode 100644
index 0000000000..a3b49dc948
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/torus_deform.urdf
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot name="torus">
+  <deformable name="torus">
+    <inertial>
+      <mass value="3" />
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+    <collision_margin value="0.006"/>
+    <repulsion_stiffness value="800.0"/>
+    <friction value= "0.5"/>
+    <neohookean mu= "180" lambda= "600" damping= "0.01" />
+    <visual filename="torus.vtk"/>
+  </deformable>
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/toys/LICENSE b/examples/pybullet/gym/pybullet_data/toys/LICENSE
new file mode 100644
index 0000000000..655f41b0ff
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/LICENSE
@@ -0,0 +1,14 @@
+URDF created by Erwin Coumans
+
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.cdf b/examples/pybullet/gym/pybullet_data/toys/concave_box.cdf
new file mode 100644
index 0000000000..1183762d81
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/toys/concave_box.cdf differ
diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.mtl b/examples/pybullet/gym/pybullet_data/toys/concave_box.mtl
new file mode 100644
index 0000000000..35c3a209b5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/concave_box.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd ../checker_grid.jpg
diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.obj b/examples/pybullet/gym/pybullet_data/toys/concave_box.obj
new file mode 100644
index 0000000000..bc58715ecf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/concave_box.obj
@@ -0,0 +1,949 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib concave_box.mtl
+o Cube_Cube.003
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diff --git a/examples/pybullet/gym/pybullet_data/toys/concave_box.urdf b/examples/pybullet/gym/pybullet_data/toys/concave_box.urdf
new file mode 100644
index 0000000000..c2180ccdd4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/concave_box.urdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="concave_box.obj" scale="1 1 1"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<cdf filename="concave_box.cdf" scale="1 1 1"/>      
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/toys/cube.mtl b/examples/pybullet/gym/pybullet_data/toys/cube.mtl
new file mode 100644
index 0000000000..c221299b15
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/cube.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'shape_sort.blend'
+# Material Count: 1
+
+newmtl Material.002
+Ns 96.078431
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diff --git a/examples/pybullet/gym/pybullet_data/toys/cube.obj b/examples/pybullet/gym/pybullet_data/toys/cube.obj
new file mode 100644
index 0000000000..c2849fe05e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/cube.obj
@@ -0,0 +1,64 @@
+# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
+# www.blender.org
+mtllib cube.mtl
+o Cube.001_Cube.002
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diff --git a/examples/pybullet/gym/pybullet_data/toys/cylinder.mtl b/examples/pybullet/gym/pybullet_data/toys/cylinder.mtl
new file mode 100644
index 0000000000..3efd485606
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/cylinder.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'shape_sort.blend'
+# Material Count: 1
+
+newmtl Material.001
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.013473 0.018536 0.640000
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/toys/cylinder.obj b/examples/pybullet/gym/pybullet_data/toys/cylinder.obj
new file mode 100644
index 0000000000..b2abf963d0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/cylinder.obj
@@ -0,0 +1,282 @@
+# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
+# www.blender.org
+mtllib cylinder.mtl
+o Cylinder.001
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diff --git a/examples/pybullet/gym/pybullet_data/toys/prism.mtl b/examples/pybullet/gym/pybullet_data/toys/prism.mtl
new file mode 100644
index 0000000000..ed3e8a1aec
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/prism.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'shape_sort.blend'
+# Material Count: 1
+
+newmtl Material.003
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.007339 0.006282
+Ks 0.500000 0.500000 0.500000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/toys/prism.obj b/examples/pybullet/gym/pybullet_data/toys/prism.obj
new file mode 100644
index 0000000000..b8b0d6f0f3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/prism.obj
@@ -0,0 +1,45 @@
+# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
+# www.blender.org
+mtllib prism.mtl
+o Cube.002_Cube.005
+v -0.233641 -0.103557 0.060897
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diff --git a/examples/pybullet/gym/pybullet_data/toys/shape_sorter.mtl b/examples/pybullet/gym/pybullet_data/toys/shape_sorter.mtl
new file mode 100644
index 0000000000..4e59357662
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/shape_sorter.mtl
@@ -0,0 +1,21 @@
+# Blender MTL File: 'shape_sort.blend'
+# Material Count: 2
+
+newmtl Material.004
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
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+
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diff --git a/examples/pybullet/gym/pybullet_data/toys/shape_sorter.obj b/examples/pybullet/gym/pybullet_data/toys/shape_sorter.obj
new file mode 100644
index 0000000000..a8b6dfd84e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/toys/shape_sorter.obj
@@ -0,0 +1,400 @@
+# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
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diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug.obj b/examples/pybullet/gym/pybullet_data/urdf/mug.obj
new file mode 100644
index 0000000000..4fb8d9186d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/urdf/mug.obj
@@ -0,0 +1,1352 @@
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diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug.urdf b/examples/pybullet/gym/pybullet_data/urdf/mug.urdf
new file mode 100644
index 0000000000..ab105ea546
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/urdf/mug.urdf
@@ -0,0 +1,28 @@
+<robot name="mug">
+    <link name="base_link">
+        <contact>
+            <lateral_friction value="1.0"/>
+        </contact>
+        <inertial>
+            <origin xyz="0 0 0"/>
+            <mass value="1"/>
+            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="mug.obj"/>
+            </geometry>
+      <material name="mug">
+        <color rgba="1 0.2 0.2 1"/>
+        <specular rgb="1 1 1"/>
+      </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="mug_col.obj"/>
+            </geometry>
+        </collision>
+    </link>
+</robot>
diff --git a/examples/pybullet/gym/pybullet_data/urdf/mug_col.obj b/examples/pybullet/gym/pybullet_data/urdf/mug_col.obj
new file mode 100644
index 0000000000..4d56449df4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/urdf/mug_col.obj
@@ -0,0 +1,1310 @@
+# Blender v2.79 (sub 0) OBJ File: 'mug.blend'
+# www.blender.org
+o mug_col_Cylinder.003
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diff --git a/examples/pybullet/gym/pybullet_data/uvmap.png b/examples/pybullet/gym/pybullet_data/uvmap.png
new file mode 100644
index 0000000000..81b00f4012
Binary files /dev/null and b/examples/pybullet/gym/pybullet_data/uvmap.png differ
diff --git a/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf
new file mode 100644
index 0000000000..fafcdde515
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf
@@ -0,0 +1,317 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from xarm6_robot.urdf.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="xarm6">
+  <!--
+  Author: Jason Peng <jason@ufactory.cc>
+  Contributers:
+-->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/xarm</robotNamespace>
+      <!-- <controlPeriod>0.0001</controlPeriod> -->
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <legacyModeNS>true</legacyModeNS>
+      <!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
+    </plugin>
+  </gazebo>
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="link_base"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <material name="Black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.85 0.19  0.21 1.0"/>
+  </material>
+  <material name="Blue">
+    <color rgba="0.28 0.52 0.92 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.23 0.72 0.32 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.95 0.76 0.05 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Silver">
+    <color rgba="0.753 0.753 0.753 1.0"/>
+  </material>
+  <link name="link_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
+      <mass value="2.7"/>
+      <inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
+    </inertial>
+  </link>
+  <link name="link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
+      <mass value="2.16"/>
+      <inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <parent link="link_base"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0 0 0.267"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
+      <mass value="1.71"/>
+      <inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
+      <mass value="1.384"/>
+      <inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
+      <mass value="1.115"/>
+      <inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="White"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
+      <mass value="1.275"/>
+      <inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <link name="link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="Silver"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
+      <mass value="0.1096"/>
+      <inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
+    <dynamics damping="1.0" friction="1.0"/>
+  </joint>
+  <transmission name="tran1">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>100</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran2">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>reduction</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran3">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>reduction</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran4">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>reduction</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran5">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>reduction</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="tran6">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="motor6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>reduction</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="link_base">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link1">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link2">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link3">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link4">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link5">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link6">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
index 29f5db65da..671cf0e8e6 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
@@ -54,7 +54,7 @@ def main():
       frame += 1
       distance = 5
       yaw = 0
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
index b95ff2e31a..be19716779 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
@@ -49,7 +49,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
index 18b902d5a0..9b04c44a28 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
index cfbbbfd731..cad0ca566a 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
@@ -53,7 +53,7 @@ def demo_run():
       score += r
       frame += 1
 
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
 
       if still_open == False:
         return
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
index fbd35164dd..e0227fe1da 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
index e4e84dd936..82ed973298 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
index 8c1ccd08d2..fc612f393c 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
index b88e19f51b..de71b9770d 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
@@ -50,7 +50,7 @@ def main():
       score += r
       frame += 1
 
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/testEnv.py b/examples/pybullet/gym/pybullet_envs/examples/testEnv.py
index 5d30d27af7..6c550fe4fa 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/testEnv.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/testEnv.py
@@ -13,10 +13,28 @@ def test(args):
   count = 0
   env = gym.make(args.env)
   env.env.configure(args)
+  
   print("args.render=", args.render)
   if (args.render == 1):
     env.render(mode="human")
   env.reset()
+  
+  w, h, vmat,projmat,camup,camfwd,hor,ver,yaw,pitch,dist,target= p.getDebugVisualizerCamera()
+  dist = 0.4
+  yaw = 0
+  p.resetDebugVisualizerCamera(dist,yaw, pitch,target)
+  
+  for obindex in range (p.getNumBodies()):
+    obuid = p.getBodyUniqueId(obindex)
+    p.changeDynamics(obuid, -1, linearDamping=0, angularDamping=0)
+    for l in range (p.getNumJoints(obuid)):
+      p.changeDynamics(obuid, l, linearDamping=0, angularDamping=0, jointDamping=0)
+      #if (l==0):
+      #  p.setJointMotorControl2(obuid,l,p.POSITION_CONTROL,targetPosition=0)
+      if (l==2):
+        jp,jv,_,_ = p.getJointState(obuid,l)
+        p.resetJointState(obuid,l, jp,0.01 )
+    
   if (args.resetbenchmark):
     while (1):
       env.reset()
@@ -26,6 +44,8 @@ def test(args):
   print("action space:")
   sample = env.action_space.sample()
   action = sample * 0.0
+  action = [0,0]#sample * 0.0
+  
   print("action=")
   print(action)
   for i in range(args.steps):
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/__init__.py
index 8b13789179..e69de29bb2 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/__init__.py
@@ -1 +0,0 @@
-
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py
index 8b13789179..e69de29bb2 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/__init__.py
@@ -1 +0,0 @@
-
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py
new file mode 100644
index 0000000000..3838c74aa2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_height_estimator.py
@@ -0,0 +1,76 @@
+"""State estimator for robot height."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import copy
+from typing import Any, Sequence
+
+import gin
+
+from pybullet_envs.minitaur.agents.baseline_controller import state_estimator
+
+
+@gin.configurable
+class COMHeightEstimator(state_estimator.StateEstimatorBase):
+  """Estimate the CoM height using base orientation and local toe positions."""
+
+  def __init__(
+      self,
+      robot: Any,
+      com_estimate_leg_indices: Sequence[int] = (0, 1, 2, 3),
+      initial_com_height: float = 0.45,
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A quadruped robot.
+      com_estimate_leg_indices: Leg indices used in estimating the CoM height.
+      initial_com_height: CoM height used during reset.
+    """
+    self._robot = robot
+    self._com_estimate_leg_indices = com_estimate_leg_indices
+    self._initial_com_estimate_leg_indices = copy.copy(com_estimate_leg_indices)
+    self._initial_com_height = initial_com_height
+    self.reset(0)
+
+  @property
+  def estimated_com_height(self):
+    return self._com_height
+
+  def reset(self, current_time):
+    del current_time
+    self._com_height = self._initial_com_height
+    self._com_estimate_leg_indices = copy.copy(
+        self._initial_com_estimate_leg_indices)
+
+  def update(self, current_time):
+    del current_time
+    local_toe_poses = self._robot.foot_positions(
+        position_in_world_frame=False)
+    # We rotate the local toe positions into the world orientation centered
+    # at the robot base to estimate the height of the robot.
+    world_toe_poses = []
+    for toe_p in local_toe_poses:
+      world_toe_poses.append(
+          self._robot.pybullet_client.multiplyTransforms(
+              positionA=(0, 0, 0),
+              orientationA=self._robot.base_orientation_quaternion,
+              positionB=toe_p,
+              orientationB=(0, 0, 0, 1))[0])
+    mean_height = 0.0
+    num_toe_in_contact = 0
+    for leg_id in self._com_estimate_leg_indices:
+      mean_height += world_toe_poses[leg_id][2]
+      num_toe_in_contact += 1
+    mean_height /= num_toe_in_contact
+    self._com_height = abs(mean_height)
+
+  @property
+  def com_estimate_leg_indices(self):
+    return self._com_estimate_leg_indices
+
+  @com_estimate_leg_indices.setter
+  def com_estimate_leg_indices(self, leg_indices):
+    self._com_estimate_leg_indices = leg_indices
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py
new file mode 100644
index 0000000000..609f83271f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/com_velocity_estimator.py
@@ -0,0 +1,83 @@
+"""State estimator."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import Any, Sequence
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import state_estimator
+from pybullet_envs.minitaur.robots.safety.python import moving_window_filter
+
+_DEFAULT_WINDOW_SIZE = 20
+
+
+@gin.configurable
+class COMVelocityEstimator(state_estimator.StateEstimatorBase):
+  """Estimate the CoM velocity using on board sensors.
+
+
+  Requires knowledge about the base velocity in world frame, which for example
+  can be obtained from a MoCap system. This estimator will filter out the high
+  frequency noises in the velocity so the results can be used with controllers
+  reliably.
+
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      window_size: int = _DEFAULT_WINDOW_SIZE,
+  ):
+    self._robot = robot
+    self._window_size = window_size
+    self.reset(0)
+
+  @property
+  def com_velocity_body_yaw_aligned_frame(self) -> Sequence[float]:
+    """The base velocity projected in the body aligned inertial frame.
+
+    The body aligned frame is a intertia frame that coincides with the body
+    frame, but has a zero relative velocity/angular velocity to the world frame.
+
+    Returns:
+      The com velocity in body aligned frame.
+    """
+    return self._com_velocity_body_yaw_aligned_frame
+
+  @property
+  def com_velocity_world_frame(self) -> Sequence[float]:
+    return self._com_velocity_world_frame
+
+  def reset(self, current_time):
+    del current_time
+    # We use a moving window filter to reduce the noise in velocity estimation.
+    self._velocity_filter_x = moving_window_filter.MovingWindowFilter(
+        window_size=self._window_size)
+    self._velocity_filter_y = moving_window_filter.MovingWindowFilter(
+        window_size=self._window_size)
+    self._velocity_filter_z = moving_window_filter.MovingWindowFilter(
+        window_size=self._window_size)
+    self._com_velocity_world_frame = np.array((0, 0, 0))
+    self._com_velocity_body_yaw_aligned_frame = np.array((0, 0, 0))
+
+  def update(self, current_time):
+    del current_time
+    velocity = self._robot.base_velocity
+
+    vx = self._velocity_filter_x.CalculateAverage(velocity[0])
+    vy = self._velocity_filter_y.CalculateAverage(velocity[1])
+    vz = self._velocity_filter_z.CalculateAverage(velocity[2])
+    self._com_velocity_world_frame = np.array((vx, vy, vz))
+
+    base_orientation = self._robot.base_orientation_quaternion
+    _, inverse_rotation = self._robot.pybullet_client.invertTransform(
+        (0, 0, 0), base_orientation)
+
+    self._com_velocity_body_yaw_aligned_frame, _ = (
+        self._robot.pybullet_client.multiplyTransforms(
+            (0, 0, 0), inverse_rotation, self._com_velocity_world_frame,
+            (0, 0, 0, 1)))
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py
new file mode 100644
index 0000000000..69af3189ae
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py
@@ -0,0 +1,86 @@
+"""A dummy gait generator module for storing gait patterns from higher-level controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import copy
+from typing import Any, Sequence
+
+import gin
+
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator
+
+LAIKAGO_STANDING = (
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+)
+
+
+@gin.configurable
+class DummyGaitGenerator(gait_generator.GaitGenerator):
+  """A module for storing quadruped gait patterns from high-level controller.
+
+  This module stores the state for each leg of a quadruped robot. The data is
+  used by the stance leg controller to determine the appropriate contact forces.
+  A high-level controller, such as a neural network policy, can be used to
+  control the gait pattern and set corresponding leg states.
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      initial_leg_state: Sequence[gait_generator.LegState] = LAIKAGO_STANDING,
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A quadruped robot.
+      initial_leg_state: The desired initial swing/stance state of legs indexed
+        by their id.
+    """
+    self._robot = robot
+    if len(initial_leg_state) != len(
+        list(self._robot.urdf_loader.get_end_effector_id_dict().values())):
+      raise ValueError(
+          "The number of leg states should be the same of number of legs.")
+    self._initial_leg_state = initial_leg_state
+    self._leg_state = list(initial_leg_state)
+    self._desired_leg_state = list(initial_leg_state)
+
+    self.reset(0)
+
+  def reset(self, current_time):
+    del current_time
+    self._leg_state = list(self._initial_leg_state)
+    self._desired_leg_state = list(self._initial_leg_state)
+
+  @property
+  def desired_leg_state(self) -> Sequence[gait_generator.LegState]:
+    """The desired leg SWING/STANCE states.
+
+    Returns:
+      The SWING/STANCE states for all legs.
+
+    """
+    return self._desired_leg_state
+
+  @desired_leg_state.setter
+  def desired_leg_state(self, state):
+    self._desired_leg_state = copy.deepcopy(state)
+
+  @property
+  def leg_state(self) -> Sequence[gait_generator.LegState]:
+    """The leg state after considering contact with ground.
+
+    Returns:
+      The actual state of each leg after accounting for contacts.
+    """
+    return self._leg_state
+
+  @leg_state.setter
+  def leg_state(self, state):
+    self._leg_state = copy.deepcopy(state)
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py
new file mode 100644
index 0000000000..8a79a236ff
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/foot_stepper.py
@@ -0,0 +1,199 @@
+# Lint as: python3
+"""A state machine that steps each foot for a static gait. Experimental code."""
+
+import copy
+import math
+
+import numpy as np
+
+
+class StepInput(object):
+
+  def __init__(self):
+    self.base_com_pos = np.array([0, 0, 0])
+    self.base_com_orn = np.array([0, 0, 0, 1])
+    self.toe_pos_world = np.array([0, 0, 0] * 4)
+    self.new_pos_world = np.array([0, 0, 0])
+
+
+class StepOutput(object):
+
+  def __init__(self, new_toe_pos_world):
+    self.new_toe_pos_world = new_toe_pos_world
+
+
+class FootStepper(object):
+  """This class computes desired foot placement for a quadruped robot."""
+
+  def __init__(self, bullet_client, toe_ids, toe_pos_local_ref):
+    self.bullet_client = bullet_client
+    self.state_time = 0.
+    self.toe_ids = toe_ids
+    self.toe_pos_local_ref = toe_pos_local_ref
+    self.sphere_uid = self.bullet_client.loadURDF(
+        "sphere_small.urdf", [0, 0, 0], useFixedBase=True)
+    self.is_far = True
+    self.max_shift = 0.0008
+    self.far_bound = 0.005
+    self.close_bound = 0.03
+
+    self.move_swing_foot = False
+    self.amp = 0.2
+    alpha = 1
+
+    # Loads/draws spheres for debugging purpose. The spheres visualize the
+    # target COM, the current COM and the target foothold location.
+    self.sphere_uid_centroid = self.bullet_client.loadURDF(
+        "sphere_small.urdf", [0, 0, 0], useFixedBase=True)
+    self.bullet_client.changeVisualShape(
+        self.sphere_uid_centroid, -1, rgbaColor=[1, 1, 0, alpha])
+
+    # Disable collision since visualization spheres should not collide with the
+    # robot.
+    self.bullet_client.setCollisionFilterGroupMask(self.sphere_uid_centroid, -1,
+                                                   0, 0)
+
+    self.sphere_uid_com = self.bullet_client.loadURDF(
+        "sphere_small.urdf", [0, 0, 0], useFixedBase=True)
+    self.bullet_client.changeVisualShape(
+        self.sphere_uid_com, -1, rgbaColor=[1, 0, 1, alpha])
+    self.bullet_client.setCollisionFilterGroupMask(self.sphere_uid_com, -1, 0,
+                                                   0)
+
+    self.bullet_client.setCollisionFilterGroupMask(self.sphere_uid, -1, 0, 0)
+    self.feetindices = [1, 3, 0, 2]
+    self.swing_foot_index1 = 0
+    self.swing_foot_index = self.feetindices[self.swing_foot_index1]
+    self.colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
+    self.support_vertices = [[1, 2, 3], [0, 2, 3], [0, 1, 3], [0, 1, 2]]
+    self.local_diff_y_threshold = 0.05
+    self.local_diff_y = 100
+    self.is_far = True
+    self.get_reference_pos_swing_foot()
+
+  def next_foot(self):
+    self.swing_foot_index1 = (self.swing_foot_index1 + 1) % 4
+    self.swing_foot_index = self.feetindices[self.swing_foot_index1]
+
+  def swing_foot(self):
+    self.move_swing_foot = True
+
+  def get_reference_pos_swing_foot(self):
+    self.new_pos_local = np.array(
+        self.toe_pos_local_ref[self.swing_foot_index])
+    return self.new_pos_local
+
+  def set_reference_pos_swing_foot(self, new_pos_local):
+    self.new_pos_local = new_pos_local
+
+  def is_com_stable(self):
+    ld2 = self.local_diff_y * self.local_diff_y
+    yaw_ok = ld2 < (self.local_diff_y_threshold * self.local_diff_y_threshold)
+    com_ok = not self.is_far
+    return com_ok and yaw_ok
+
+  def update(self, step_input):
+    """Updates the state machine and toe movements per state."""
+    base_com_pos = step_input.base_com_pos
+    base_com_orn = step_input.base_com_orn
+    base_com_pos_inv, base_com_orn_inv = self.bullet_client.invertTransform(
+        base_com_pos, base_com_orn)
+
+    dt = step_input.dt
+    self.bullet_client.resetBasePositionAndOrientation(self.sphere_uid,
+                                                       step_input.new_pos_world,
+                                                       [0, 0, 0, 1])
+    self.bullet_client.changeVisualShape(
+        self.sphere_uid, -1, rgbaColor=self.colors[self.swing_foot_index])
+
+    all_toes_pos_locals = []
+    for toe_pos_world in step_input.toe_pos_world:
+      toe_pos_local, _ = self.bullet_client.multiplyTransforms(
+          base_com_pos_inv, base_com_orn_inv, toe_pos_world, [0, 0, 0, 1])
+      all_toes_pos_locals.append(toe_pos_local)
+    all_toes_pos_locals = np.array(all_toes_pos_locals)
+    centroid_world = np.zeros(3)
+    for v in self.support_vertices[self.swing_foot_index]:
+      vtx_pos_world = step_input.toe_pos_world[v]
+      centroid_world += vtx_pos_world
+    centroid_world /= 3.
+
+    sphere_z_offset = 0.05
+    self.diff_world = base_com_pos - centroid_world
+    self.diff_world[2] = 0.
+    self.bullet_client.resetBasePositionAndOrientation(self.sphere_uid_centroid,
+                                                       centroid_world,
+                                                       [0, 0, 0, 1])
+    self.bullet_client.resetBasePositionAndOrientation(
+        self.sphere_uid_com,
+        [base_com_pos[0], base_com_pos[1], sphere_z_offset], [0, 0, 0, 1])
+
+    l = np.linalg.norm(self.diff_world)
+    if self.is_far:
+      bound = self.far_bound
+    else:
+      bound = self.close_bound
+
+    if l > bound:
+      self.diff_world *= self.max_shift * 0.5 / l
+      if not self.is_far:
+        self.is_far = True
+    else:
+      if self.is_far:
+        self.is_far = False
+
+    if not self.is_far:
+      self.diff_world = np.zeros(3)
+    for i in range(len(self.toe_pos_local_ref)):
+      toe = self.toe_pos_local_ref[i]
+      toe = [
+          toe[0] + self.diff_world[0], toe[1] + self.diff_world[1],
+          toe[2] + self.diff_world[2]
+      ]
+      self.toe_pos_local_ref[i] = toe
+
+    self.local_diff_y = self.toe_pos_local_ref[0][
+        1] + self.toe_pos_local_ref[1][1] - self.toe_pos_local_ref[
+            2][1] - self.toe_pos_local_ref[3][1]
+
+    self.yaw = 0
+    if self.local_diff_y < -self.local_diff_y_threshold:
+      self.yaw = 0.001
+    if self.local_diff_y > self.local_diff_y_threshold:
+      self.yaw = -0.001
+
+    yaw_trans = self.bullet_client.getQuaternionFromEuler([0, 0, self.yaw])
+
+    if not self.is_far:
+      for i in range(len(self.toe_pos_local_ref)):
+        toe = self.toe_pos_local_ref[i]
+        toe, _ = self.bullet_client.multiplyTransforms([0, 0, 0], yaw_trans,
+                                                       toe, [0, 0, 0, 1])
+        self.toe_pos_local_ref[i] = toe
+
+    new_toe_pos_world = []
+
+    # Moves the swing foot to the target location.
+    if self.move_swing_foot:
+      if self.state_time <= 1:
+        self.state_time += 4 * dt
+    if self.state_time >= 1:
+      self.move_swing_foot = False
+      self.state_time = 0
+      self.toe_pos_local_ref[self.swing_foot_index] = self.new_pos_local
+    toe_pos_local_ref_copy = copy.deepcopy(self.toe_pos_local_ref)
+    old_pos = self.toe_pos_local_ref[self.swing_foot_index]
+    new_pos = [
+        old_pos[0] * (1 - self.state_time) + self.new_pos_local[0] *
+        (self.state_time), old_pos[1] * (1 - self.state_time) +
+        self.new_pos_local[1] * (self.state_time),
+        old_pos[2] * (1 - self.state_time) + self.new_pos_local[2] *
+        (self.state_time) + self.amp * math.sin(self.state_time * math.pi)
+    ]
+    toe_pos_local_ref_copy[self.swing_foot_index] = new_pos
+    for toe_pos_local in toe_pos_local_ref_copy:
+      new_toe_pos_world.append(self.bullet_client.multiplyTransforms(
+          base_com_pos, base_com_orn, toe_pos_local, [0, 0, 0, 1])[0])
+
+    step_output = StepOutput(new_toe_pos_world)
+    return step_output
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py
new file mode 100644
index 0000000000..61bd849acf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/gait_generator.py
@@ -0,0 +1,32 @@
+"""Gait pattern planning module."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import abc
+import enum
+
+
+class LegState(enum.Enum):
+  """The state of a leg during locomotion."""
+  SWING = 0
+  STANCE = 1
+  # A swing leg that collides with the ground.
+  EARLY_CONTACT = 2
+  # A stance leg that loses contact.
+  LOSE_CONTACT = 3
+
+
+class GaitGenerator(object):  # pytype: disable=ignored-metaclass
+  """Generates the leg swing/stance pattern for the robot."""
+
+  __metaclass__ = abc.ABCMeta
+
+  @abc.abstractmethod
+  def reset(self, current_time):
+    pass
+
+  @abc.abstractmethod
+  def update(self, current_time):
+    pass
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py
new file mode 100644
index 0000000000..4caea0906b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/imu_based_com_velocity_estimator.py
@@ -0,0 +1,216 @@
+"""State estimator."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import Any, Sequence
+
+from filterpy import kalman
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import state_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import time_based_moving_window_filter
+from pybullet_envs.minitaur.envs_v2.sensors import accelerometer_sensor
+from pybullet_envs.minitaur.envs_v2.sensors import imu_sensor
+
+_DEFAULT_VELOCITY_FILTER_WINDOW = 0.2
+_DEFAULT_GYRO_FILTER_WINDOW = 0.1
+_DEFAULT_VELOCITY_CLIPPING = 0.8
+_STATE_DIMENSION = 3
+_GRAVITY = (0.0, 0.0, -9.8)
+
+
+@gin.configurable
+class IMUBasedCOMVelocityEstimator(state_estimator.StateEstimatorBase):
+  """Estimate the CoM velocity using IMU sensors and velocities of stance feet.
+
+
+  Estimates the com velocity of the robot using IMU data and stance feet
+  velocities fused by a Kalman Filter. Kalman Filter assumes the true state x
+  follows a linear dynamics: x'=Fx+Bu+w, where x' and x denots the
+  current and previous state of the robot, F is the state transition matrix,
+  B is the control-input matrix, and w is the noise in the dynamics, assuming to
+  follow a zero-mean multivariate normal distribution with covariance Q. It also
+  assumes that we can obtain a noisy observation of the state with the model
+  z=Hx+v, where z is the observed state, H is the observation matrix, and v is
+  a noise model, assuming to follow a zero-mean multivariate normal distribution
+  with covariance R. In our case, x is the CoM velocity of the robot,
+  F=B=H=eye(3), u=dt * CoM acceleration, which is obtained from accelerometer,
+  and the noisy observation z is obtained from the negated average velocities at
+  the end-effectors in contact with the ground.
+
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      use_sensor_interface: bool = True,
+      accelerometer_variance=0.1,
+      observation_variance=0.1,
+      initial_variance=0.1,
+      velocity_filter_window: float = _DEFAULT_VELOCITY_FILTER_WINDOW,
+      gyroscope_filter_window: float = _DEFAULT_GYRO_FILTER_WINDOW,
+      contact_detection_threshold: float = 0.0,
+      velocity_clipping: float = _DEFAULT_VELOCITY_CLIPPING,
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A quadruped robot.
+      use_sensor_interface: Whether to use the sensor interface to obtain the
+        IMU readings or directly get them from the robot class. Former should
+        be used in simulation to enable added latency and noise while latter
+        should be used on real robot for better performance.
+      accelerometer_variance: The estimated variance in the accelerometer
+        readings, used in the Kalman Filter.
+      observation_variance: The estimated variance in the observed CoM velocity
+        from the stance feet velocities, used in the Kalman Filter.
+      initial_variance: The variance of the initial distribution for the
+        estimated CoM variance.
+      velocity_filter_window: The filtering window (in time) used to smooth the
+        estimated CoM velocity.
+      gyroscope_filter_window: The filtering window (in time) used to smooth the
+        input gyroscope readings.
+      contact_detection_threshold: Threshold on the contact sensor readings to
+        determine whether the foot is in contact with the ground.
+      velocity_clipping: Clipping value for the estimated velocity to prevent
+        unrealistically large velocity estimations.
+    """
+    self._robot = robot
+    self._contact_detection_threshold = contact_detection_threshold
+    self._velocity_clipping = velocity_clipping
+    self._use_sensor_interface = use_sensor_interface
+
+    # Use the accelerometer and gyroscope sensor from the robot
+    if self._use_sensor_interface:
+      for sensor in self._robot.sensors:
+        if isinstance(sensor, accelerometer_sensor.AccelerometerSensor):
+          self._accelerometer = sensor
+        if isinstance(sensor, imu_sensor.IMUSensor):
+          self._gyroscope = sensor
+      assert hasattr(self, "_accelerometer") and self._accelerometer is not None
+      assert hasattr(self, "_gyroscope") and self._gyroscope is not None
+
+    # x is the underlying CoM velocity we want to estimate, z is the observed
+    # CoM velocity from the stance feet velocities, and u is the accelerometer
+    # readings.
+    self._filter = kalman.KalmanFilter(
+        dim_x=_STATE_DIMENSION,
+        dim_z=_STATE_DIMENSION,
+        dim_u=_STATE_DIMENSION)
+    # Initialize the state distribution to be a zero-mean multi-variate normal
+    # distribution with initial variance.
+    self._filter.x = np.zeros(_STATE_DIMENSION)
+    self._initial_variance = initial_variance
+    self._filter.P = np.eye(_STATE_DIMENSION) * self._initial_variance
+    # Covariance matrix for the control variable.
+    self._filter.Q = np.eye(_STATE_DIMENSION) * accelerometer_variance
+    # Covariance matrix for the observed states.
+    self._filter.R = np.eye(_STATE_DIMENSION) * observation_variance
+
+    # observation function (z=H*x+N(0,R))
+    self._filter.H = np.eye(_STATE_DIMENSION)
+    # state transition matrix (x'=F*x+B*u+N(0,Q))
+    self._filter.F = np.eye(_STATE_DIMENSION)
+    # Control transition matrix
+    self._filter.B = np.eye(_STATE_DIMENSION)
+
+    self._velocity_filter = time_based_moving_window_filter.TimeBasedMovingWindowFilter(
+        velocity_filter_window)
+    self._gyroscope_filter = time_based_moving_window_filter.TimeBasedMovingWindowFilter(
+        gyroscope_filter_window)
+
+    self.reset(0)
+
+  @property
+  def com_velocity_body_yaw_aligned_frame(self) -> Sequence[float]:
+    """The base velocity projected in the body yaw aligned inertial frame.
+
+    The body yaw aligned frame is a intertia frame where the z axis coincides
+    with the yaw of the robot base and the x and y axis coincides with the world
+    frame. It has a zero relative velocity/angular velocity
+    to the world frame.
+
+    Returns:
+      The com velocity in body yaw aligned frame.
+    """
+    clipped_velocity = np.clip(self._com_velocity_body_yaw_aligned_frame,
+                               -self._velocity_clipping,
+                               self._velocity_clipping)
+
+    return clipped_velocity
+
+  def reset(self, current_time):
+    del current_time
+    self._filter.x = np.zeros(_STATE_DIMENSION)
+    self._filter.P = np.eye(_STATE_DIMENSION) * self._initial_variance
+
+    self._com_velocity_body_yaw_aligned_frame = np.zeros(_STATE_DIMENSION)
+
+    self._velocity_filter.reset()
+    self._gyroscope_filter.reset()
+
+    # Use None instead of 0 in case of a big gap between reset and first step.
+    self._last_timestamp = None
+
+  def update(self, current_time):
+    del current_time
+    current_timestamp = self._robot.timestamp
+
+    # First time step
+    if self._last_timestamp is None:
+      delta_time_s = 0.0
+    else:
+      delta_time_s = current_timestamp - self._last_timestamp
+    self._last_timestamp = current_timestamp
+
+    if self._use_sensor_interface:
+      sensor_acc = np.array(self._accelerometer.get_observation())
+      gyroscope_reading = self._gyroscope.get_observation()
+    else:
+      sensor_acc = np.array(self._robot.base_acceleration_accelerometer)
+      gyroscope_reading = self._robot.base_roll_pitch_yaw
+
+    filtered_gyroscope_reading = self._gyroscope_filter.calculate_average(
+        gyroscope_reading, current_timestamp)
+    # The yaw angle is not used here because reliably estimating the yaw angle
+    # of the robot is in general difficult. This leads to a body yaw aligned
+    # inertia frame for the estimated velocity.
+    yaw_aligned_base_orientation = self._robot.pybullet_client.getQuaternionFromEuler(
+        (filtered_gyroscope_reading[0], filtered_gyroscope_reading[1], 0.0))
+
+    rot_mat = self._robot.pybullet_client.getMatrixFromQuaternion(
+        yaw_aligned_base_orientation)
+    rot_mat = np.array(rot_mat).reshape((_STATE_DIMENSION, _STATE_DIMENSION))
+    calibrated_acc = rot_mat.dot(sensor_acc) + np.array(_GRAVITY)
+    self._filter.predict(u=calibrated_acc * delta_time_s)
+    observed_velocities = []
+
+    foot_contact = [
+        np.linalg.norm(contact_force) > self._contact_detection_threshold
+        for contact_force in self._robot.feet_contact_forces()
+    ]
+    for leg_id in range(4):
+      if foot_contact[leg_id]:
+        jacobian = self._robot.compute_jacobian_for_one_leg(leg_id)
+        # Only pick the jacobian related to joint motors
+        # TODO(magicmelon): standardize the process of picking out relevant dofs
+        com_dof = self._robot.urdf_loader.com_dof
+        jacobian = jacobian[:,
+                            com_dof + leg_id * 3:com_dof + (leg_id + 1) * 3]
+        joint_velocities = self._robot.motor_velocities[leg_id *
+                                                        3:(leg_id + 1) * 3]
+        leg_velocity_in_base_frame = jacobian.dot(joint_velocities)
+        base_velocity_in_base_frame = -leg_velocity_in_base_frame
+        observed_velocities.append(rot_mat.dot(base_velocity_in_base_frame))
+
+    if observed_velocities:
+      observed_velocities = np.mean(observed_velocities, axis=0)
+      self._filter.update(observed_velocities)
+
+    velocity = self._filter.x.copy()
+
+    self._com_velocity_body_yaw_aligned_frame = self._velocity_filter.calculate_average(
+        velocity, current_timestamp)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py
new file mode 100644
index 0000000000..731f7ae9f3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/leg_controller.py
@@ -0,0 +1,29 @@
+"""The leg controller class interface."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import abc
+from typing import Any
+
+
+class LegController(object):  # pytype: disable=ignored-metaclass
+  """Generates the leg control signal."""
+
+  __metaclass__ = abc.ABCMeta
+
+  @abc.abstractmethod
+  def reset(self, current_time: float):
+    """Resets the controller's internal state."""
+    pass
+
+  @abc.abstractmethod
+  def update(self, current_time: float):
+    """Updates the controller's internal state."""
+    pass
+
+  @abc.abstractmethod
+  def get_action(self) -> Any:
+    """Gets the control signal e.g. torques/positions for the leg."""
+    pass
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py
new file mode 100644
index 0000000000..d9bca69f52
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller.py
@@ -0,0 +1,96 @@
+"""A model based controller framework."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import time
+from typing import Any, Callable
+
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib
+from pybullet_envs.minitaur.agents.baseline_controller import leg_controller as leg_controller_lib
+from pybullet_envs.minitaur.agents.baseline_controller import state_estimator as state_estimator_lib
+
+
+class LocomotionController(object):
+  """Generates the quadruped locomotion.
+
+  The actual effect of this controller depends on the composition of each
+  individual subcomponent.
+
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      gait_generator: gait_generator_lib.GaitGenerator,
+      state_estimator: state_estimator_lib.StateEstimatorBase,
+      swing_leg_controller: leg_controller_lib.LegController,
+      stance_leg_controller: leg_controller_lib.LegController,
+      clock: Callable[[], float] = None,
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A robot instance.
+      gait_generator: Generates the leg swing/stance pattern.
+      state_estimator: Estimates the state of the robot (e.g. center of mass
+        position or velocity that may not be observable from sensors).
+      swing_leg_controller: Generates motor actions for swing legs.
+      stance_leg_controller: Generates motor actions for stance legs.
+      clock: A real or fake clock source.
+    """
+    self._robot = robot
+    self._clock = clock
+    if clock is None:
+      self._clock = time.time
+    self._reset_time = self._clock()
+    self._time_since_reset = 0
+    self._gait_generator = gait_generator
+    self._state_estimator = state_estimator
+    self._swing_leg_controller = swing_leg_controller
+    self._stance_leg_controller = stance_leg_controller
+
+  @property
+  def swing_leg_controller(self):
+    return self._swing_leg_controller
+
+  @property
+  def stance_leg_controller(self):
+    return self._stance_leg_controller
+
+  @property
+  def gait_generator(self):
+    return self._gait_generator
+
+  @property
+  def state_estimator(self):
+    return self._state_estimator
+
+  def reset(self):
+    self._reset_time = self._clock()
+    self._time_since_reset = 0
+    self._gait_generator.reset(self._time_since_reset)
+    self._state_estimator.reset(self._time_since_reset)
+    self._swing_leg_controller.reset(self._time_since_reset)
+    self._stance_leg_controller.reset(self._time_since_reset)
+
+  def update(self):
+    self._time_since_reset = self._clock() - self._reset_time
+    self._gait_generator.update(self._time_since_reset)
+    self._state_estimator.update(self._time_since_reset)
+    self._swing_leg_controller.update(self._time_since_reset)
+    self._stance_leg_controller.update(self._time_since_reset)
+
+  def get_action(self):
+    """Returns the control ouputs (e.g. positions/torques) for all motors."""
+    swing_action = self._swing_leg_controller.get_action()
+    stance_action = self._stance_leg_controller.get_action()
+    action = []
+    for joint_id in range(self._robot.num_motors):
+      if joint_id in swing_action:
+        action.extend(swing_action[joint_id])
+      else:
+        assert joint_id in stance_action
+        action.extend(stance_action[joint_id])
+    return action
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py
new file mode 100644
index 0000000000..fd867950d6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_example.py
@@ -0,0 +1,190 @@
+r"""Laikago walking example using the locomotion controller framework.
+
+"""
+
+import gc
+import pickle
+
+from absl import app
+from absl import flags
+import numpy as np
+import scipy.interpolate
+
+
+from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup
+from pybullet_envs.minitaur.envs_v2 import env_loader
+from pybullet_envs.minitaur.robots import robot_config
+
+FLAGS = flags.FLAGS
+flags.DEFINE_boolean("run_on_robot", False,
+                     "whether to run in sim or on real hardware")
+flags.DEFINE_boolean(
+    "use_ground_truth_velocity", False,
+    "whether to use a ground truth velocity estimator (available in sim)")
+flags.DEFINE_enum("gait", "fast_trot",
+                  ["fast_trot", "slow_trot", "walk", "stand"],
+                  "The gait pattern to use")
+flags.DEFINE_boolean(
+    "use_keyboard_control", False,
+    "whether to use a keyboard to control or demo speed profile.")
+flags.DEFINE_string("log_path", None, "Path to save robot logs")
+flags.DEFINE_boolean("add_random_push", False,
+                     "whether to add random push to the robot in simulation")
+
+_MAX_TIME_SECONDS = 100
+
+
+def _load_config(render=True, run_on_robot=False):
+  """Builds the environment for the quadruped robot.
+
+  Args:
+    render: Enable/disable rendering.
+    run_on_robot: Whether deploy to robot or run in sim.
+  """
+  if run_on_robot:
+    locomotion_controller_setup.load_real_config()
+  else:
+    locomotion_controller_setup.load_sim_config(render)
+    if FLAGS.add_random_push:
+      locomotion_controller_setup.add_random_push_config()
+
+
+def _generate_example_linear_angular_speed(t):
+  """Creates an example speed profile based on time for demo purpose."""
+  vx = 0.1
+  vy = 0.1
+  wz = 0.3
+  time_points = (0, 4, 7, 11, 13, 15, 17, 19, 100)
+  speed_points = ((0, 0, 0, 0), (vx, 0, 0, 0), (-vx, 0, 0, 0), (0, -vy, 0, 0),
+                  (0, vy, 0, 0), (0, 0, 0, wz), (0, 0, 0, -wz), (0, 0, 0, 0),
+                  (0, 0, 0, 0))
+
+  speed = scipy.interpolate.interp1d(
+      time_points,
+      speed_points,
+      kind="previous",
+      fill_value="extrapolate",
+      axis=0)(
+          t)
+
+  return speed[0:3], speed[3]
+
+
+def _update_speed_from_kb(kb, lin_speed, ang_speed):
+  """Updates the controller behavior parameters."""
+  if kb.is_keyboard_hit():
+    c = kb.get_input_character()
+    if c == "w":
+      lin_speed += np.array((0.05, 0, 0))
+    if c == "s":
+      lin_speed += np.array((-0.05, 0, 0))
+    if c == "q":
+      ang_speed += 0.1
+    if c == "e":
+      ang_speed += -0.1
+    if c == "a":
+      lin_speed += np.array((0, 0.05, 0))
+    if c == "d":
+      lin_speed += np.array((0, -0.05, 0))
+    if c == "r":
+      lin_speed = np.array([0.0, 0.0, 0.0])
+      ang_speed = 0.0
+
+    lin_speed[0] = np.clip(lin_speed[0], -0.2, 0.4)
+    lin_speed[1] = np.clip(lin_speed[1], -0.2, 0.2)
+    ang_speed = np.clip(ang_speed, -0.3, 0.3)
+    print("desired speed: ", lin_speed, ang_speed)
+
+  return lin_speed, ang_speed
+
+
+def _update_controller_params(controller, lin_speed, ang_speed):
+  controller.swing_leg_controller.desired_speed = lin_speed
+  controller.swing_leg_controller.desired_twisting_speed = ang_speed
+  controller.stance_leg_controller.desired_speed = lin_speed
+  controller.stance_leg_controller.desired_twisting_speed = ang_speed
+
+
+def _run_example(max_time=_MAX_TIME_SECONDS,
+                 run_on_robot=False,
+                 use_keyboard=False):
+  """Runs the locomotion controller example."""
+  if use_keyboard:
+    kb = keyboard_utils.KeyboardInput()
+
+  env = env_loader.load()
+  env.reset()
+
+  # To mitigate jittering from the python
+  gc.collect()
+
+  # Wait for the robot to be placed properly.
+  if run_on_robot:
+    input("Press Enter to continue when robot is ready.")
+
+  lin_speed = np.array([0.0, 0.0, 0.0])
+  ang_speed = 0.0
+
+  controller = locomotion_controller_setup.setup_controller(
+      env.robot, FLAGS.gait, run_on_robot, FLAGS.use_ground_truth_velocity)
+  controller.reset()
+
+  loop_start_time = env.get_time_since_reset()
+  loop_elapsed_time = 0
+  robot_log = {
+      "timestamps": [],
+      "motor_angles": [],
+      "motor_velocities": [],
+      "base_velocities": [],
+      "foot_positions": [],
+      "base_rollpitchyaw": [],
+      "base_angular_velocities": [],
+      "actions": []
+  }
+  try:
+    while loop_elapsed_time < max_time:
+      #if use_keyboard:
+      #  lin_speed, ang_speed = _update_speed_from_kb(kb, lin_speed, ang_speed)
+      #else:
+      lin_speed, ang_speed = _generate_example_linear_angular_speed(
+            loop_elapsed_time)
+
+      # Needed before every call to get_action().
+      _update_controller_params(controller, lin_speed, ang_speed)
+      controller.update()
+      hybrid_action = controller.get_action()
+
+      # Log the robot data.
+      robot_log["timestamps"].append(env.robot.GetTimeSinceReset())
+      robot_log["motor_angles"].append(env.robot.motor_angles)
+      robot_log["motor_velocities"].append(env.robot.motor_velocities)
+      robot_log["base_velocities"].append(
+          controller.state_estimator.com_velocity_body_yaw_aligned_frame)
+      robot_log["foot_positions"].append(env.robot.foot_positions())
+      robot_log["base_rollpitchyaw"].append(env.robot.base_roll_pitch_yaw)
+      robot_log["base_angular_velocities"].append(
+          env.robot.base_roll_pitch_yaw_rate)
+      robot_log["actions"].append(hybrid_action)
+
+      env.step(hybrid_action)
+      loop_elapsed_time = env.get_time_since_reset() - loop_start_time
+
+  finally:
+    if FLAGS.run_on_robot:
+      # Apply zero torques to the robot.
+      env.robot.apply_action(
+          [0] * env.robot.num_motors,
+          motor_control_mode=robot_config.MotorControlMode.TORQUE)
+    if FLAGS.log_path:
+      pickle.dump(robot_log, gfile.Open(FLAGS.log_path + "/robot.log", "wb"))
+
+
+def main(argv):
+  del argv
+  _load_config(render=True, run_on_robot=FLAGS.run_on_robot)
+  _run_example(
+      run_on_robot=FLAGS.run_on_robot, use_keyboard=FLAGS.use_keyboard_control)
+
+
+if __name__ == "__main__":
+  app.run(main)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py
new file mode 100644
index 0000000000..71fefa7b56
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_in_scenario_set_example.py
@@ -0,0 +1,180 @@
+r"""ScenarioSet example for Laikago MPC controller.
+
+blaze run -c opt \
+//robotics/reinforcement_learning/minitaur/agents/baseline_controller\
+:locomotion_controller_in_scenario_set_example -- --gait=slow_trot \
+--add_random_push=True
+"""
+
+from absl import app
+from absl import flags
+import gin
+import numpy as np
+import scipy.interpolate
+
+from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller_setup
+from pybullet_envs.minitaur.envs_v2 import env_loader
+
+FLAGS = flags.FLAGS
+
+SCENARIO_SET_CONFIG = """
+import pybullet_envs.minitaur.envs_v2.scenarios.locomotion_simple_scenario_set
+
+include "google3/robotics/reinforcement_learning/minitaur/envs_v2/scenarios/default_scenario_set.gin"
+
+default_scenario_set/singleton.constructor = @locomotion_simple_scenario_set.LocomotionSimpleScenarioSet
+
+
+locomotion_simple_scenario_set.LocomotionSimpleScenarioSet.selector = "flat_ground"
+locomotion_gym_env.LocomotionGymEnv.task = @scenario_set.task()
+locomotion_gym_env.LocomotionGymEnv.scene = @scenario_set.scene()
+locomotion_gym_env.LocomotionGymEnv.env_randomizers = [
+  @scenario_set.env_randomizer()
+]
+"""
+
+_MAX_TIME_SECONDS = 30
+
+flags.DEFINE_enum("gait", "fast_trot",
+                  ["fast_trot", "slow_trot", "walk", "stand"],
+                  "The gait pattern to use")
+
+flags.DEFINE_boolean("add_random_push", False,
+                     "whether to add random push to the robot in simulation")
+
+
+def _start_stop_profile(max_speed=0.5, axis=0, duration=3):
+  speed_profile = np.zeros((3, 4))
+
+  speed_profile[1, axis] = max_speed
+
+  return (0, 0.5, duration + 0.5), speed_profile.tolist()
+
+
+def _random_speed_profile(max_speed=1, axis=0, time_interval=1.0):
+  num_pts = 11
+  time_points = np.arange(num_pts) * time_interval
+
+  speed_profile = np.zeros((num_pts, 4))
+  speed_profile[:, axis] = np.random.uniform(0, max_speed, num_pts)
+  speed_profile[-1, :] = 0
+  return time_points.tolist(), speed_profile.tolist()
+
+
+def _body_height_profile(z_range=(0.3, 0.55)):
+  del z_range
+  # TODO(tingnan): Implement this.
+
+
+def _generate_linear_angular_speed(t, time_points, speed_points):
+  """Creates an example speed profile based on time for demo purpose."""
+
+  speed = scipy.interpolate.interp1d(
+      time_points,
+      speed_points,
+      kind="previous",
+      fill_value="extrapolate",
+      axis=0)(
+          t)
+
+  return speed[0:3], speed[3]
+
+
+def _update_controller_params(controller, lin_speed, ang_speed):
+  controller.swing_leg_controller.desired_speed = lin_speed
+  controller.swing_leg_controller.desired_twisting_speed = ang_speed
+  controller.stance_leg_controller.desired_speed = lin_speed
+  controller.stance_leg_controller.desired_twisting_speed = ang_speed
+
+
+def _gen_stability_test_start_stop():
+  """Generates the speed profile for start/stop tests."""
+  axis_to_name = {
+      0: "velocity x",
+      1: "velocity y",
+      3: "angular velocity z",
+  }
+
+  axis_to_max_speed = {
+      0: 1.0,
+      1: 0.5,
+      3: 2.5,
+  }
+
+  gait_multiplier = {
+      "slow_trot": 0.7,
+      "walk": 0.3,
+      "fast_trot": 1.0,
+  }
+
+  for axis in (0, 1, 3):
+    yield axis_to_name[axis], _start_stop_profile(
+        axis_to_max_speed[axis] * gait_multiplier[FLAGS.gait], axis)
+
+
+def _gen_stability_test_random():
+  """Generates the speed profile for random walking tests."""
+  axis_to_name = {
+      0: "velocity x",
+      1: "velocity y",
+      3: "angular velocity z",
+  }
+
+  axis_to_max_speed = {
+      0: 1.0,
+      1: 0.5,
+      3: 2.5,
+  }
+
+  gait_multiplier = {
+      "slow_trot": 0.7,
+      "walk": 0.3,
+      "fast_trot": 1.0,
+  }
+
+  for axis in (0, 1, 3):
+    yield axis_to_name[axis], _random_speed_profile(
+        axis_to_max_speed[axis] * gait_multiplier[FLAGS.gait], axis)
+
+
+def _test_stability(max_time=5, render=False, test_generator=None):
+  """Tests the stability of the controller using speed profiles."""
+  locomotion_controller_setup.load_sim_config(render=render)
+  gin.parse_config(SCENARIO_SET_CONFIG)
+  if FLAGS.add_random_push:
+    locomotion_controller_setup.add_random_push_config()
+
+  env = env_loader.load()
+  controller = locomotion_controller_setup.setup_controller(
+      env.robot, gait=FLAGS.gait)
+
+  for name, speed_profile in test_generator():
+    env.reset()
+    controller.reset()
+    current_time = 0
+    while current_time < max_time:
+      current_time = env.get_time_since_reset()
+      lin_speed, ang_speed = _generate_linear_angular_speed(
+          current_time, speed_profile[0], speed_profile[1])
+      _update_controller_params(controller, lin_speed, ang_speed)
+
+      # Needed before every call to get_action().
+      controller.update()
+      hybrid_action = controller.get_action()
+
+      _, _, done, _ = env.step(hybrid_action)
+      if done:
+        break
+    print(f"Scene name: flat ground. Random push: {FLAGS.add_random_push}. "
+          f"Survival time for {name} = {speed_profile[1]} is {current_time}")
+
+
+def main(argv):
+  del argv
+  _test_stability(render=True, test_generator=_gen_stability_test_start_stop)
+  _test_stability(
+      max_time=15, render=True, test_generator=_gen_stability_test_random)
+
+
+if __name__ == "__main__":
+  app.run(main)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py
new file mode 100644
index 0000000000..afaed6cb7e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/locomotion_controller_setup.py
@@ -0,0 +1,175 @@
+"""The common setups for MPC based locoomtion controller environments."""
+import time
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller
+from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator
+from pybullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller
+from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller
+#from pybullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer
+from pybullet_envs.minitaur.envs.env_randomizers import minitaur_push_randomizer
+from pybullet_envs.minitaur.robots import robot_config
+import pybullet_data as pd
+
+CONFIG_FILE = (pd.getDataPath()+"/configs_v2/base/laikago_reactive.gin")
+
+_MOTOR_KD = [1.0, 2.0, 2.0] * 4
+_BODY_HEIGHT = 0.45
+_MAX_TIME_SECONDS = 1000000000
+_MOTOR_KD = [1.0, 2.0, 2.0] * 4
+# TODO(tingnan): This is for tunining the moments of inertia of the model.
+# Once we identified the correct value we can remove this.
+_SCALE = 4
+_INERTIA = (0.07335 * _SCALE, 0, 0, 0, 0.25068 * _SCALE, 0, 0, 0,
+            0.25447 * _SCALE)
+
+
+def load_sim_config(render=True):
+  """Builds the environment for the quadruped robot.
+
+  Args:
+    render: Enable/disable rendering.
+  """
+  gin.clear_config(clear_constants=False)
+  config_file = CONFIG_FILE
+  gin.parse_config_file(config_file)
+
+  # Sim bindings
+  # Overwrite a few parameters.
+
+  action_repeat = 4
+  gin.bind_parameter("SimulationParameters.num_action_repeat", action_repeat)
+  gin.bind_parameter("laikago_v2.Laikago.action_repeat", action_repeat)
+
+  # Control latency is NOT modeled properly for inverse kinematics and
+  # jacobians, as we are directly calling the pybullet API. We will try to fix
+  # this by loading a separate pybullet instance, set the pose and joint
+  # angles which has latency in them, and then run the jacobian/IK.
+  gin.bind_parameter("laikago_v2.Laikago.motor_control_mode",
+                     robot_config.MotorControlMode.HYBRID)
+  # Bump up a bit the adduction/abduction motor d gain for a better tracking.
+  gin.bind_parameter("hybrid_motor_model.HybridMotorModel.kd", _MOTOR_KD)
+  gin.bind_parameter("SimulationParameters.enable_rendering", render)
+  gin.bind_parameter("env_loader.load.wrapper_classes", [])
+
+
+
+def add_random_push_config():
+  """Adds a random push randomizers to the config."""
+  try:
+    current_env_randomizers = gin.query_parameter(
+        "locomotion_gym_env.LocomotionGymEnv.env_randomizers")
+
+    current_env_randomizers.append(
+        minitaur_push_randomizer.MinitaurPushRandomizer(
+            horizontal_force_bound=(500, 900),
+            vertical_force_bound=(50, 100),
+            visualize_perturbation_force=True))
+    gin.bind_parameter("locomotion_gym_env.LocomotionGymEnv.env_randomizers",
+                       current_env_randomizers)
+  except ValueError:
+    # No randoimzers bind so far
+    gin.bind_parameter("locomotion_gym_env.LocomotionGymEnv.env_randomizers", [
+        minitaur_push_randomizer.MinitaurPushRandomizer(
+            horizontal_force_bound=(500, 900),
+            vertical_force_bound=(50, 100),
+            visualize_perturbation_force=True)
+    ])
+
+
+def select_gait(gait_type="fast_trot"):
+  """Selects a gait pattern.
+
+  Args:
+    gait_type: which gait to use.
+
+  Returns:
+    A tuple of (stance_duration, duty_factor, initial_phase)
+  """
+  # Each gait is composed of stance_duration, duty_factor, and
+  # init_phase_full_cycle.
+  if gait_type == "fast_trot":
+    return [0.25] * 4, [0.6] * 4, [0, 0.5, 0.5, 0]
+  elif gait_type == "slow_trot":
+    return [0.4] * 4, [0.65] * 4, [0, 0.5, 0.5, 0]
+  elif gait_type == "walk":
+    return [0.75] * 4, [0.8] * 4, [0.25, 0.75, 0.5, 0]
+  else:
+    # Means four leg stand for as long as possible.
+    return [_MAX_TIME_SECONDS] * 4, [0.99] * 4, [0, 0, 0, 0]
+
+
+def setup_controller(robot,
+                     gait="fast_trot",
+                     run_on_robot=False,
+                     use_ground_truth_velocity=False):
+  """Demonstrates how to create a locomotion controller.
+
+  Args:
+    robot: A robot instance.
+    gait: The type of gait to use.
+    run_on_robot: Whether this controller is running on the real robot or not.
+    use_ground_truth_velocity: Whether to use ground truth velocity or velocity
+      estimator.
+
+  Returns:
+    A locomotion controller.
+  """
+  desired_speed = (0, 0)
+  desired_twisting_speed = 0
+
+  feet_positions = np.array(robot.foot_positions())
+  feet_positions[:, 2] = 0
+
+  # Sim and real robots have different mass and contact detection parameters.
+  body_weight, contact_force_threshold = (200, 20) if run_on_robot else (215, 0)
+
+  stance_duration, duty_factor, init_phase = select_gait(gait)
+  gait_generator = openloop_gait_generator.OpenloopGaitGenerator(
+      robot,
+      stance_duration=stance_duration,
+      duty_factor=duty_factor,
+      initial_leg_phase=init_phase,
+      contact_detection_force_threshold=contact_force_threshold,
+  )
+  state_estimator = (
+      imu_based_com_velocity_estimator.IMUBasedCOMVelocityEstimator(
+          robot,
+          contact_detection_threshold=contact_force_threshold,
+      ))
+
+  # Use this in sim to test ground truth velocity estimation.
+  if use_ground_truth_velocity:
+    state_estimator = com_velocity_estimator.COMVelocityEstimator(robot)
+
+  sw_controller = raibert_swing_leg_controller.RaibertSwingLegController(
+      robot,
+      gait_generator,
+      state_estimator,
+      desired_speed=desired_speed,
+      desired_twisting_speed=desired_twisting_speed,
+      desired_height=_BODY_HEIGHT,
+      local_hip_positions=feet_positions,
+  )
+  st_controller = torque_stance_leg_controller.TorqueStanceLegController(
+      robot,
+      gait_generator,
+      state_estimator,
+      desired_speed=desired_speed,
+      desired_twisting_speed=desired_twisting_speed,
+      desired_body_height=_BODY_HEIGHT,
+      body_mass=body_weight / 9.8,
+      body_inertia=_INERTIA,
+  )
+
+  controller = locomotion_controller.LocomotionController(
+      robot=robot,
+      gait_generator=gait_generator,
+      state_estimator=state_estimator,
+      swing_leg_controller=sw_controller,
+      stance_leg_controller=st_controller,
+      clock=robot.GetTimeSinceReset)
+  return controller
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py
new file mode 100644
index 0000000000..82ddebcab7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller.py
@@ -0,0 +1,448 @@
+"""A Raibert style controller for Minitaur."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import attr
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import minitaur_raibert_controller_utils
+from pybullet_envs.minitaur.envs.utilities import minitaur_pose_utils
+
+LEFT_FRONT_LEG_ID = 0
+LEFT_HIND_LEG_ID = 1
+RIGHT_FRONT_LEG_ID = 2
+RIGHT_HIND_LEG_ID = 3
+
+DIAGONAL_LEG_PAIR_1 = (LEFT_FRONT_LEG_ID, RIGHT_HIND_LEG_ID)
+DIAGONAL_LEG_PAIR_2 = (LEFT_HIND_LEG_ID, RIGHT_FRONT_LEG_ID)
+
+LEFT_LEG_IDS = (LEFT_FRONT_LEG_ID, LEFT_HIND_LEG_ID)
+RIGHT_LEG_IDS = (RIGHT_FRONT_LEG_ID, RIGHT_HIND_LEG_ID)
+
+# The max horizontal foot offset (in meters) for turning.
+_FOOT_HORIZONTAL_OFFSET_FOR_TURNING = 0.1
+
+_STANCE_TG_PHASE_COMPRESSION = 1.5
+_STANCE_TG_DELTA_EXTENSION = 0.2
+_STANCE_HORIZONTAL_SCALING_FACTOR = 1.2
+
+_DEFAULT_SWING_SPEED_GAIN = 0.015
+
+_DEFAULT_SWING_FOOT_CLEARANCE = 0.005
+
+_PITCH_SWING_FEEDBACK_SCALING_FACTOR = 1.2
+
+
+# A POD container to describe the controller's high level behavior.
+@attr.s
+class BehaviorParameters(object):
+  """Highlevel parameters for Raibert style controller."""
+  stance_duration = attr.ib(type=float, default=0.25)
+  desired_forward_speed = attr.ib(type=float, default=0.)
+  desired_turning_speed = attr.ib(type=float, default=0.)
+  standing_height = attr.ib(type=float, default=0.2)
+  desired_incline_angle = attr.ib(type=float, default=0.)
+
+
+def generate_default_swing_trajectory(phase, init_pose, end_pose):
+  """A swing trajectory generator.
+
+  Args:
+    phase: Float. Between [0, 1].
+    init_pose: A tuple. The leg pose (swing, extension) at phase == 0 the
+      beginning of swing.
+    end_pose: A tuple. The leg pose at phase == 1 the end of swing.
+
+  Returns:
+    The desired leg pose for the current phase.
+  """
+  # Try phase compression
+  normalized_phase = math.sqrt(min(phase * 1.5, 1))
+
+  # For swing, we use a linear interpolation:
+  swing = (end_pose[0] - init_pose[0]) * normalized_phase + init_pose[0]
+
+  # For extension, we can fit a second order polynomial:
+  min_ext = (init_pose[1] + end_pose[1]) / 2 - 0.8
+  min_ext = max(min_ext, 0.5)
+
+  # The phase value at which the extension reaches the minimal value min_ext.
+  # phi is small, the swing leg will try to lift higher in the first half of
+  # swing.
+  phi = 0.1
+
+  # We convert the extension back into the cartesion space. In this way we can
+  # guarantee a lift-up trajectory. The ankle to hip distance is easier to
+  # compute than a full forward-kinematics.
+  min_ankle_dist = minitaur_raibert_controller_utils.extension_to_ankle_dist(
+      min_ext)
+  init_ankle_dist = minitaur_raibert_controller_utils.extension_to_ankle_dist(
+      init_pose[1])
+  end_ankle_dist = minitaur_raibert_controller_utils.extension_to_ankle_dist(
+      end_pose[1])
+
+  # The polynomial is: a * phi^2 + b * phi + c
+  delta_1 = min_ankle_dist - init_ankle_dist
+  delta_2 = end_ankle_dist - init_ankle_dist
+  delta_p = phi * phi - phi
+
+  a = (delta_1 - phi * delta_2) / delta_p
+
+  b = (phi * phi * delta_2 - delta_1) / delta_p
+
+  ankle_dist = (
+      a * normalized_phase * normalized_phase + b * normalized_phase +
+      init_ankle_dist)
+
+  l1 = minitaur_raibert_controller_utils.UPPER_LEG_LEN
+  l2 = minitaur_raibert_controller_utils.LOWER_SHORT_LEG_LEN
+
+  ankle_dist = min(max(ankle_dist, l2 - l1 + 0.01), l2 + l1 - 0.01)
+
+  extension = minitaur_raibert_controller_utils.ankle_dist_to_extension(
+      ankle_dist)
+
+  return (swing, extension)
+
+
+@gin.configurable
+def generate_default_stance_trajectory(phase,
+                                       init_pose,
+                                       end_pose,
+                                       use_constant_extension=False):
+  """A stance strajectory generator.
+
+  Args:
+    phase: Float. Between [0, 1].
+    init_pose: A tuple. The leg pose (swing, extension) at phase == 0, i.e. the
+      beginning of stance.
+    end_pose: A tuple. The leg pose at phase == 1, i.e. the end of stance.
+    use_constant_extension: Boolean. Whether or not to fix the extension during
+      stance.
+
+  Returns:
+    The desired leg pose for the current phase.
+  """
+  normalized_phase = min(_STANCE_TG_PHASE_COMPRESSION * math.sqrt(phase), 1)
+  swing = (end_pose[0] - init_pose[0]) * normalized_phase + init_pose[0]
+
+  # The extension evolves nonlinearly according to the parabola equation.
+  if use_constant_extension:
+    extension = end_pose[1]
+  else:
+    extension = end_pose[1] - 4 * _STANCE_TG_DELTA_EXTENSION * (
+        normalized_phase**2 - normalized_phase)
+  return (swing, extension)
+
+
+def get_stance_foot_offset_for_turning(leg_id, steering_signal):
+  """Modify the stance foot position to achieve turning.
+
+  The strategy works for trotting gaits.
+
+  Args:
+    leg_id: Integer. The leg index.
+    steering_signal: Float. The desired turning signal in [-1, 1]. Because we
+      don't have an accurate mapping from angular velocity to the foot offset,
+      the steering signal should be treated as a reference and only its relative
+      magnitude matters.
+
+  Returns:
+    The stance foot's horizontal offset.
+
+  """
+  clipped_steering_signal = np.clip(steering_signal, -1, 1)
+
+  if leg_id in LEFT_LEG_IDS:
+    return _FOOT_HORIZONTAL_OFFSET_FOR_TURNING * clipped_steering_signal
+  else:
+    return -(_FOOT_HORIZONTAL_OFFSET_FOR_TURNING * clipped_steering_signal)
+
+
+def get_leg_swing_offset_for_pitching(body_pitch, desired_incline_angle):
+  """Get the leg swing zero point when the body is tilted.
+
+  For example, when climbing up or down stairs/slopes, the robot body will tilt
+  up or down. By compensating the body pitch, the leg's trajectory will be
+  centered around the vertical direction (not perpendicular to the surface).
+  This helps the robot to generate thrust when going upwards, and braking when
+  going downwards.
+
+  Args:
+    body_pitch: Float. Current body pitch angle.
+    desired_incline_angle: Float. The desired body pitch angle.
+
+  Returns:
+    The stance and swing leg swing offset.
+
+  """
+  kp = 0.2
+  return -((1 - kp) * body_pitch + kp * desired_incline_angle)
+
+
+@gin.configurable
+class RaibertSwingLegController(object):
+  """The swing leg controller."""
+
+  def __init__(self,
+               speed_gain=_DEFAULT_SWING_SPEED_GAIN,
+               foot_clearance=_DEFAULT_SWING_FOOT_CLEARANCE,
+               leg_trajectory_generator=generate_default_swing_trajectory):
+    """Initializes the controller.
+
+    Args:
+      speed_gain: Float. The speed feedback gain to modulate the target foot
+        position.
+      foot_clearance: Float. The foot clearance (at the end of the swing phase)
+        in meters.
+      leg_trajectory_generator: A trajectory generator function.
+    """
+    self._speed_gain = speed_gain
+    self._foot_clearance = foot_clearance
+    self._leg_trajectory_generator = leg_trajectory_generator
+
+  def get_action(self, raibert_controller):
+    """Get the swing legs' desired pose."""
+    current_speed = raibert_controller.estimate_base_velocity()
+    phase = raibert_controller.get_phase()
+    rpy = raibert_controller.robot.base_roll_pitch_yaw
+
+    leg_pose_set = {}
+    for i in raibert_controller.swing_set:
+      # Target foot horizontal position is calculated according to Raibert's
+      # original formula in "Legged robots that balance".
+      target_foot_horizontal_position = (
+          raibert_controller.behavior_parameters.stance_duration / 2 *
+          current_speed + self._speed_gain *
+          (current_speed -
+           raibert_controller.behavior_parameters.desired_forward_speed))
+
+      # 1) Convert the target foot position to leg pose space.
+      # Lift the foot a little bit.
+      target_foot_vertical_position = -(
+          raibert_controller.behavior_parameters.standing_height -
+          self._foot_clearance)
+      target_foot_position = (target_foot_horizontal_position,
+                              target_foot_vertical_position)
+      target_leg_pose = minitaur_raibert_controller_utils.foot_position_to_leg_pose(
+          target_foot_position)
+
+      # 2) Generates the curve from the swing start leg pose to the target leg
+      # pose and find the next leg pose on the curve based on current swing
+      # phase.
+
+      desired_leg_pose = self._leg_trajectory_generator(
+          phase, raibert_controller.swing_start_leg_pose, target_leg_pose)
+
+      swing_offset = get_leg_swing_offset_for_pitching(
+          rpy[1], raibert_controller.behavior_parameters.desired_incline_angle)
+
+      leg_pose_set[i] = (desired_leg_pose[0] + swing_offset,
+                         desired_leg_pose[1])
+
+    return leg_pose_set
+
+
+@gin.configurable
+class RaibertStanceLegController(object):
+  """The controller that modulates the behavior of the stance legs."""
+
+  def __init__(self,
+               speed_gain=0.1,
+               leg_trajectory_generator=generate_default_stance_trajectory):
+    """Initializes the controller.
+
+    Args:
+      speed_gain: Float. The speed feedback gain to modulate the target stance
+        foot position.
+      leg_trajectory_generator: A trajectory generator function. Generates the
+        desired leg pose during the stance phase.
+    """
+    self._speed_gain = speed_gain
+    self._leg_trajectory_generator = leg_trajectory_generator
+
+  def get_action(self, raibert_controller):
+    """Get the desired leg pose for the stance legs."""
+
+    phase = raibert_controller.get_phase()
+    current_speed = raibert_controller.estimate_base_velocity()
+    rpy = raibert_controller.robot.base_roll_pitch_yaw
+
+    leg_pose_set = {}
+    for i in raibert_controller.stance_set:
+      desired_forward_speed = (
+          raibert_controller.behavior_parameters.desired_forward_speed)
+
+      target_foot_horizontal_position = -_STANCE_HORIZONTAL_SCALING_FACTOR * (
+          raibert_controller.behavior_parameters.stance_duration / 2 *
+          current_speed - self._speed_gain *
+          (current_speed - desired_forward_speed))
+
+      target_foot_horizontal_position += get_stance_foot_offset_for_turning(
+          i, raibert_controller.behavior_parameters.desired_turning_speed)
+
+      target_foot_position = (
+          target_foot_horizontal_position,
+          -raibert_controller.behavior_parameters.standing_height)
+      target_leg_pose = minitaur_raibert_controller_utils.foot_position_to_leg_pose(
+          target_foot_position)
+
+      desired_leg_pose = (
+          self._leg_trajectory_generator(
+              phase, raibert_controller.stance_start_leg_pose, target_leg_pose))
+
+      swing_offset = _PITCH_SWING_FEEDBACK_SCALING_FACTOR * get_leg_swing_offset_for_pitching(
+          rpy[1], raibert_controller.behavior_parameters.desired_incline_angle)
+
+      leg_pose_set[i] = (desired_leg_pose[0] + swing_offset,
+                         desired_leg_pose[1])
+
+    return leg_pose_set
+
+
+@gin.configurable
+class MinitaurRaibertController(object):
+  """A Raibert style controller for trotting gait."""
+
+  def __init__(self,
+               robot,
+               behavior_parameters=BehaviorParameters(),
+               swing_leg_controller=RaibertSwingLegController(),
+               stance_leg_controller=RaibertStanceLegController(),
+               pose_feedback_controller=None):
+    self._time = 0
+    self._robot = robot
+    self.behavior_parameters = behavior_parameters
+
+    self._last_recorded_speed = 0
+
+    self._swing_leg_controller = swing_leg_controller
+    self._stance_leg_controller = stance_leg_controller
+    self._pose_feeback_controller = pose_feedback_controller
+
+    # The leg order is FL, RL, FR, RR -> [0, 1, 2, 3]
+    self._swing_set = DIAGONAL_LEG_PAIR_1
+    self._stance_set = DIAGONAL_LEG_PAIR_2
+
+    # Compute the initial leg pose.
+    self._swing_start_leg_pose = self.get_swing_leg_pose()
+    self._stance_start_leg_pose = self.get_stance_leg_pose()
+
+  @property
+  def robot(self):
+    return self._robot
+
+  @property
+  def swing_set(self):
+    return self._swing_set
+
+  @property
+  def stance_set(self):
+    return self._stance_set
+
+  @property
+  def swing_start_leg_pose(self):
+    return self._swing_start_leg_pose
+
+  @property
+  def stance_start_leg_pose(self):
+    return self._stance_start_leg_pose
+
+  def _get_average_leg_pose(self, leg_indices):
+    """Get the average leg pose."""
+    current_leg_pose = minitaur_pose_utils.motor_angles_to_leg_pose(
+        self._robot.motor_angles)
+
+    # extract the swing leg pose from the current_leg_pose
+    leg_pose = []
+    for index in leg_indices:
+      leg_pose.append([
+          current_leg_pose[index],
+          current_leg_pose[index + minitaur_pose_utils.NUM_LEGS]
+      ])
+
+    leg_pose = np.array(leg_pose)
+    return np.mean(leg_pose, axis=0)
+
+  def get_swing_leg_pose(self):
+    """Get the current swing legs' average pose."""
+    return self._get_average_leg_pose(self._swing_set)
+
+  def get_stance_leg_pose(self):
+    """Get the current stance legs' average pose."""
+    return self._get_average_leg_pose(self._stance_set)
+
+  def get_phase(self):
+    """Compute the current stance/swing phase."""
+    return math.fmod(self._time, self.behavior_parameters.stance_duration
+                    ) / self.behavior_parameters.stance_duration
+
+  def _get_new_swing_stance_set(self):
+    """Switch the set of swing/stance legs based on timing."""
+    swing_stance_phase = math.fmod(self._time,
+                                   2 * self.behavior_parameters.stance_duration)
+    if swing_stance_phase < self.behavior_parameters.stance_duration:
+      return (DIAGONAL_LEG_PAIR_1, DIAGONAL_LEG_PAIR_2)
+    return (DIAGONAL_LEG_PAIR_2, DIAGONAL_LEG_PAIR_1)
+
+  def update(self, t):
+    """Update the internal status of the controller.
+
+    Args:
+      t: Float. The current time after reset in seconds.
+    """
+    self._time = t
+    new_swing_set, new_stance_set = self._get_new_swing_stance_set()
+
+    # If there is a stance/swing switch.
+    if new_swing_set[0] is not self._swing_set[0]:
+      self._swing_set = new_swing_set
+      self._stance_set = new_stance_set
+
+      # Also records the starting pose.
+      self._swing_start_leg_pose = self.get_swing_leg_pose()
+      self._stance_start_leg_pose = self.get_stance_leg_pose()
+
+  def estimate_base_velocity(self):
+    """Estimate the current CoM speed."""
+    # It is best to use a sensor fusion approach.
+    stance_leg_pose = self.get_stance_leg_pose()
+
+    delta_sw = stance_leg_pose[0] - self._stance_start_leg_pose[0]
+
+    x, y = minitaur_raibert_controller_utils.leg_pose_to_foot_position(
+        stance_leg_pose)
+    toe_hip_len = math.sqrt(x**2 + y**2)
+    horizontal_dist = toe_hip_len * delta_sw
+    phase = self.get_phase()
+    speed = self._last_recorded_speed
+    if phase > 0.1:
+      speed = horizontal_dist / (
+          self.behavior_parameters.stance_duration * phase)
+      self._last_recorded_speed = speed
+    return speed
+
+  def get_swing_leg_action(self):
+    return self._swing_leg_controller.get_action(self)
+
+  def get_stance_leg_action(self):
+    return self._stance_leg_controller.get_action(self)
+
+  def get_action(self):
+    """Gets the desired motor angles."""
+    leg_pose = [0] * minitaur_pose_utils.NUM_MOTORS
+    swing_leg_pose = self.get_swing_leg_action()
+    for i in self._swing_set:
+      leg_pose[i] = swing_leg_pose[i][0]
+      leg_pose[i + minitaur_pose_utils.NUM_LEGS] = swing_leg_pose[i][1]
+
+    stance_leg_pose = self.get_stance_leg_action()
+    for i in self._stance_set:
+      leg_pose[i] = stance_leg_pose[i][0]
+      leg_pose[i + minitaur_pose_utils.NUM_LEGS] = stance_leg_pose[i][1]
+
+    return minitaur_pose_utils.leg_pose_to_motor_angles(leg_pose)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py
new file mode 100644
index 0000000000..cc992a197b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/minitaur_raibert_controller_utils.py
@@ -0,0 +1,82 @@
+"""Utility functions for the Minitaur Raibert controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+
+UPPER_LEG_LEN = 0.112
+LOWER_SHORT_LEG_LEN = 0.199
+LOWER_LONG_LEG_LEN = 0.2315
+
+
+def leg_pose_to_foot_position(leg_pose):
+  """The forward kinematics."""
+  l1 = UPPER_LEG_LEN
+  l2 = LOWER_SHORT_LEG_LEN
+  l3 = LOWER_LONG_LEG_LEN
+
+  ext = leg_pose[1]
+  alpha = math.asin(l1 * math.sin(ext) / l2)
+
+  sw = -leg_pose[0]
+  x = l3 * math.sin(alpha + sw) - l1 * math.sin(ext + sw)
+  y = l3 * math.cos(alpha + sw) - l1 * math.cos(ext + sw)
+
+  return (x, -y)
+
+
+def foot_position_to_leg_pose(foot_position):
+  """The inverse kinematics."""
+  l1 = UPPER_LEG_LEN
+  l2 = LOWER_SHORT_LEG_LEN
+  l3 = LOWER_LONG_LEG_LEN
+
+  x = foot_position[0]
+  y = foot_position[1]
+
+  assert y < 0
+  hip_toe_sqr = x**2 + y**2
+  cos_beta = (l1 * l1 + l3 * l3 - hip_toe_sqr) / (2 * l1 * l3)
+  assert -1 <= cos_beta <= 1
+  hip_ankle_sqr = l1 * l1 + l2 * l2 - 2 * l1 * l2 * cos_beta
+  hip_ankle = math.sqrt(hip_ankle_sqr)
+  cos_ext = -(l1 * l1 + hip_ankle_sqr - l2 * l2) / (2 * l1 * hip_ankle)
+  ext = math.acos(cos_ext)
+
+  hip_toe = math.sqrt(hip_toe_sqr)
+  cos_theta = (hip_toe_sqr + hip_ankle_sqr -
+               (l3 - l2)**2) / (2 * hip_ankle * hip_toe)
+
+  assert cos_theta > 0
+  theta = math.acos(cos_theta)
+  sw = math.asin(x / hip_toe) - theta
+  return (-sw, ext)
+
+
+def extension_to_ankle_dist(extension):
+  """Converts leg extension to ankle-hip distance in meters.
+
+  The ankle is defined as the joint of the two lower links, which is different
+  from the toe which is the tip of the longer lower limb.
+
+  Args:
+    extension: Float. the leg extension.
+
+  Returns:
+    Float. The hip to ankle distance in meters.
+
+  """
+  l1 = UPPER_LEG_LEN
+  l2 = LOWER_SHORT_LEG_LEN
+  alpha = math.asin(l1 / l2 * math.sin(extension))
+  return l2 * math.cos(alpha) - l1 * math.cos(extension)
+
+
+def ankle_dist_to_extension(dist):
+  """Converts ankle-hip distance (meters) to extension."""
+  l1 = UPPER_LEG_LEN
+  l2 = LOWER_SHORT_LEG_LEN
+  cos_extension = -(l1**2 + dist**2 - l2**2) / (2 * l1 * dist)
+  return math.acos(cos_extension)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py
new file mode 100644
index 0000000000..7394243608
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/model_predictive_control.py
@@ -0,0 +1,149 @@
+# Lint as: python3
+"""Classic model predictive control methods."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+from typing import Sequence
+import numpy as np
+
+_MAX_ABS_RPY = 0.3
+_MAX_ABS_ANGULAR_VELOCITY = math.pi
+
+# The center of mass torque is computed using a simple PD control: tau = -KP *
+# delta_rotation - KD * delta_angular_velocity
+_TORQUE_KP = 2000
+_TORQUE_KD = 150
+
+# For center of mass force, we only need to track position in the z direction
+# (i.e. maintain the body height), and speed in x-y plane.
+_FORCE_KP = 500
+_FORCE_KD = 200
+
+
+def compute_contact_force_projection_matrix(
+    foot_positions_in_com_frame: Sequence[Sequence[float]],
+    stance_foot_ids: Sequence[int],
+) -> np.ndarray:
+  r"""Computes the 6 x 3n matrix to map contact force to com dynamics.
+
+  This is essentially the vectorized rhs of com dynamics equation:
+      ma = \sum f
+      I\omega_dot = \sum r \cross f
+
+  where the summation if over all feet in contact with ground.
+
+  Caveats: Current we have not taken the com rotation into account as we assume
+  the com rotation would be small. Ideally we should rotate the foot_positions
+  to a world frame centered at com. Also, since absolute yaw angles are not
+  accurate dute to drifting, we should use (roll, pitch, 0) to do the foot
+  position projection. This feature will be quite useful for MPC.
+  TODO(b/143378213): Fix this.
+
+  Args:
+    foot_positions_in_com_frame: the local position of each foot.
+    stance_foot_ids: The stance foot to be used to assemble the matrix.
+
+  Returns:
+    The contact force projection matrix.
+
+  """
+  jacobians = []
+  for foot_id in stance_foot_ids:
+    jv = np.identity(3)
+    foot_position = foot_positions_in_com_frame[foot_id]
+    x, y, z = foot_position[:3]
+    jw = np.array(((0, -z, y), (z, 0, -x), (-y, x, 0)))
+    jacobians.append(np.vstack((jv, jw)))
+
+  return np.hstack(jacobians)
+
+
+def plan_foot_contact_force(
+    mass: float,
+    inertia: np.ndarray,
+    com_position: np.ndarray,
+    com_velocity: np.ndarray,
+    com_roll_pitch_yaw: np.ndarray,
+    com_angular_velocity: np.ndarray,
+    foot_positions_in_com_frame: Sequence[Sequence[float]],
+    foot_contact_state: Sequence[bool],
+    desired_com_position: np.ndarray,
+    desired_com_velocity: np.ndarray,
+    desired_com_roll_pitch_yaw: np.ndarray,
+    desired_com_angular_velocity: np.ndarray,
+):
+  """Plan the foot contact forces using robot states.
+
+  TODO(b/143382305): Wrap this interface in a MPC class so we can use other
+  planning algorithms.
+
+  Args:
+    mass: The total mass of the robot.
+    inertia: The diagnal elements [Ixx, Iyy, Izz] of the robot.
+    com_position: Center of mass position in world frame. Usually we cannot
+      accurrately obtain this without motion capture.
+    com_velocity: Center of mass velocity in world frame.
+    com_roll_pitch_yaw: Center of mass rotation wrt world frame in euler angles.
+    com_angular_velocity: The angular velocity (roll_dot, pitch_dot, yaw_dot).
+    foot_positions_in_com_frame: The position of all feet/toe joints in the body
+      frame.
+    foot_contact_state: Indicates if a foot is in contact with the ground.
+    desired_com_position: We usually just care about the body height.
+    desired_com_velocity: In world frame.
+    desired_com_roll_pitch_yaw: We usually care about roll and pitch, since yaw
+      measurement can be unreliable.
+    desired_com_angular_velocity: Roll and pitch change rate are usually zero.
+      Yaw rate is the turning speed of the robot.
+
+  Returns:
+    The desired stance foot contact forces.
+  """
+  del inertia
+  del com_position
+  body_height = []
+  stance_foot_ids = []
+  for foot_id, foot_position in enumerate(foot_positions_in_com_frame):
+    if not foot_contact_state[foot_id]:
+      continue
+    stance_foot_ids.append(foot_id)
+    body_height.append(foot_position[2])
+
+  avg_bogy_height = abs(sum(body_height) / len(body_height))
+
+  rpy = com_roll_pitch_yaw
+  rpy[:2] = np.clip(rpy[:2], -_MAX_ABS_RPY, _MAX_ABS_RPY)
+  rpy_dot = com_angular_velocity
+  rpy_dot = np.clip(rpy_dot, -_MAX_ABS_ANGULAR_VELOCITY,
+                    _MAX_ABS_ANGULAR_VELOCITY)
+
+  com_torque = -avg_bogy_height * (
+      _TORQUE_KP * (rpy - desired_com_roll_pitch_yaw) + _TORQUE_KD * rpy_dot)
+
+  # We don't care about the absolute yaw angle in the low level controller.
+  # Instead, we stabialize the angular velocity in the z direction.
+  com_torque[2] = -avg_bogy_height * _TORQUE_KD * (
+      rpy_dot[2] - desired_com_angular_velocity[2])
+
+  # Track a desired com velocity.
+  com_force = -_FORCE_KD * (com_velocity - desired_com_velocity)
+
+  # In the z-direction we also want to track the body height.
+  com_force[2] += mass * 9.8 - _FORCE_KP * (
+      avg_bogy_height - desired_com_position[2])
+
+  com_force_torque = np.concatenate((com_force, com_torque)).transpose()
+
+  # Map the com force torque to foot contact forces.
+  foot_force_to_com = compute_contact_force_projection_matrix(
+      foot_positions_in_com_frame, stance_foot_ids)
+  all_contact_force = -np.matmul(
+      np.linalg.pinv(foot_force_to_com), com_force_torque).transpose()
+  contact_force = {}
+
+  for i, foot_id in enumerate(stance_foot_ids):
+    contact_force[foot_id] = all_contact_force[3 * i:3 * i + 3]
+
+  return contact_force
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py
new file mode 100644
index 0000000000..60f8cd86b1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/multi_state_estimator.py
@@ -0,0 +1,48 @@
+"""A class for combining multiple state estimators."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import Any, Sequence
+
+import gin
+
+from pybullet_envs.minitaur.agents.baseline_controller import state_estimator
+
+
+@gin.configurable
+class MultiStateEstimator(state_estimator.StateEstimatorBase):
+  """Combine multiple state estimators.
+
+
+  This class can be used to combine multiple state estimators into one. For
+  example, one can use the COMVelocityEstimator to estimate the com velocity
+  and COMHeightEstimator to estimate the com height.
+
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      state_estimators: Sequence[state_estimator.StateEstimatorBase],
+  ):
+    self._robot = robot
+    self._state_estimators = state_estimators
+    self.reset(0)
+
+  def reset(self, current_time):
+    for single_state_estimator in self._state_estimators:
+      single_state_estimator.reset(current_time)
+
+  def update(self, current_time):
+    for single_state_estimator in self._state_estimators:
+      single_state_estimator.update(current_time)
+
+  def __getattr__(self, attr):
+    for single_state_estimator in self._state_estimators:
+      if hasattr(single_state_estimator, attr):
+        return getattr(single_state_estimator, attr)
+    raise ValueError(
+        "{} is not found in any of the state estimators".format(attr))
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py
new file mode 100644
index 0000000000..c8696dc27e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/openloop_gait_generator.py
@@ -0,0 +1,194 @@
+"""Gait pattern planning module."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import logging
+import math
+from typing import Any, Sequence
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator
+
+_DEFAULT_INITIAL_LEG_STATE = (
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+    gait_generator.LegState.STANCE,
+)
+
+_NOMINAL_STANCE_DURATION = (0.25, 0.25, 0.25, 0.25)
+_NOMINAL_DUTY_FACTOR = (0.6, 0.6, 0.6, 0.6)
+_TROTTING_LEG_PHASE = (0, 0.5, 0.5, 0)
+_NOMINAL_CONTACT_DETECTION_PHASE = 0.4
+
+
+@gin.configurable
+class OpenloopGaitGenerator(gait_generator.GaitGenerator):
+  """Generates openloop gaits for quadruped robots.
+
+  A flexible open-loop gait generator. Each leg has its own cycle and duty
+  factor. And the state of each leg alternates between stance and swing. One can
+  easily formuate a set of common quadruped gaits like trotting, pacing,
+  pronking, bounding, etc by tweaking the input parameters.
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      stance_duration: Sequence[float] = _NOMINAL_STANCE_DURATION,
+      duty_factor: Sequence[float] = _NOMINAL_DUTY_FACTOR,
+      initial_leg_phase: Sequence[float] = _TROTTING_LEG_PHASE,
+      contact_detection_force_threshold: float = 0,
+      contact_detection_phase_threshold:
+      float = _NOMINAL_CONTACT_DETECTION_PHASE,
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A quadruped robot that at least implements the GetFootContacts API
+        and num_legs property.
+      stance_duration: The desired stance duration.
+      duty_factor: The ratio  stance_duration / total_gait_cycle.
+      initial_leg_phase: The desired initial phase [0, 1] of the legs within the
+        full swing + stance cycle.
+      contact_detection_force_threshold: The minimal contact force required to
+        detect if a foot is in contact with the ground. For real robots this
+        needs to be larger (i.e. 25 for Laikago).
+      contact_detection_phase_threshold: Updates the state of each leg based on
+        contact info, when the current normalized phase is greater than this
+        threshold. This is essential to remove false positives in contact
+        detection when phase switches. For example, a swing foot at at the
+        beginning of the gait cycle might be still on the ground.
+    """
+    self._robot = robot
+    self._stance_duration = stance_duration
+    self._duty_factor = duty_factor
+    self._swing_duration = np.array(stance_duration) / np.array(
+        duty_factor) - np.array(stance_duration)
+    if len(initial_leg_phase) != len(
+        list(self._robot.urdf_loader.get_end_effector_id_dict().values())):
+      raise ValueError(
+          "The number of leg phases should be the same as number of legs.")
+    self._initial_leg_phase = initial_leg_phase
+
+    self._initial_leg_state = _DEFAULT_INITIAL_LEG_STATE
+    self._next_leg_state = []
+    # The ratio in cycle is duty factor if initial state of the leg is STANCE,
+    # and 1 - duty_factory if the initial state of the leg is SWING.
+    self._initial_state_ratio_in_cycle = []
+    for state, duty in zip(self._initial_leg_state, duty_factor):
+      assert state == gait_generator.LegState.STANCE
+      self._initial_state_ratio_in_cycle.append(duty)
+      self._next_leg_state.append(gait_generator.LegState.SWING)
+
+    self._contact_detection_force_threshold = contact_detection_force_threshold
+    self._contact_detection_phase_threshold = contact_detection_phase_threshold
+
+    # The normalized phase within swing or stance duration.
+    self._normalized_phase = None
+
+    # The current leg state, when contact is considered.
+    self._leg_state = None
+
+    # The desired leg state (i.e. SWING or STANCE).
+    self._desired_leg_state = None
+
+    self.reset(0)
+
+  def reset(self, current_time):
+    # The normalized phase within swing or stance duration.
+    self._normalized_phase = np.zeros(
+        len(list(self._robot.urdf_loader.get_end_effector_id_dict().values())))
+    self._leg_state = list(self._initial_leg_state)
+    self._desired_leg_state = list(self._initial_leg_state)
+
+  @property
+  def desired_leg_state(self) -> Sequence[gait_generator.LegState]:
+    """The desired leg SWING/STANCE states.
+
+    Returns:
+      The SWING/STANCE states for all legs.
+
+    """
+    return self._desired_leg_state
+
+  @property
+  def leg_state(self) -> Sequence[gait_generator.LegState]:
+    """The leg state after considering contact with ground.
+
+    Returns:
+      The actual state of each leg after accounting for contacts.
+    """
+    return self._leg_state
+
+  @property
+  def swing_duration(self) -> Sequence[float]:
+    return self._swing_duration
+
+  @property
+  def stance_duration(self) -> Sequence[float]:
+    return self._stance_duration
+
+  @property
+  def normalized_phase(self) -> Sequence[float]:
+    """The phase within the current swing or stance cycle.
+
+    Reflects the leg's phase within the curren swing or stance stage. For
+    example, at the end of the current swing duration, the phase will
+    be set to 1 for all swing legs. Same for stance legs.
+
+    Returns:
+      Normalized leg phase for all legs.
+
+    """
+    return self._normalized_phase
+
+  def update(self, current_time):
+    contact_state = [
+        np.linalg.norm(contact_force) > self._contact_detection_force_threshold
+        for contact_force in self._robot.feet_contact_forces()
+    ]
+
+    for leg_id in range(
+        len(list(self._robot.urdf_loader.get_end_effector_id_dict().values()))):
+      # Here is the explanation behind this logic: We use the phase within the
+      # full swing/stance cycle to determine if a swing/stance switch occurs
+      # for a leg. The threshold value is the "initial_state_ratio_in_cycle" as
+      # explained before. If the current phase is less than the initial state
+      # ratio, the leg is either in the initial state or has switched back after
+      # one or more full cycles.
+      full_cycle_period = (
+          self._stance_duration[leg_id] / self._duty_factor[leg_id])
+      # To account for the non-zero initial phase, we offset the time duration
+      # with the effect time contribution from the initial leg phase.
+      augmented_time = current_time + self._initial_leg_phase[
+          leg_id] * full_cycle_period
+      phase_in_full_cycle = math.fmod(augmented_time,
+                                      full_cycle_period) / full_cycle_period
+      ratio = self._initial_state_ratio_in_cycle[leg_id]
+      if phase_in_full_cycle < ratio:
+        self._desired_leg_state[leg_id] = self._initial_leg_state[leg_id]
+        self._normalized_phase[leg_id] = phase_in_full_cycle / ratio
+      else:
+        # A phase switch happens for this leg.
+        self._desired_leg_state[leg_id] = self._next_leg_state[leg_id]
+        self._normalized_phase[leg_id] = (phase_in_full_cycle - ratio) / (1 -
+                                                                          ratio)
+
+      self._leg_state[leg_id] = self._desired_leg_state[leg_id]
+
+      # No contact detection at the beginning of each SWING/STANCE phase.
+      if (self._normalized_phase[leg_id] <
+          self._contact_detection_phase_threshold):
+        continue
+      if (self._leg_state[leg_id] == gait_generator.LegState.SWING and
+          contact_state[leg_id]):
+        logging.info("early touch down detected")
+        self._leg_state[leg_id] = gait_generator.LegState.EARLY_CONTACT
+      if (self._leg_state[leg_id] == gait_generator.LegState.STANCE and
+          not contact_state[leg_id]):
+        self._leg_state[leg_id] = gait_generator.LegState.LOSE_CONTACT
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py
new file mode 100644
index 0000000000..aad4b9b67b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/raibert_swing_leg_controller.py
@@ -0,0 +1,242 @@
+"""The swing leg controller class."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import copy
+import math
+from typing import Any, Mapping, Sequence, Tuple
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib
+from pybullet_envs.minitaur.agents.baseline_controller import leg_controller
+
+# The position correction coefficients in Raibert's formula.
+_KP = 0.025
+
+# At the end of swing, we leave a small clearance to prevent unexpected foot
+# collision.
+_FOOT_CLEARANCE_M = 0.0
+_DEFAULT_LOCAL_HIP_POSITIONS = ((0.21, -0.1157, 0), (0.21, 0.1157, 0),
+                                (-0.21, -0.1157, 0), (-0.21, 0.1157, 0))
+_DEFAULT_SWING_EASE_UP_PHASE = 1.0
+_DEFAULT_SWING_EASE_UP_PERCENT = 1.0
+_FEED_FORWARD_TORQUES = (-0.7, 0, 0, 0.7, 0, 0, -0.7, 0, 0, 0.7, 0, 0)
+
+
+def _gen_parabola(phase: float, start: float, mid: float, end: float) -> float:
+  """Gets a point on a parabola y = a x^2 + b x + c.
+
+  The Parabola is determined by three points (0, start), (0.5, mid), (1, end) in
+  the plane.
+
+  Args:
+    phase: Normalized to [0, 1]. A point on the x-axis of the parabola.
+    start: The y value at x == 0.
+    mid: The y value at x == 0.5.
+    end: The y value at x == 1.
+
+  Returns:
+    The y value at x == phase.
+  """
+  mid_phase = 0.5
+  delta_1 = mid - start
+  delta_2 = end - start
+  delta_3 = mid_phase**2 - mid_phase
+  coef_a = (delta_1 - delta_2 * mid_phase) / delta_3
+  coef_b = (delta_2 * mid_phase**2 - delta_1) / delta_3
+  coef_c = start
+
+  return coef_a * phase**2 + coef_b * phase + coef_c
+
+
+def _gen_swing_foot_trajectory(input_phase: float, start_pos: Sequence[float],
+                               end_pos: Sequence[float], ease_up_phase: float,
+                               ease_up_percent: float) -> Tuple[float]:
+  """Generates the swing trajectory using a parabola.
+
+  Args:
+    input_phase: the swing/stance phase value between [0, 1].
+    start_pos: The foot's position at the beginning of swing cycle.
+    end_pos: The foot's desired position at the end of swing cycle.
+    ease_up_phase: Time length for the initial ease up phase dueing swing cycle.
+    ease_up_percent: Percentage of the swing cycle completed after
+      ease_up_phase.
+
+  Returns:
+    The desired foot position at the current phase.
+  """
+  # We augment the swing speed using the below formula. For the first portion of
+  # the swing cycle (ease_up_phase), the swing leg moves faster and finishes
+  # ease_up_percent% of the full swing trajectory. The rest of trajectory takes
+  # the rest of the swing cycle. Intuitely, we want to move the swing foot
+  # quickly to the target landing location and stay above the ground, in this
+  # way the control is more robust to perturbations to the body that may cause
+  # the swing foot to drop onto the ground earlier than expected. This is a
+  # common practice similar to the MIT cheetah and Marc Raibert's original
+  # controllers.
+  assert 0 <= ease_up_percent <= 1
+  assert 0 <= ease_up_phase <= 1
+  phase = input_phase
+  if input_phase <= ease_up_phase:
+    phase = ease_up_percent * math.sin(input_phase /
+                                       (2 * ease_up_phase) * math.pi)
+  else:
+    phase = ease_up_percent + (input_phase - ease_up_phase) * (
+        1 - ease_up_percent) / (1 - ease_up_phase)
+
+  x = (1 - phase) * start_pos[0] + phase * end_pos[0]
+  y = (1 - phase) * start_pos[1] + phase * end_pos[1]
+  max_clearance = 0.1
+  mid = max(end_pos[2], start_pos[2]) + max_clearance
+  z = _gen_parabola(phase, start_pos[2], mid, end_pos[2])
+
+  # PyType detects the wrong return type here.
+  return (x, y, z)  # pytype: disable=bad-return-type
+
+
+@gin.configurable
+class RaibertSwingLegController(leg_controller.LegController):
+  """Controls the swing leg position using Raibert's formula.
+
+  For details, please refer to chapter 2 in "Legged robbots that balance" by
+  Marc Raibert. The key idea is to stablize the swing foot's location based on
+  the CoM moving speed.
+
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      gait_generator: Any,
+      state_estimator: Any,
+      desired_speed: Tuple[float] = (0, 0),
+      desired_twisting_speed: float = 0,
+      desired_height: float = 0.45,
+      foot_clearance: float = _FOOT_CLEARANCE_M,
+      local_hip_positions: Tuple[Tuple[float]] = _DEFAULT_LOCAL_HIP_POSITIONS,
+      ease_up_phase: float = _DEFAULT_SWING_EASE_UP_PHASE,
+      ease_up_percent: float = _DEFAULT_SWING_EASE_UP_PERCENT,
+      feed_forward_torques: Sequence[float] = _FEED_FORWARD_TORQUES
+  ):
+    """Initializes the class.
+
+    Args:
+      robot: A robot instance.
+      gait_generator: Generates the stance/swing pattern.
+      state_estimator: Estiamtes the CoM speeds.
+      desired_speed: Behavior parameters. X-Y speed.
+      desired_twisting_speed: Behavior control parameters.
+      desired_height: Desired standing height.
+      foot_clearance: The foot clearance on the ground at the end of the swing
+        cycle.
+      local_hip_positions: Positions of the robot's hips in local frames.
+      ease_up_phase: Time length for the initial ease up phase dueing swing
+        cycle.
+      ease_up_percent: Percentage of the swing cycle completed after
+        ease_up_phase.
+      feed_forward_torques: A feed-forward torque applied to the actuators on
+        the swing legs (e.g. for gravity compensation).
+    """
+    self._robot = robot
+    self._state_estimator = state_estimator
+    self._gait_generator = gait_generator
+    self._last_leg_state = gait_generator.desired_leg_state
+    self.desired_speed = np.array((desired_speed[0], desired_speed[1], 0))
+    self.desired_twisting_speed = desired_twisting_speed
+    self._desired_height = np.array((0, 0, desired_height - foot_clearance))
+    self._local_hip_positions = local_hip_positions
+    self._ease_up_phase = ease_up_phase
+    self._ease_up_percent = ease_up_percent
+    self._feed_forward_torques = feed_forward_torques
+
+    self._joint_angles = None
+    self._phase_switch_foot_local_position = None
+    self.reset(0)
+
+  def reset(self, current_time: float) -> None:
+    """Called during the start of a swing cycle.
+
+    Args:
+      current_time: The wall time in seconds.
+    """
+    del current_time
+    self._last_leg_state = self._gait_generator.desired_leg_state
+    self._phase_switch_foot_local_position = (self._robot.foot_positions())
+    self._joint_angles = {}
+
+  def update(self, current_time: float) -> None:
+    """Called at each control step.
+
+    Args:
+      current_time: The wall time in seconds.
+    """
+    del current_time
+    new_leg_state = self._gait_generator.desired_leg_state
+
+    # Detects phase switch for each leg so we can remember the feet position at
+    # the beginning of the swing phase.
+    for leg_id, state in enumerate(new_leg_state):
+      if (state == gait_generator_lib.LegState.SWING and
+          state != self._last_leg_state[leg_id]):
+        self._phase_switch_foot_local_position[leg_id] = (
+            self._robot.foot_positions()[leg_id])
+
+    self._last_leg_state = copy.deepcopy(new_leg_state)
+
+  def get_action(self) -> Mapping[Any, Any]:
+    com_velocity = self._state_estimator.com_velocity_body_yaw_aligned_frame
+    com_velocity = np.array((com_velocity[0], com_velocity[1], 0))
+
+    _, _, yaw_dot = self._robot.base_roll_pitch_yaw_rate
+
+    local_toe_positions = np.array(self._robot.foot_positions())
+
+    for leg_id, leg_state in enumerate(self._gait_generator.leg_state):
+      if (leg_state == gait_generator_lib.LegState.STANCE or
+          leg_state == gait_generator_lib.LegState.EARLY_CONTACT):
+        continue
+
+      # For now we did not consider the body pitch/roll and all calculation is
+      # in the body frame. TODO(b/143378213): Calculate the foot_target_position
+      # in world farme and then project back to calculate the joint angles.
+      hip_offset = self._local_hip_positions[leg_id]
+      twisting_vector = np.array((-hip_offset[1], hip_offset[0], 0))
+      hip_horizontal_velocity = com_velocity + yaw_dot * twisting_vector
+      target_hip_horizontal_velocity = (
+          self.desired_speed + self.desired_twisting_speed * twisting_vector)
+
+      foot_target_position = (
+          hip_horizontal_velocity *
+          self._gait_generator.swing_duration[leg_id] / 2 - _KP *
+          (target_hip_horizontal_velocity - hip_horizontal_velocity)
+      ) - self._desired_height + np.array((hip_offset[0], hip_offset[1], 0))
+
+      foot_position = _gen_swing_foot_trajectory(
+          self._gait_generator.normalized_phase[leg_id],
+          self._phase_switch_foot_local_position[leg_id], foot_target_position,
+          self._ease_up_phase, self._ease_up_percent)
+
+      local_toe_positions[leg_id] = foot_position
+    joint_ids, joint_angles = self._robot.motor_angles_from_foot_positions(
+        local_toe_positions, position_in_world_frame=False)
+    # Update the stored joint angles as needed.
+    motors_per_leg = len(joint_ids) // len(local_toe_positions)
+    for joint_id, joint_angle in zip(joint_ids, joint_angles):
+      self._joint_angles[joint_id] = (joint_angle, joint_id // motors_per_leg)
+
+    action = {}
+    kps, kds = self._robot.motor_model.get_motor_gains()
+
+    for joint_id, joint_angle_leg_id in self._joint_angles.items():
+      leg_id = joint_angle_leg_id[1]
+      if self._gait_generator.leg_state[
+          leg_id] == gait_generator_lib.LegState.SWING:
+        # This is a hybrid action for PD control.
+        action[joint_id] = (joint_angle_leg_id[0], kps[joint_id], 0,
+                            kds[joint_id], self._feed_forward_torques[joint_id])
+
+    return action
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py
new file mode 100644
index 0000000000..6b12a05ad5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/state_estimator.py
@@ -0,0 +1,21 @@
+"""State estimator."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import abc
+
+
+class StateEstimatorBase(object):  # pytype: disable=ignored-metaclass
+  """Estimates the unmeasurable state of the robot."""
+
+  __metaclass__ = abc.ABCMeta
+
+  @abc.abstractmethod
+  def reset(self, current_time):
+    pass
+
+  @abc.abstractmethod
+  def update(self, current_time):
+    pass
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py
new file mode 100644
index 0000000000..eb4ccdd1cc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/static_gait_controller.py
@@ -0,0 +1,63 @@
+# Lint as: python3
+"""A static gait controller for a quadruped robot. Experimental code."""
+
+import gin
+import numpy as np
+from pybullet_envs.minitaur.agents.baseline_controller import foot_stepper
+
+toe_pos_local_ref = np.array([[0.1478, -0.11459, -0.45576],
+                              [0.1478, 0.11688, -0.45576],
+                              [-0.2895, -0.11459, -0.45576],
+                              [-0.2895, 0.11688, -0.45576]])
+
+
+@gin.configurable
+class StaticGaitController(object):
+  """A static gait controller for a quadruped robot."""
+
+  def __init__(self, robot):
+    self._robot = robot
+    self._toe_ids = tuple(robot.urdf_loader.get_end_effector_id_dict().values())
+    self._wait_count = 0
+    self._stepper = foot_stepper.FootStepper(self._robot.pybullet_client,
+                                             self._toe_ids, toe_pos_local_ref)
+
+  def act(self, observation):
+    """Computes actions based on observations."""
+    del observation
+    p = self._robot.pybullet_client
+    quadruped = self._robot.robot_id
+    step_input = foot_stepper.StepInput()
+    ls = p.getLinkStates(
+        quadruped, self._toe_ids, computeForwardKinematics=True)
+    toe_pos_world = np.array([ls[0][0], ls[1][0], ls[2][0], ls[3][0]])
+    base_com_pos, base_com_orn = p.getBasePositionAndOrientation(quadruped)
+    new_pos_world = np.array([0, 0, 0])
+
+    if self._stepper.is_com_stable() and not self._stepper.move_swing_foot:
+      self._wait_count += 1
+      if self._wait_count == 20:
+        self._stepper.next_foot()
+      if self._wait_count > 50:
+        self._wait_count = 0
+        step_dist = 0.15
+        print("time {}, make a step of {}".format(
+            self._robot.GetTimeSinceReset(), step_dist))
+        new_pos_local = self._stepper.get_reference_pos_swing_foot()
+        new_pos_local[0] += step_dist
+        new_pos_world, _ = p.multiplyTransforms(base_com_pos, base_com_orn,
+                                                new_pos_local, [0, 0, 0, 1])
+        self._stepper.swing_foot()
+
+    step_input.new_pos_world = new_pos_world
+    step_input.base_com_pos = base_com_pos
+    step_input.base_com_orn = base_com_orn
+    step_input.toe_pos_world = toe_pos_world
+    step_input.dt = 1.0 / 250
+    step_output = self._stepper.update(step_input)
+
+    # Finds joint poses to achieve toePosWorld
+    desired_joint_angles = self._robot.motor_angles_from_foot_positions(
+        foot_positions=step_output.new_toe_pos_world,
+        position_in_world_frame=True)[1]
+    return desired_joint_angles
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py
new file mode 100644
index 0000000000..42868795ee
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/time_based_moving_window_filter.py
@@ -0,0 +1,45 @@
+"""A moving-window filter for smoothing the signals within certain time interval."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+
+import gin
+import numpy as np
+
+
+@gin.configurable
+class TimeBasedMovingWindowFilter:
+  """A moving-window filter for smoothing the signals within certain time interval."""
+
+  def __init__(
+      self,
+      filter_window: float = 0.1,
+  ):
+    """Initializes the class.
+
+    Args:
+      filter_window: The filtering window (in time) used to smooth the input
+        signal.
+    """
+    self._filter_window = filter_window
+    self.reset()
+
+  def reset(self):
+    self._timestamp_buffer = []
+    self._value_buffer = []
+
+  def calculate_average(self, new_value, timestamp):
+    """Compute the filtered signals based on the time-based moving window."""
+    self._timestamp_buffer.append(timestamp)
+    self._value_buffer.append(new_value)
+
+    while len(self._value_buffer) > 1:
+      if self._timestamp_buffer[
+          0] < timestamp - self._filter_window:
+        self._timestamp_buffer.pop(0)
+        self._value_buffer.pop(0)
+      else:
+        break
+    return np.mean(self._value_buffer, axis=0)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py
new file mode 100644
index 0000000000..87ebed4587
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/torque_stance_leg_controller.py
@@ -0,0 +1,229 @@
+# Lint as: python3
+"""A torque based stance controller framework."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import functools
+import logging
+from typing import Any, Sequence, Tuple
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib
+from pybullet_envs.minitaur.agents.baseline_controller import leg_controller
+#from pybullet_envs.minitaur.agents.baseline_controller.convex_mpc.python import convex_mpc
+#from google3.util.task.python import error
+
+try:
+  import mpc_osqp as convex_mpc  # pytype: disable=import-error
+except:  #pylint: disable=W0702
+  print("You need to install motion_imitation")
+  print("or use pip3 install motion_imitation --user")
+  print("see also https://github.com/google-research/motion_imitation")
+  import sys
+  sys.exit()
+  
+
+_FORCE_DIMENSION = 3
+# The QP weights in the convex MPC formulation. See the MIT paper for details:
+#   https://ieeexplore.ieee.org/document/8594448/
+# Intuitively, this is the weights of each state dimension when tracking a
+# desired CoM trajectory. The full CoM state is represented by
+# (roll_pitch_yaw, position, angular_velocity, velocity, gravity_place_holder).
+_MPC_WEIGHTS = (5, 5, 0.2, 0, 0, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.1, 0)
+_PLANNING_HORIZON_STEPS = 10
+_PLANNING_TIMESTEP = 0.025
+#_MPC_CONSTRUCTOR = functools.partial(
+#    convex_mpc.ConvexMpc, qp_solver_name=convex_mpc.QPSolverName.QPOASES)
+
+
+@gin.configurable
+class TorqueStanceLegController(leg_controller.LegController):
+  """A torque based stance leg controller framework.
+
+  Takes in high level parameters like walking speed and turning speed, and
+  generates necessary the torques for stance legs.
+  """
+
+  def __init__(
+      self,
+      robot: Any,
+      gait_generator: Any,
+      state_estimator: Any,
+      desired_speed: Tuple[float] = (0, 0),
+      desired_twisting_speed: float = 0,
+      desired_roll_pitch: Tuple[float] = (0, 0),
+      desired_body_height: float = 0.45,
+      body_mass: float = 220 / 9.8,
+      body_inertia: Tuple[float] = (0.183375, 0, 0, 0, 0.6267, 0, 0, 0,
+                                    0.636175),
+      num_legs: int = 4,
+      friction_coeffs: Sequence[float] = (0.5, 0.5, 0.5, 0.5),
+      qp_weights: Sequence[float] = _MPC_WEIGHTS,
+      planning_horizon: int = _PLANNING_HORIZON_STEPS,
+      planning_timestep: int = _PLANNING_TIMESTEP,
+  ):
+    """Initializes the class.
+
+    Tracks the desired position/velocity of the robot by computing proper joint
+    torques using MPC module.
+
+    Args:
+      robot: A robot instance.
+      gait_generator: Used to query the locomotion phase and leg states.
+      state_estimator: Estimate the robot states (e.g. CoM velocity).
+      desired_speed: desired CoM speed in x-y plane.
+      desired_twisting_speed: desired CoM rotating speed in z direction.
+      desired_roll_pitch: desired CoM roll and pitch.
+      desired_body_height: The standing height of the robot.
+      body_mass: The total mass of the robot.
+      body_inertia: The inertia matrix in the body principle frame. We assume
+        the body principle coordinate frame has x-forward and z-up.
+      num_legs: The number of legs used for force planning.
+      friction_coeffs: The friction coeffs on the contact surfaces.
+      qp_weights: The weights used in solving the QP problem.
+      planning_horizon: Number of steps to roll-out in the QP formulation.
+      planning_timestep: Timestep between each step in the QP formulation.
+    """
+
+    self._robot = robot
+    self._gait_generator = gait_generator
+    self._state_estimator = state_estimator
+    self._desired_speed = desired_speed
+    self._desired_twisting_speed = desired_twisting_speed
+    self._desired_roll_pitch = desired_roll_pitch
+    self._desired_body_height = desired_body_height
+    self._body_mass = body_mass
+    self._num_legs = num_legs
+    self._friction_coeffs = np.array(friction_coeffs)
+    self._qp_solver_fail = False
+    self._com_estimate_leg_indices = None
+    qp_solver = convex_mpc.QPOASES #convex_mpc.OSQP #
+    
+    body_inertia_list = list(body_inertia)
+    weights_list = list(qp_weights)
+
+    self._mpc = convex_mpc.ConvexMpc(
+        body_mass,
+        body_inertia_list,
+        self._num_legs,
+        planning_horizon,
+        planning_timestep,
+        weights_list,
+        1e-6,
+        qp_solver
+    )
+    
+
+  def reset(self, current_time):
+    del current_time
+    self._qp_solver_fail = False
+    self._com_estimate_leg_indices = None
+
+  def update(self, current_time):
+    del current_time
+
+  def get_action(self):
+    """Computes the torque for stance legs."""
+    desired_com_position = np.array((0., 0., self._desired_body_height),
+                                    dtype=np.float64)
+    desired_com_velocity = np.array(
+        (self.desired_speed[0], self.desired_speed[1], 0.), dtype=np.float64)
+    desired_com_roll_pitch_yaw = np.array(
+        (self.desired_roll_pitch[0], self.desired_roll_pitch[1], 0.),
+        dtype=np.float64)
+    desired_com_angular_velocity = np.array(
+        (0., 0., self.desired_twisting_speed), dtype=np.float64)
+    foot_contact_state = np.array(
+        [(leg_state == gait_generator_lib.LegState.STANCE or
+          leg_state == gait_generator_lib.LegState.EARLY_CONTACT)
+         for leg_state in self._gait_generator.desired_leg_state],
+        dtype=np.int32)
+
+    # We use the body yaw aligned world frame for MPC computation.
+    com_roll_pitch_yaw = np.array(
+        self._robot.base_roll_pitch_yaw, dtype=np.float64)
+    com_roll_pitch_yaw[2] = 0
+    #try:
+    estimated_com_position = np.array(())
+    if hasattr(self._state_estimator, "estimated_com_height"):
+        estimated_com_position = np.array(
+            (0, 0, self._state_estimator.estimated_com_height))
+    try:
+      predicted_contact_forces = self._mpc.compute_contact_forces(
+        estimated_com_position,  #com_position
+        np.asarray(self._state_estimator.com_velocity_body_yaw_aligned_frame,
+                   dtype=np.float64),  #com_velocity
+        np.array(com_roll_pitch_yaw, dtype=np.float64),  #com_roll_pitch_yaw
+        # Angular velocity in the yaw aligned world frame is actually different
+        # from rpy rate. We use it here as a simple approximation.
+        np.asarray(self._robot.base_roll_pitch_yaw_rate,
+                   dtype=np.float64),  #com_angular_velocity
+        foot_contact_state,  #foot_contact_states
+        np.array(self._robot.foot_positions(
+              position_in_world_frame=False).flatten(),
+                 dtype=np.float64),  #foot_positions_base_frame
+        self._friction_coeffs,  #foot_friction_coeffs
+        desired_com_position,  #desired_com_position
+        desired_com_velocity,  #desired_com_velocity
+        desired_com_roll_pitch_yaw,  #desired_com_roll_pitch_yaw
+        desired_com_angular_velocity  #desired_com_angular_velocity
+    )
+    except:# error.StatusNotOk as e:
+      logging.error("Error in Torque Stance Leg")#e.message)
+      self._qp_solver_fail = True
+      predicted_contact_forces = np.zeros(self._num_legs * _FORCE_DIMENSION)
+
+    contact_forces = {}
+    for i in range(self._num_legs):
+      contact_forces[i] = np.array(
+          predicted_contact_forces[i * _FORCE_DIMENSION:(i + 1) *
+                                   _FORCE_DIMENSION])
+
+    _, kds = self._robot.motor_model.get_motor_gains()
+    action = {}
+    for leg_id, force in contact_forces.items():
+      motor_torques = self._robot.map_contact_force_to_joint_torques(
+          leg_id, force)
+      for joint_id, torque in motor_torques.items():
+        action[joint_id] = (0, 0, 0, kds[joint_id], torque)
+    return action
+
+  @property
+  def qp_solver_fail(self):
+    return self._qp_solver_fail
+
+  @property
+  def desired_speed(self):
+    return self._desired_speed
+
+  @desired_speed.setter
+  def desired_speed(self, speed):
+    self._desired_speed = speed
+
+  @property
+  def desired_twisting_speed(self):
+    return self._desired_twisting_speed
+
+  @desired_twisting_speed.setter
+  def desired_twisting_speed(self, twisting_speed):
+    self._desired_twisting_speed = twisting_speed
+
+  @property
+  def desired_roll_pitch(self):
+    return self._desired_roll_pitch
+
+  @desired_roll_pitch.setter
+  def desired_roll_pitch(self, roll_pitch):
+    self._desired_roll_pitch = roll_pitch
+
+  @property
+  def desired_body_height(self):
+    return self._desired_body_height
+
+  @desired_body_height.setter
+  def desired_body_height(self, body_height):
+    self._desired_body_height = body_height
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py
new file mode 100644
index 0000000000..746e4cfd58
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/controller_simple.py
@@ -0,0 +1,87 @@
+"""Asymmetric sine controller for quadruped locomotion.
+
+Asymmetric sine uses cosine and sine waves to generate swinging and extension
+for leg motion. It's asymmetric because sine waves are split into two phases
+(swing forward and stance) and these phases have different frequencies according
+to what proportion of a period will be spend on swinging forward forward
+swinging backwards. In addition, the sine wave for extension has different
+amplitudes during these two phases.
+"""
+import math
+
+TWO_PI = 2 * math.pi
+_DEFAULT_LEG_AMPLITUDE_EXTENSION = -0.02
+_DEFAULT_LEG_AMPLITUDE_SWING = 0.5
+_DEFAULT_LEG_AMPLITUDE_LIFT = 0.9
+_DEFAULT_WALKING_HEIGHT = 0.0
+_DEFAULT_LEG_CENTER_SWING = 0.0
+_DELTA_CENTER_EXTENSION_CAP = 1
+_DELTA_INTENSITY_CAP = 0.1
+
+
+class SimpleLegController(object):
+  """Controller that gives swing and extension based on phase and parameters.
+
+
+  The controller returns the swing-extend pair based on a parameterized
+  ellipsoid trajectory that depends on center of motion, amplitude and phase.
+  The parameters are
+    amplitude_extension: Amplitude for extension during stance (phase < pi).
+    amplitude_lift: Amplitude for extension during swing (phase > pi).
+    amplitude_swing: Amplitude for swing.
+    center_extension: The value extension signal oscillates around.
+    center_swing: The value swing signal oscillates around.
+    intensity: A coefficient that scales the motion of the legs.
+  The formula to calculate motion and more detailed information about these
+  parameters can be found at go/pmtg-refactored.
+  """
+
+  def __init__(self, init_phase=0):
+    self.amplitude_extension = _DEFAULT_LEG_AMPLITUDE_EXTENSION
+    self.amplitude_swing = _DEFAULT_LEG_AMPLITUDE_SWING
+    self.amplitude_lift = _DEFAULT_LEG_AMPLITUDE_LIFT
+    self.center_extension = _DEFAULT_WALKING_HEIGHT
+    self.center_swing = _DEFAULT_LEG_CENTER_SWING
+    self.intensity = 1.0
+    self._init_phase = init_phase
+    self.phase = init_phase
+    self.phase_offset = 0
+
+  def reset(self):
+    self.phase = self._init_phase
+
+  def get_swing_extend(self):
+    """Returns the swing and extend parameters for the leg.
+
+    Returns:
+      swing: Desired swing of the leg.
+      extend: Desired extension amount of the leg.
+    """
+
+    # Increase default extension by the extra extension scaled by intensity.
+    # Extend reduces to default center extension when intensity goes to 0,
+    # because we prefer the legs to stay at walking height when intensity is
+    # 0.
+    amplitude_extension = self.amplitude_extension
+    # The leg is in swing phase when phase > pi.
+    if self.phase > math.pi:
+      amplitude_extension = self.amplitude_lift
+    extend = self.center_extension + (
+        amplitude_extension * math.sin(self.phase)) * self.intensity
+    # Calculate the swing based on the signal and scale it with intensity.
+    # Swing reduces to 0 when intensity goes to 0, because we would prefer the
+    # legs to stay neutral (standing position instead of center swing) when
+    # intensity is 0.
+    swing = self.center_swing + self.amplitude_swing * math.cos(self.phase)
+    swing *= self.intensity
+
+    return swing, extend
+
+  def adjust_center_extension(self, target_center_extension):
+    delta = min(_DELTA_CENTER_EXTENSION_CAP,
+                target_center_extension - self.center_extension)
+    self.center_extension += delta
+
+  def adjust_intensity(self, target_intensity):
+    delta = min(_DELTA_INTENSITY_CAP, target_intensity - self.intensity)
+    self.intensity += delta
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py
new file mode 100644
index 0000000000..b07048e75a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_inplace.py
@@ -0,0 +1,57 @@
+"""Trajectory Generator for in-place stepping motion for quadruped robot."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import numpy as np
+
+TWO_PI = 2 * math.pi
+
+
+def _get_actions_asymmetric_sine(phase, tg_params):
+  """Returns the leg extension given current phase of TG and parameters.
+
+  Args:
+    phase: a number in [0, 2pi) representing current leg phase
+    tg_params: a dictionary of tg parameters:
+      stance_lift_cutoff -- switches the TG between stance (phase < cutoff) and
+                            lift (phase > cutoff) phase
+      amplitude_swing -- amplitude in swing phase
+      amplitude_lift -- amplitude in lift phase
+      center_extension -- center of leg extension
+  """
+  stance_lift_cutoff = tg_params['stance_lift_cutoff']
+  a_prime = np.where(phase < stance_lift_cutoff, tg_params['amplitude_stance'],
+                     tg_params['amplitude_lift'])
+  scaled_phase = np.where(
+      phase > stance_lift_cutoff, np.pi + (phase - stance_lift_cutoff) /
+      (TWO_PI - stance_lift_cutoff) * np.pi, phase / stance_lift_cutoff * np.pi)
+  return tg_params['center_extension'] + a_prime * np.sin(scaled_phase)
+
+
+def step(current_phases, leg_frequencies, dt, tg_params):
+  """Steps forward the in-place trajectory generator.
+
+  Args:
+    current_phases: phases of each leg.
+    leg_frequencies: the frequency to proceed the phase of each leg.
+    dt: amount of time (sec) between consecutive time steps.
+    tg_params: a set of parameters for trajectory generator, see the docstring
+      of "_get_actions_asymmetric_sine" for details.
+
+  Returns:
+    actions: leg swing/extensions as output by the trajectory generator.
+    new_state: new swing/extension.
+  """
+  new_phases = np.fmod(current_phases + TWO_PI * leg_frequencies * dt, TWO_PI)
+  extensions = []
+  for leg_id in range(4):
+    extensions.append(
+        _get_actions_asymmetric_sine(new_phases[..., leg_id], tg_params))
+  return new_phases, extensions
+
+
+def reset():
+  return np.array([0, np.pi * 0.5, np.pi, np.pi * 1.5])
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py
new file mode 100644
index 0000000000..c63884d811
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/trajectory_generator/tg_simple.py
@@ -0,0 +1,400 @@
+"""Trajectory Generator generates walking leg motions for a quadruped robot.
+
+Trajectory Generator (TG) has an internal state (phase) and generates
+walking-like motion for 8 motors of minitaur quadruped robot based on
+parameters
+such as:
+ - delta time to progress the TG's internal state.
+ - intensity to control amount of movement (stride length and lift of the legs).
+ - waking height to control the average extension of the legs.
+
+Each time step() is called, the internal state is progressed and 8 motor
+positions are generated. This TG uses the open-loop SineController class to
+provide leg positions. It is mainly a wrapper for ability to modulating the
+time
+and other parameters of the SineController.
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import numpy as np
+import gin
+from pybullet_envs.minitaur.agents.trajectory_generator import controller_simple
+
+PHASE_LOWER_BOUND = 0.0
+PHASE_UPPER_BOUND = 1.0
+WALK_HEIGHT_LOWER_BOUND = -0.5
+WALK_HEIGHT_UPPER_BOUND = 1.0
+INTENSITY_LOWER_BOUND = 0.0
+INTENSITY_UPPER_BOUND = 1.5
+_SWING_STANCE_LOWER_BOUND = 0.2
+_SWING_STANCE_UPPER_BOUND = 5.0
+_DELTA_SWING_STANCE_CAP = 0.4
+_TWO_PI = math.pi * 2.0
+_LEG_COUPLING_DICT = {
+    "null": [],
+    # All the legs are coupled.
+    "all coupled": [0, 0, 0, 0],
+    # Front legs and back legs are coupled separately.
+    "front back": [0, 1, 0, 1],
+    # Left legs and right legs are coupled separately.
+    "left right": [0, 0, 1, 1],
+    # Diagonal legs are coupled (i.e. trottting).
+    "diagonal": [0, 1, 1, 0],
+    # Each leg is indepenent.
+    "decoupled": [0, 1, 2, 3]
+}
+
+
+@gin.configurable
+class TgSimple(object):
+  """TgSimple class is a simplified trajectory generator for quadruped walking.
+
+  It returns 8 actions for quadruped slow walking behavior
+  based on the parameters provided such as intensity, walking height and delta
+  time. It returns its internal phase as information.
+  """
+
+  def __init__(self,
+               walk_height_lower_bound=WALK_HEIGHT_LOWER_BOUND,
+               walk_height_upper_bound=WALK_HEIGHT_UPPER_BOUND,
+               intensity_lower_bound=INTENSITY_LOWER_BOUND,
+               intensity_upper_bound=INTENSITY_UPPER_BOUND,
+               swing_stance_lower_bound=_SWING_STANCE_LOWER_BOUND,
+               swing_stance_upper_bound=_SWING_STANCE_UPPER_BOUND,
+               integrator_coupling_mode="all coupled",
+               walk_height_coupling_mode="all coupled",
+               variable_swing_stance_ratio=False,
+               swing_stance_ratio=1.0,
+               init_leg_phase_offsets=None):
+    """Initialize the trajectory generator with a controller.
+
+    For trajectory generator, we create an asymmetric sine controller with
+    parameters that was previously optimized as an open-loop controller.
+
+    Args:
+      walk_height_lower_bound: Lower bound for walking height which sets the
+        default leg extension of the gait. Unit is rad, -0.5 by default.
+      walk_height_upper_bound: Lower bound for walking height which sets the
+        default leg extension of the gait. Unit is rad, 1.0 by default.
+      intensity_lower_bound: The upper bound for intensity of the trajectory
+        generator. It can be used to limit the leg movement.
+      intensity_upper_bound: The upper bound for intensity of the trajectory
+        generator. It can be used to limit the leg movement.
+      swing_stance_lower_bound: Lower bound for the swing vs stance ratio
+        parameter. Default value is 0.2.
+      swing_stance_upper_bound: Upper bound for the swing vs stance ratio
+        parameter. Default value is 0.2.
+      integrator_coupling_mode: How the legs should be coupled for integrators.
+      walk_height_coupling_mode: The same coupling mode used for walking
+        heights for the legs.
+      variable_swing_stance_ratio: A boolean to indicate if the swing stance
+        ratio can change per time step or not.
+      swing_stance_ratio: Time taken by swing phase vs stance phase. This is
+        only relevant if variable_swing_stance_ratio is False.
+      init_leg_phase_offsets: The initial phases of the legs. A list of 4
+        variables within [0,1). The order is front-left, rear-left, front-right
+        and rear-right.
+
+    Raises:
+      ValueError: If parameters are not valid values.
+    """
+    self._walk_height_lower_bound = walk_height_lower_bound
+    self._walk_height_upper_bound = walk_height_upper_bound
+    self._intensity_lower_bound = intensity_lower_bound
+    self._intensity_upper_bound = intensity_upper_bound
+    self._swing_stance_lower_bound = swing_stance_lower_bound
+    self._swing_stance_upper_bound = swing_stance_upper_bound
+    if not init_leg_phase_offsets:
+      init_leg_phase_offsets = [0, 0.25, 0.5, 0.75]
+    if len(init_leg_phase_offsets) != 4:
+      raise ValueError("The number of leg phase offsets is not equal to 4.")
+    if min(init_leg_phase_offsets) < 0 or max(init_leg_phase_offsets) >= 1:
+      raise ValueError("Leg phase offsets are not within [0,1)")
+    self._legs = []
+    for period in init_leg_phase_offsets:
+      init_phase = period * 2 * math.pi
+      self._legs.append(controller_simple.SimpleLegController(init_phase))
+
+    if integrator_coupling_mode not in _LEG_COUPLING_DICT:
+      raise ValueError("Invalid integrator_coupling_mode.")
+    if walk_height_coupling_mode not in _LEG_COUPLING_DICT:
+      raise ValueError("Invalid walk_height_coupling_mode.")
+
+    # Set the phase couplings and build a list of legs per phase coupling.
+    self._integrator_id_per_leg = _LEG_COUPLING_DICT[integrator_coupling_mode]
+    self._num_integrators = max(
+        self._integrator_id_per_leg) + 1 if self._integrator_id_per_leg else 0
+    self._legs_per_integrator_id = [[], [], [], []]
+    for idx, phase_id in enumerate(self._integrator_id_per_leg):
+      self._legs_per_integrator_id[phase_id].append(self._legs[idx])
+
+    # For each integrator coupling, create a integrator unit.
+    # For each leg controlled by that phase generator, mark the phase offset.
+    self._integrator_units = []
+    for legs_per_integrator in self._legs_per_integrator_id:
+      if legs_per_integrator:
+        circular_integrator = CircularAsymmetricalIntegratorUnit(
+            legs_per_integrator[0].phase)
+        self._integrator_units.append(circular_integrator)
+        for leg in legs_per_integrator:
+          leg.phase_offset = leg.phase - circular_integrator.phase
+
+    # Set the walking heights couplings.
+    self._walk_height_id_per_leg = _LEG_COUPLING_DICT[walk_height_coupling_mode]
+    self._num_walk_heights = max(
+        self._walk_height_id_per_leg) + 1 if self._walk_height_id_per_leg else 0
+    self._variable_swing_stance_ratio = variable_swing_stance_ratio
+    self._swing_stance_ratio = swing_stance_ratio
+
+  def reset(self):
+    """Resets leg phase offsets to their initial values."""
+    for leg in self._legs:
+      leg.reset()
+    for circular_integrator in self._integrator_units:
+      circular_integrator.reset()
+
+  def get_parameter_bounds(self):
+    """Lower and upper bounds for the parameters generator's parameters.
+
+    Returns:
+      2-tuple of:
+      - Lower bounds for the parameters such as intensity, walking height and
+      lift fraction.
+      - Upper bounds for the same parameters.
+    """
+    lower_bounds = [self._intensity_lower_bound]
+    upper_bounds = [self._intensity_upper_bound]
+    lower_bounds += [self._walk_height_lower_bound] * self._num_walk_heights
+    upper_bounds += [self._walk_height_upper_bound] * self._num_walk_heights
+    lower_bounds += [self._swing_stance_lower_bound
+                    ] * self._variable_swing_stance_ratio
+    upper_bounds += [self._swing_stance_upper_bound
+                    ] * self._variable_swing_stance_ratio
+
+    return lower_bounds, upper_bounds
+
+  def get_actions(self, delta_real_time, tg_params):
+    """Get actions for 8 motors after increasing the phase delta_time.
+
+    Args:
+      delta_real_time: Time in seconds that have actually passed since the last
+        step of the trajectory generator.
+      tg_params: An ndarray of the parameters for generating the trajectory. The
+        parameters must be in the correct order (time_scale, intensity,
+        walking_height, and swing vs stance)
+
+    Raises:
+      ValueError: In case the input dimension does not match expected.
+    Returns:
+      The rotations for all the 8 motors for this time step
+      returned in an array [front_left_motor_1, front_left_motor_2, etc].
+    """
+    speeds, intensity, heights, swing_stance_ratio = self._process_tg_params(
+        tg_params)
+    # Adjust the swing stance ratio of the controller (used for all four legs).
+    if swing_stance_ratio:
+      self.adjust_swing_stance_ratio(swing_stance_ratio)
+    # Adjust the walking height, intensity and swing vs stance of the legs.
+    for idx, leg in enumerate(self._legs):
+      leg.adjust_intensity(intensity)
+      if heights:
+        leg.adjust_center_extension(heights[self._walk_height_id_per_leg[idx]])
+
+    # Progress all the phase generators based on delta time.
+    for idx, integrator_unit in enumerate(self._integrator_units):
+      integrator_unit.progress_phase(speeds[idx] * delta_real_time,
+                                     self._swing_stance_ratio)
+
+    # Set the phases for the legs based on their offsets with phase generators.
+    for phase_id, leg_list in enumerate(self._legs_per_integrator_id):
+      for leg in leg_list:
+        delta_period = leg.phase_offset / (2.0 * math.pi)
+        leg.phase = self._integrator_units[phase_id].calculate_progressed_phase(
+            delta_period, self._swing_stance_ratio)
+
+    # Calculate swingextend and convert it to the motor rotations.
+    actions = []
+    for idx, leg in enumerate(self._legs):
+      swing, extend = leg.get_swing_extend()
+      actions.extend([swing, extend])
+    return actions
+
+  def _process_tg_params(self, tg_params):
+    """Process the trajectory generator parameters and split them.
+
+    Args:
+      tg_params: A list consisting of time_scales, intensity, walking_heights,
+        swing_stance_ratio. The size depends on the configuration and inital
+        flags.
+
+    Returns:
+      time_scales: A list of multipliers of delta time (one per integrator).
+      intensity: Intensity of the trajectory generator (one variable).
+      walking_heights: Walking heights used for the legs. The length depends on
+        the coupling between the legs selected at the initialization.
+      swing_stance_ratio: The ratio of the speed of the leg during swing stance
+      vs stance phase.
+    """
+
+    # Check if the given input's dimension matches the expectation considering
+    # the number of parameters the trajectory generator uses.
+    if isinstance(tg_params, np.ndarray):
+      tg_params = tg_params.tolist()
+    expected_action_dim = 1 + self._num_integrators + self._num_walk_heights
+    if self._variable_swing_stance_ratio:
+      expected_action_dim += 1
+    if len(tg_params) != expected_action_dim:
+      raise ValueError(
+          "Action dimension does not match the expectation {} vs {}".format(
+              len(tg_params), expected_action_dim))
+    # Split input into different parts based on type. The order must match the
+    # order given by the order in get_parameter_bounds
+    time_scales = tg_params[0:self._num_integrators]
+    intensity = tg_params[self._num_integrators]
+    walking_heights = tg_params[(self._num_integrators + 1):(
+        1 + self._num_integrators + self._num_walk_heights)]
+    swing_stance_ratio = None
+    if self._variable_swing_stance_ratio:
+      swing_stance_ratio = tg_params[1 + self._num_integrators +
+                                     self._num_walk_heights]
+
+    return time_scales, intensity, walking_heights, swing_stance_ratio
+
+  def get_state(self):
+    """Returns a list of floats representing the phase of the controller.
+
+    The phase of the controller is composed of the phases of the integrators.
+    For each integrator, the phase is composed of 2 floats that represents the
+    sine and cosine of the phase of that integrator.
+
+    Returns:
+      List containing sine and cosine of the phases of all the integrators.
+    """
+    return [x for y in self._integrator_units for x in y.get_state()]
+
+  def get_state_lower_bounds(self):
+    """Lower bounds for the internal state.
+
+    Returns:
+      The list containing the lower bounds.
+    """
+    return [PHASE_LOWER_BOUND] * 2 * self._num_integrators
+
+  def get_state_upper_bounds(self):
+    """Upper bounds for the internal state.
+
+    Returns:
+      The list containing the upper bounds.
+    """
+    return [PHASE_UPPER_BOUND] * 2 * self._num_integrators
+
+  def adjust_swing_stance_ratio(self, target_swing_stance_ratio):
+    """Adjust the parameter swing_stance_ratio towards a given target value.
+
+    Args:
+      target_swing_stance_ratio: The target value for the ratio between swing
+        and stance phases.
+    """
+    delta = min(_DELTA_SWING_STANCE_CAP,
+                target_swing_stance_ratio - self._swing_stance_ratio)
+    self._swing_stance_ratio += delta
+
+  @property
+  def num_integrators(self):
+    """Gets the number of integrators used based on coupling mode."""
+    return self._num_integrators
+
+
+class CircularAsymmetricalIntegratorUnit(object):
+  """A circular integrator with asymmetry between first and second half.
+
+  An integrator is a memory unit that accumulates the given parameter at every
+  time step.
+  A circular integrator is when the integrator cycles within [0,2pi].
+  The phase of a circular integrator indicates the accumulated number and it is
+  stored as fmod of 2Pi.
+  Asymmetrical circular integrator has a further characteristic where it
+  distinguishes between the first half of the period vs the second half. It
+  allows the integrator to move at different speeds during these two periods.
+  From a locomotion perspective these two halves of the period can be considered
+  as swing and stance phases. The speed difference is calculated using the
+  variable swing_stance_ratio provided at every time step.
+  CircularAsymmetricalIntegratorUnit can be used to control one or multiple legs
+  depending on the preference. If more than one leg is assigned to a single unit
+  the other legs are calculated based on their initial phase difference.
+  """
+
+  def __init__(self, init_phase=0):
+    self._init_phase = init_phase
+    self.reset()
+
+  def reset(self):
+    self.phase = self._init_phase
+
+  def calculate_progressed_phase(self, delta_period, swing_stance_speed_ratio):
+    """Calculate a hypotethical phase based on the current phase and args.
+
+    This is used to both calculate the new phase, as well as the current phase
+    of the other legs with a given offset of delta_period.
+
+    Args:
+      delta_period: The fraction of the period to add to the current phase of
+        the integrator. If set to 1, the integrator will accomplish one full
+        period and return the same phase. The calculated phase will depend on
+        the current phase (if it is in first half vs second half) and swing vs
+        stance speed ratio.
+      swing_stance_speed_ratio: The ratio of the speed of the phase when it is
+        in swing (second half) vs stance (first half). Set to 1.0 by default,
+        making it symettric, same as a classical integrator.
+
+    Returns:
+      The new phase between 0 and 2 * pi.
+    """
+    stance_speed_coef = (
+        swing_stance_speed_ratio + 1) * 0.5 / swing_stance_speed_ratio
+    swing_speed_coef = (swing_stance_speed_ratio + 1) * 0.5
+    delta_left = delta_period
+    new_phase = self.phase
+    while delta_left > 0:
+      if 0 <= new_phase < math.pi:
+        delta_phase_multiplier = stance_speed_coef * _TWO_PI
+        new_phase += delta_left * delta_phase_multiplier
+        delta_left = 0
+        if new_phase < math.pi:
+          delta_left = 0
+        else:
+          delta_left = (new_phase - math.pi) / delta_phase_multiplier
+          new_phase = math.pi
+      else:
+        delta_phase_multiplier = swing_speed_coef * _TWO_PI
+        new_phase += delta_left * delta_phase_multiplier
+        if math.pi <= new_phase < _TWO_PI:
+          delta_left = 0
+        else:
+          delta_left = (new_phase - _TWO_PI) / delta_phase_multiplier
+          new_phase = 0
+    return math.fmod(new_phase, _TWO_PI)
+
+  def progress_phase(self, delta_period, swing_stance_ratio):
+    """Updates the phase based on the current phase, delta period and ratio.
+
+    Args:
+      delta_period: The fraction of the period to add to the current phase of
+        the integrator. If set to 1, the integrator will accomplish one full
+        period and return the same phase. The calculated phase will depend on
+        the current phase (if it is in first half vs second half) and swing vs
+        stance speed ratio.
+      swing_stance_ratio: The ratio of the speed of the phase when it is in
+        swing (second half) vs stance (first half). Set to 1.0 by default,
+        making it symettric, same as a classical integrator.
+    """
+    self.phase = self.calculate_progressed_phase(delta_period,
+                                                 swing_stance_ratio)
+
+  def get_state(self):
+    """Returns the sin and cos of the phase as state."""
+    return [(math.cos(self.phase) + 1) / 2.0, (math.sin(self.phase) + 1) / 2.0]
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md
index bcdb8d0f6e..6124264c98 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/README.md
@@ -9,7 +9,6 @@ The following two environments are used in the RSS paper "[Sim-to-Real: Learning
 The rest are experimental environments.
 
 ## Prerequisites
-Install [TensorFlow](https://www.tensorflow.org/install/)
 
 Install OpenAI gym
 ```
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py
index 8ab49b1034..e07c8d505d 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizer_base.py
@@ -25,11 +25,28 @@ def randomize_env(self, env):
     pass
 
   def randomize_step(self, env):
-    """Randomize simulation steps.
+    """Randomize environment steps.
 
-    Will be called at every timestep. May add random forces/torques to Minitaur.
+    Will be called at every environment step.
+
+    It is NOT recommended to use this for force / torque disturbance because
+    pybullet applyExternalForce/Torque only persist for single simulation step
+    not the entire env step which can contain multiple simulation steps.
+
+    Args:
+      env: The Minitaur gym environment to be randomized.
+    """
+    pass
+
+  def randomize_sub_step(self, env, sub_step_index, num_sub_steps):
+    """Randomize simulation sub steps.
+
+    Will be called at every simulation step. This is the correct place to add
+    random forces/torques.
 
     Args:
       env: The Minitaur gym environment to be randomized.
+      sub_step_index: Index of sub step, from 0 to N-1. N is the action repeat.
+      num_sub_steps: Number of sub steps, equals to action repeat.
     """
     pass
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py
index 0fbfef36dc..81b89f301c 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_env_randomizer.py
@@ -56,7 +56,7 @@ def _randomize_minitaur(self, minitaur):
     leg_masses_upper_bound = np.array(leg_masses) * (1.0 + self._minitaur_leg_mass_err_range[1])
     randomized_leg_masses = [
         np.random.uniform(leg_masses_lower_bound[i], leg_masses_upper_bound[i])
-        for i in xrange(len(leg_masses))
+        for i in range(len(leg_masses))
     ]
     minitaur.SetLegMasses(randomized_leg_masses)
 
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py
index 8d9aa8e64b..aa4adb7d46 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/env_randomizers/minitaur_push_randomizer.py
@@ -10,7 +10,9 @@
 parentdir = os.path.dirname(os.path.dirname(parentdir))
 os.sys.path.insert(0, parentdir)
 
+import functools
 import math
+import gin
 import numpy as np
 from pybullet_envs.minitaur.envs import env_randomizer_base
 
@@ -23,6 +25,7 @@
 _VERTICAL_FORCE_LOWER_BOUND = 500
 
 
+@gin.configurable
 class MinitaurPushRandomizer(env_randomizer_base.EnvRandomizerBase):
   """Applies a random impulse to the base of Minitaur."""
 
@@ -54,6 +57,7 @@ def __init__(
                                     [_HORIZONTAL_FORCE_LOWER_BOUND, _HORIZONTAL_FORCE_UPPER_BOUND])
     self._vertical_force_bound = (vertical_force_bound if vertical_force_bound else
                                   [_VERTICAL_FORCE_LOWER_BOUND, _VERTICAL_FORCE_UPPER_BOUND])
+    self._perturbation_parameter_dict = None
 
   def randomize_env(self, env):
     """Randomizes the simulation environment.
@@ -64,9 +68,10 @@ def randomize_env(self, env):
     pass
 
   def randomize_step(self, env):
-    """Randomizes simulation steps.
+    """Randomizes env steps.
 
-    Will be called at every timestep. May add random forces/torques to Minitaur.
+    Will be called at every env step. Called to generate randomized  force and
+    torque to apply. Application of forces are done in randomize_sub_step.
 
     Args:
       env: The Minitaur gym environment to be randomized.
@@ -85,8 +90,25 @@ def randomize_step(self, env):
     if (env.env_step_counter % self._perturbation_interval_steps <
         self._perturbation_duration_steps) and (env.env_step_counter >=
                                                 self._perturbation_start_step):
-      env.pybullet_client.applyExternalForce(objectUniqueId=env.minitaur.quadruped,
-                                             linkIndex=self._applied_link_id,
-                                             forceObj=self._applied_force,
-                                             posObj=[0.0, 0.0, 0.0],
-                                             flags=env.pybullet_client.LINK_FRAME)
+      # Parameter of pybullet_client.applyExternalForce()
+      self._perturbation_parameter_dict = dict(objectUniqueId=env.minitaur.quadruped,
+                                               linkIndex=self._applied_link_id,
+                                               forceObj=self._applied_force,
+                                               posObj=[0.0, 0.0, 0.0],
+                                               flags=env.pybullet_client.LINK_FRAME)
+    else:
+      self._perturbation_parameter_dict = None
+
+  def randomize_sub_step(self, env, sub_step_index, num_sub_steps):
+    """Randomize simulation steps per sub steps (simulation step).
+
+    Will be called at every simulation step. This is the correct place to add
+    random forces/torques to Minitaur.
+
+    Args:
+      env: The Minitaur gym environment to be randomized.
+      sub_step_index: Index of sub step, from 0 to N-1. N is the action repeat.
+      num_sub_steps: Number of sub steps, equals to action repeat.
+    """
+    if self._perturbation_parameter_dict is not None:
+      env.pybullet_client.applyExternalForce(**self._perturbation_parameter_dict)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
index b6f1c5a3d5..2cff24e941 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_logging.py
@@ -18,8 +18,8 @@
 import datetime
 import os
 import time
+import logging
 
-import tensorflow.compat.v1 as tf
 from pybullet_envs.minitaur.envs import minitaur_logging_pb2
 
 NUM_MOTORS = 8
@@ -74,7 +74,7 @@ def update_episode_proto(episode_proto, minitaur, action, step):
   """
   max_num_steps = len(episode_proto.state_action)
   if step >= max_num_steps:
-    tf.logging.warning("{}th step is not recorded in the logging since only {} steps were "
+    logging.warning("{}th step is not recorded in the logging since only {} steps were "
                        "pre-allocated.".format(step, max_num_steps))
     return
   step_log = episode_proto.state_action[step]
@@ -119,12 +119,13 @@ def save_episode(self, episode_proto):
     """
     if not self._log_path or not episode_proto.state_action:
       return self._log_path
-    if not tf.gfile.Exists(self._log_path):
-      tf.gfile.MakeDirs(self._log_path)
+    if not os.path.exists(self._log_path):
+      os.mkdir(self._log_path)
     ts = time.time()
     time_stamp = datetime.datetime.fromtimestamp(ts).strftime("%Y-%m-%d-%H%M%S")
     log_path = os.path.join(self._log_path, "minitaur_log_{}".format(time_stamp))
-    with tf.gfile.Open(log_path, "w") as f:
+    
+    with open(log_path, 'wb') as f:
       f.write(episode_proto.SerializeToString())
     return log_path
 
@@ -136,7 +137,7 @@ def restore_episode(self, log_path):
     Returns:
       The minitaur episode proto.
     """
-    with tf.gfile.Open(log_path, 'rb') as f:
+    with open(log_path, 'rb') as f:
       content = f.read()
       episode_proto = minitaur_logging_pb2.MinitaurEpisode()
       episode_proto.ParseFromString(content)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py
new file mode 100644
index 0000000000..523780124a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/base_client.py
@@ -0,0 +1,63 @@
+"""Base class for simulation client."""
+
+import enum
+from typing import Text
+
+GRAY = (0.3, 0.3, 0.3, 1)
+
+
+class ClientType(enum.Enum):
+  """Type of client."""
+  BULLET = "pybullet"
+  
+
+
+class ClientMode(enum.Enum):
+  """Client running mode."""
+
+  # Client is being initialized, object is being loaded, teleported, etc.
+  CONFIGURATION = 1
+
+  # Client is in a mode that simulate motion according to physics and control.
+  SIMULATION = 2
+
+
+class WrongClientModeError(Exception):
+  """Client mode does not meet expectation (e.g. load object in sim mode)."""
+
+
+class BaseClient(object):
+  """Base class for simulation client."""
+
+  def __init__(self, client_type: Text = ""):
+    self._client_type = client_type
+
+    # Default to configuration mode.
+    self._client_mode = ClientMode.CONFIGURATION
+
+  @property
+  def client_type(self) -> ClientType:
+    return self._client_type
+
+  def switch_mode(self, mode: ClientMode) -> bool:
+    """Switches running mode of simulation client and return if mode changed."""
+    if mode not in (ClientMode.CONFIGURATION, ClientMode.SIMULATION):
+      raise ValueError(f"Invalid client mode {mode}.")
+    if mode == self._client_mode:
+      return False
+    self._client_mode = mode
+    return True
+
+  @property
+  def client_mode(self) -> ClientMode:
+    """Returns current client mode."""
+    return self._client_mode
+
+  def _assert_in_configuration_mode(self, operation: Text = "this operation"):
+    """Raises exception if client is not in configuration mode."""
+    if self._client_mode != ClientMode.CONFIGURATION:
+      raise WrongClientModeError(
+          f"Sim client is expected to be in configuration mode for "
+          f"{operation}.")
+
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py
new file mode 100644
index 0000000000..86fa8cfc3f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/curriculum_reset_helpers.py
@@ -0,0 +1,62 @@
+"""Implements dynamic locomotion gym env that changes based on iteration."""
+import gin
+
+import pybullet
+
+
+# TODO(b/142642890): Make this reset to the initial world state first.
+@gin.configurable
+def gap_task_curriculum_update(env,
+                               num_iter,
+                               distance_to_gap_or_hurdle=1.5,
+                               initial_gap_length=0.1,
+                               max_iterations=500,
+                               gap_delta=0.0008):
+  """Linearly increase the gap width wrt the iteration number.
+
+  This is specific to BuildSingleGapWorld.
+
+  Args:
+    env: An instance of a LocomotionGymEnv.
+    num_iter: The training iteration we are on.
+    distance_to_gap_or_hurdle: The distance to the gap.
+    initial_gap_length: The starting gap length.
+    max_iterations: The number of iterations up to which we will modify the
+      environment.
+    gap_delta: The amount to increase the gap width by for each increase of 1 in
+      the iteration.
+  """
+
+  gap_length = initial_gap_length + gap_delta * min(max_iterations, num_iter)
+  env.task.reset(
+      env,
+      distance_to_gap_or_hurdle=distance_to_gap_or_hurdle,
+      gap_or_hurdle_width=gap_length)
+
+
+@gin.configurable
+def gap_world_curriculum_update(env,
+                                num_iter,
+                                initial_second_block_x=8.15,
+                                max_iterations=500,
+                                gap_delta=0.0008):
+  """Update the world, linearly increasing gap width wrt iteration number.
+
+  This is specific to SingleGapScene.
+
+  Args:
+    env: An instance of a LocomotionGymEnv.
+    num_iter: The training iteration we are on.
+    initial_second_block_x: The initial x position of the second block.
+    max_iterations: The number of iterations up to which we will modify the
+      environment.
+    gap_delta: The amount to increase the gap width by for each increase of 1 in
+      the iteration.
+  """
+
+  ground = env.scene.ground_ids
+  pos = pybullet.getBasePositionAndOrientation(ground[-1])[0]
+  # Linearly increase the gap width to 0.5m by the last iteration.
+  next_x = initial_second_block_x + gap_delta * min(max_iterations, num_iter)
+  pybullet.resetBasePositionAndOrientation(ground[-1], (next_x, pos[1], pos[2]),
+                                           [0, 0, 0, 1])
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py
new file mode 100644
index 0000000000..aa4afe4953
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_loader.py
@@ -0,0 +1,75 @@
+"""Load the locomotion gym env using the gin config files."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gin
+from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env
+from pybullet_envs.minitaur.envs_v2 import multiagent_mobility_gym_env
+
+ROBOT_FIELD_IN_CONFIG = 'robot_params'
+TASK_FIELD_IN_CONFIG = 'task_params'
+PMTG_FIELD_IN_CONFIG = 'pmtg_params'
+_PMTG_GIN_QUERY = 'pmtg_wrapper_env.PmtgWrapperEnv.'
+
+
+@gin.configurable
+def load(wrapper_classes=None, multiagent=False, **kwargs):
+  """load a pre-defined locomotion gym environment.
+
+  The env specific settings should have been set in the gin files.
+
+  Args:
+    wrapper_classes: A list of wrapper_classes.
+    multiagent: Whether to use multiagent environment.
+    **kwargs: Keyword arguments to be passed to the environment constructor.
+
+  Returns:
+    env: The instance of the minitaur gym environment.
+  """
+  # Gin config are not always specified this way (e.g. namescoped config).
+  # Only guery parameters when it is necessary.
+  if any(
+      k in (PMTG_FIELD_IN_CONFIG, TASK_FIELD_IN_CONFIG, ROBOT_FIELD_IN_CONFIG)
+      for k in kwargs):
+    with gin.unlock_config():
+      if multiagent:
+        #  Currently assume robots and tasks are identical
+        robot_class = gin.query_parameter(
+            'multiagent_mobility_gym_env.MultiagentMobilityGymEnv.robot_classes'
+        )[0].selector
+        task = gin.query_parameter(
+            'multiagent_mobility_gym_env.MultiagentMobilityGymEnv.tasks'
+        )[0].selector
+      else:
+        robot_class = gin.query_parameter(
+            'locomotion_gym_env.LocomotionGymEnv.robot_class').selector
+        task = gin.query_parameter(
+            'locomotion_gym_env.LocomotionGymEnv.task').selector
+      gin_prefix_dict = {
+          PMTG_FIELD_IN_CONFIG: _PMTG_GIN_QUERY,
+          TASK_FIELD_IN_CONFIG: task + '.',
+          ROBOT_FIELD_IN_CONFIG: robot_class + '.',
+      }
+      for field_name, field_values in kwargs.items():
+        if field_name in gin_prefix_dict:
+          for var_name, value in field_values.items():
+            gin.bind_parameter(gin_prefix_dict[field_name] + var_name, value)
+        else:
+          raise ValueError(
+              'Environment argument type is not found in gin_prefix_dict.')
+  if multiagent:
+    env = multiagent_mobility_gym_env.MultiagentMobilityGymEnv()
+  else:
+    env = locomotion_gym_env.LocomotionGymEnv()
+  if wrapper_classes is not None:
+    # A little macro for the automatic list expansion
+    if not isinstance(wrapper_classes, list):
+      wrapper_classes = [wrapper_classes]
+
+    # Wrap environments with user-provided wrappers
+    # (e.g. TrajectoryGeneratorWrapperEnv)
+    for wrapper_cls in wrapper_classes:
+      env = wrapper_cls(env)
+  return env
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py
new file mode 100644
index 0000000000..edfead1abd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/action_denormalize_wrapper.py
@@ -0,0 +1,41 @@
+"""Denormalize the action from [-1, 1] to the env.action_space."""
+
+import gin
+import gym
+import numpy as np
+
+
+def _denomralize(env, action):
+  action = np.array(action)
+  low = np.array(env.action_space.low)
+  high = np.array(env.action_space.high)
+  return (high - low) / 2.0 * action + (high + low) / 2.0
+
+
+@gin.configurable
+class ActionDenormalizeWrapper(object):
+  """An env wrapper that denormalize the action from [-1, 1] to the bounds."""
+
+  def __init__(self, gym_env):
+    """Initializes the wrapper."""
+    self._gym_env = gym_env
+    self.action_space = gym.spaces.Box(
+        low=-1.0,
+        high=1.0,
+        shape=self._gym_env.action_space.low.shape,
+        dtype=np.float32)
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array between [-1.0, 1.0].
+
+    Returns:
+      The tuple containing the observation, the reward, and the epsiode
+        end indicator.
+    """
+    return self._gym_env.step(_denomralize(self._gym_env, action))
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py
new file mode 100644
index 0000000000..e59306fdd9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py
@@ -0,0 +1,124 @@
+"""A trajectory generator that return signals for alternating legs."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import attr
+import gin
+from gym import spaces
+import numpy as np
+from pybullet_envs.minitaur.envs.utilities import laikago_pose_utils
+
+TROT_GAIT = "trot"
+PACE_GAIT = "pace"
+NUM_MOTORS_LAIKAGO = 12
+STD_FOR_GAUSSIAN_TRAJECTORY = 0.15
+MOTION_FREQUENCY = 1.0
+MOTION_AMPLITUDE = 0.25
+ACTION_BOUND = 0.25
+
+
+# TODO(b/131193449): Add a test to this class.
+@gin.configurable
+class LaikagoAlternatingLegsTrajectoryGenerator(object):
+  """A trajectory generator that return signals for alternating legs."""
+
+  def __init__(
+      self,
+      init_abduction=laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+      init_hip=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+      init_knee=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
+      amplitude=MOTION_AMPLITUDE,
+      frequency=MOTION_FREQUENCY,
+      gait=PACE_GAIT,  # can be TROT_GAIT or PACE_GAIT
+  ):
+    """Initializes the controller."""
+    self._pose = np.array(
+        attr.astuple(
+            laikago_pose_utils.LaikagoPose(
+                abduction_angle_0=init_abduction,
+                hip_angle_0=init_hip,
+                knee_angle_0=init_knee,
+                abduction_angle_1=init_abduction,
+                hip_angle_1=init_hip,
+                knee_angle_1=init_knee,
+                abduction_angle_2=init_abduction,
+                hip_angle_2=init_hip,
+                knee_angle_2=init_knee,
+                abduction_angle_3=init_abduction,
+                hip_angle_3=init_hip,
+                knee_angle_3=init_knee)))
+    action_high = np.array([ACTION_BOUND] * NUM_MOTORS_LAIKAGO)
+    self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
+    self.amplitude = amplitude
+    self.period = 1.0 / frequency
+    self.gait = gait
+
+  def _alternating_legs_trajectory(self, t):
+    """The reference trajectory of each joint when alternating legs.
+
+    Args:
+      t: The time since the latest robot reset.
+
+    Returns:
+      An array of 12 desired motor angles.
+    """
+    phase_in_period = (t % self.period) / self.period
+    is_first_half_gait = phase_in_period < 0.5
+    if self.gait == TROT_GAIT and is_first_half_gait:
+      phases = [0, 1, 1, 0]  # 0 means stance and 1 means retraction.
+    elif self.gait == TROT_GAIT and not is_first_half_gait:
+      phases = [1, 0, 0, 1]
+    elif self.gait == PACE_GAIT and is_first_half_gait:
+      phases = [0, 1, 0, 1]
+    elif self.gait == PACE_GAIT and not is_first_half_gait:
+      phases = [1, 0, 1, 0]
+    else:
+      raise ValueError("{} gait is not supported in alternating legs.".format(
+          self.gait))
+
+    phase_step_center = 0.25 if is_first_half_gait else 0.75
+    std = STD_FOR_GAUSSIAN_TRAJECTORY
+    # Uses Gaussian instead of sine for gentle foot touch down.
+    # The following joint angles are added to self._pose.
+    retract_hip_angle = self.amplitude * math.exp(
+        -(phase_in_period - phase_step_center) *
+        (phase_in_period - phase_step_center) / (std * std))
+    retract_knee_angle = -2.0 * retract_hip_angle
+    retract_abduction_angle = 0.0
+    stance_hip_angle = 0.0
+    stance_knee_angle = 0.0
+    stance_abduction_angle = 0.0
+    angles = []
+    for is_retract in phases:
+      if is_retract:
+        angles.extend([retract_abduction_angle, retract_hip_angle,
+                       retract_knee_angle])
+      else:
+        angles.extend([stance_abduction_angle, stance_hip_angle,
+                       stance_knee_angle])
+    return np.array(angles)
+
+  def reset(self):
+    pass
+
+  def get_action(self, current_time, input_action):
+    """Computes the trajectory according to input time and action.
+
+    Args:
+      current_time: The time in gym env since reset.
+      input_action: A numpy array. The input leg pose from a NN controller.
+
+    Returns:
+      A numpy array. The desired motor angles.
+    """
+
+    return self._pose + self._alternating_legs_trajectory(
+        current_time) + input_action
+
+  def get_observation(self, input_observation):
+    """Get the trajectory generator's observation."""
+
+    return input_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py
new file mode 100644
index 0000000000..1e2f335865
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/curriculum_wrapper_env.py
@@ -0,0 +1,50 @@
+"""A wrapped LocomotionGymEnv with functions that change the world and task."""
+
+import gin
+
+
+@gin.configurable
+class CurriculumWrapperEnv(object):
+  """A wrapped LocomotionGymEnv with an evolving environment."""
+
+  def __init__(self,
+               gym_env,
+               num_iter=0,
+               curriculum_world_update=None,
+               curriculum_task_update=None):
+    """Initializes the wrapped env.
+
+    Args:
+      gym_env: An instance of a (potentially previously wrapped)
+        LocomotionGymEnv.
+      num_iter: The training iteration we are on.
+      curriculum_world_update: A function that updates the environment based on
+        the iteration. Takes in the environment as an argument.
+      curriculum_task_update: A function that updates the task (eg.
+        observations) based on the iteration. Takes in the environment as an
+        argument.
+    """
+    self._gym_env = gym_env
+    self._num_iter = num_iter
+    self._curriculum_world_update = curriculum_world_update
+    self._curriculum_task_update = curriculum_task_update
+
+  def modify(self, step=0):
+    self._num_iter = step
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def reset(self, *args, **kwargs):
+    """Reset and adjust the environment."""
+    self._gym_env.reset(*args, **kwargs)
+    if self._curriculum_world_update is not None:
+      self._curriculum_world_update(self._gym_env, self._num_iter)
+    if self._curriculum_task_update is not None:
+      self._curriculum_task_update(self._gym_env, self._num_iter)
+    return self._get_observation()
+
+  # Used for testing.
+  @property
+  def num_iter(self):
+    return self._num_iter
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py
new file mode 100644
index 0000000000..4b86b6df6c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/depth_uv_to_footplacement_wrapper.py
@@ -0,0 +1,357 @@
+"""Change the action from uv of the depth map to xyz in world frame."""
+
+import copy
+import math
+from typing import Sequence
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.robots import laikago_kinematic_constants
+from pybullet_envs.minitaur.robots import quadruped_base
+from pybullet_envs.minitaur.robots import wheeled_robot_base_sim
+
+UNIT_QUATERNION = (0, 0, 0, 1)
+# A small gap between the target foot position and the floor.
+FLOOR_HEIGHT_EPSILON = 0.02
+FOOT_HEIGHT_CLEARNCE = 0.075
+BASE_MOVEMENT_SPEED = 0.3
+INIT_ABDUCTION_ANGLE = laikago_kinematic_constants.INIT_ABDUCTION_ANGLE
+INIT_HIP_ANGLE = laikago_kinematic_constants.INIT_HIP_ANGLE
+INIT_KNEE_ANGLE = laikago_kinematic_constants.INIT_KNEE_ANGLE
+NUM_LEGS = laikago_kinematic_constants.NUM_LEGS
+COM_VIZ_BOX_SIZE = [0.025, 0.025, 0.005]
+_DEFAULT_JOINT_POSE = (INIT_ABDUCTION_ANGLE, INIT_HIP_ANGLE,
+                       INIT_KNEE_ANGLE) * NUM_LEGS
+# Weights for computing the target COM from the supporting feet locations.
+# The target COM for the front feet are biased forward for better robot
+# stability and seeing farther in distance, which enables larger steps.
+_SUPPORT_WEIGHT_MAP = [[0.0, 0.4, 0.3, 0.3], [0.4, 0.0, 0.3, 0.3],
+                       [1.0 / 3, 1.0 / 3, 0.0, 1.0 / 3],
+                       [1.0 / 3, 1.0 / 3, 1.0 / 3, 0.0]]
+_TASK_SENSOR_NAME = "sensors"
+
+
+@gin.configurable
+class DepthUVToFootPlacementWrapper(object):
+  """Changes the action from a point in depth map to a point in the world frame.
+
+  Attributes:
+    observation: The current observation of the environment.
+    last_action: The last that was used to step the environment.
+    env_step_counter: The number of control steps that have been elapesed since
+      the environment is reset.
+    action_space: The action space of the environment.
+  """
+
+  def __init__(self,
+               gym_env,
+               visualization=True,
+               foot_movement=False,
+               foot_clearance_height=FOOT_HEIGHT_CLEARNCE,
+               base_movement_speed=BASE_MOVEMENT_SPEED,
+               foothold_update_frequency=4):
+    """Initializes the wrapper.
+
+    Args:
+      gym_env: the wrapped gym environment. The robot is controlled
+        kinematically when gym_env.robot inherits from WheeledRobotBase and is
+        controlled dynamically using a static gait controller when gym_env.robot
+        inherits from QudrupedBase.
+      visualization: whether to draw a sphere that represents the foothold
+        position.
+      foot_movement: whether move the toe to the desired foothold position using
+        IK for visualization/debugging purpose.
+      foot_clearance_height: the maximum height of the swing foot.
+      base_movement_speed: the speed of the robot base.
+      foothold_update_frequency: the frequency of updating the foothold, which
+        is the same as the frequency of the steps. The default value 4 means
+        four steps (1 complete cycle of static gait) per second.
+    """
+    self._gym_env = gym_env
+    self._num_control_steps_per_foothold_update = max(
+        1, int(1.0 / foothold_update_frequency / self._gym_env.env_time_step))
+    self.last_action = None
+    self._visualization = visualization
+    self._foot_movement = foot_movement
+    self._foot_clearance_height = foot_clearance_height
+    self._base_movement_speed = base_movement_speed
+    self._step_counter = 0
+    self.observation_space.spaces["toe_position"] = gym.spaces.Box(
+        np.array([-1.0] * 3), np.array([1.0] * 3))
+    self.action_space = gym.spaces.Box(
+        np.array([-1.0] * 2), np.array([1.0] * 2))
+    self.task.reset(self)
+    if hasattr(self.task, _TASK_SENSOR_NAME):
+      self.observation_space.spaces[
+          self.task.get_name()] = self.task.observation_space
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def reset(self, **kwargs):
+    """Reset the environment."""
+    obs = self._gym_env.reset(**kwargs)
+    self.task.reset(self)
+    self._step_counter = 0
+    current_end_effector_pos = np.array(
+        self._gym_env.robot.foot_positions()[self.task.swing_foot_id])
+    self.last_action = [0, 0]
+    if self._visualization:
+      self._create_foot_placement_visualization()
+      self._create_com_visualization()
+    self._initial_local_toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=False))
+
+    # Move COM to prepare for the first swing step.
+    if isinstance(self._gym_env.robot, quadruped_base.QuadrupedBase):
+      obs, _ = self._move_com_dynamic(
+          self.task.swing_foot_id,
+          self._num_control_steps_per_foothold_update // 3 * 2)
+
+    # TODO(b/157614175): Adds a toe_position_sensor.
+    obs["toe_position"] = current_end_effector_pos
+    obs["vision"] = self.task.get_depth_image_for_foot()
+    obs["LastAction"] = self.last_action
+
+    self._observation = obs
+    return self._observation
+
+  def _move_kinematic(self):
+    """Move robot kinematically.
+
+    Returns:
+      The tuple containing the observation and env info.
+    """
+    if self._foot_movement:
+      toe_positions = np.array(
+          self._gym_env.robot.foot_positions(position_in_world_frame=True))
+      toe_positions[:, 2] = FLOOR_HEIGHT_EPSILON
+      destination_foothold_xyz_global = self.task.get_foothold_location(
+          self.last_action, use_world_frame=True)
+      destination_foothold_xyz_global[2] = FLOOR_HEIGHT_EPSILON
+    joint_pose = _DEFAULT_JOINT_POSE
+    for i in range(self._num_control_steps_per_foothold_update):
+      if self._foot_movement:
+        alpha = i / (self._num_control_steps_per_foothold_update - 1)
+        toe_positions_over_time = copy.deepcopy(toe_positions)
+        toe_positions_over_time[self.task.swing_foot_id] = (
+            self._construct_foot_trajectories(
+                alpha, toe_positions[self.task.swing_foot_id],
+                destination_foothold_xyz_global, self._foot_clearance_height))
+        joint_pose = np.array(
+            self.robot.motor_angles_from_foot_positions(
+                toe_positions_over_time, position_in_world_frame=True)[1])
+      action = {
+          wheeled_robot_base_sim.BASE_ACTION_NAME:
+              (self._base_movement_speed, 0),
+          wheeled_robot_base_sim.BODY_ACTION_NAME:
+              joint_pose,
+      }
+      obs, _, _, info = self._gym_env.step(action)
+    return obs, info
+
+  def _move_com_dynamic(self, swing_foot_id, num_control_steps):
+    """Move robot COM to the weightd center of the support polygon through dynamics.
+
+    Args:
+      swing_foot_id: Index of the swing foot.
+      num_control_steps: Total number of control steps for moving the COM.
+
+    Returns:
+      The tuple containing the observation and env info.
+    """
+
+    toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=False))
+    support_polygon_center = np.array([0.0, 0.0, 0.0])
+    for i in range(NUM_LEGS):
+      if i != swing_foot_id:
+        support_polygon_center += toe_positions[i] * _SUPPORT_WEIGHT_MAP[
+            swing_foot_id][i]
+    support_polygon_center[2] = 0.0
+
+    for i in range(num_control_steps):
+      alpha = i / (num_control_steps - 1)
+      # Create a flat phase towards the end to stabilize the com movement.
+      alpha = np.clip(alpha * 1.1, 0, 1)
+      toe_positions_over_time = copy.deepcopy(
+          toe_positions) - alpha * support_polygon_center
+      # Use initial toe height to maintain the overal base height.
+      for j in range(len(toe_positions_over_time)):
+        toe_positions_over_time[j][2] = self._initial_local_toe_positions[j][2]
+      joint_pose = np.array(
+          self.robot.motor_angles_from_foot_positions(
+              toe_positions_over_time, position_in_world_frame=False)[1])
+      obs, _, _, info = self._gym_env.step(joint_pose)
+      self._update_com_visualization()
+    return obs, info
+
+  def _swing_leg_dynamic(self, swing_foot_id, destination_foothold_xyz_local,
+                         num_control_steps):
+    """Move swing leg to the target foothold through IK and dynamics.
+
+    Args:
+      swing_foot_id: Index of the swing foot.
+      destination_foothold_xyz_local: Target foothold position.
+      num_control_steps: Total number of control steps for swinging the leg.
+
+    Returns:
+      The tuple containing the observation and env info.
+    """
+
+    local_toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=False))
+
+    # Move swing leg
+    for i in range(num_control_steps):
+      alpha = i / (num_control_steps - 1)
+      toe_positions_over_time = copy.deepcopy(local_toe_positions)
+      toe_positions_over_time[swing_foot_id] = (
+          self._construct_foot_trajectories(alpha,
+                                            local_toe_positions[swing_foot_id],
+                                            destination_foothold_xyz_local,
+                                            self._foot_clearance_height))
+      joint_pose = np.array(
+          self.robot.motor_angles_from_foot_positions(
+              toe_positions_over_time, position_in_world_frame=False)[1])
+
+      obs, _, _, info = self._gym_env.step(joint_pose)
+    return obs, info
+
+  def _move_dynamic(self):
+    """Move robot dynamically.
+
+    Returns:
+      The tuple containing the observation and env info.
+    """
+    destination_foothold_xyz_local = self.task.get_foothold_location(
+        self.last_action, use_world_frame=False)
+    # Lift the target foothold slightly to account for thickness of the feet.
+    destination_foothold_xyz_local[2] += FLOOR_HEIGHT_EPSILON
+
+    # Swing leg in the first 1/3 of the duration.
+    self._swing_leg_dynamic(self.task.swing_foot_id,
+                            destination_foothold_xyz_local,
+                            self._num_control_steps_per_foothold_update // 3)
+
+    # Move COM in the rest 2/3 of the duration.
+    obs, info = self._move_com_dynamic(
+        self.task.next_swing_foot_id,
+        self._num_control_steps_per_foothold_update // 3 * 2)
+
+    return obs, info
+
+  def step(self, action: Sequence[float]):
+    """Steps the wrapped environment.
+
+    Args:
+      action: 2 dimensional numpy array between [-1.0, 1.0]. They represents the
+        depth image pixel index. We assume that only one foot is swinging in
+        this wrapper, and this is the foothold location for that swinging leg.
+        The order of the swinging leg and the index of the current swinging leg
+        is defined in stepstone_visiontask.py.
+
+    Returns:
+      The tuple containing the observation, the reward, and the episode
+        end indicator.
+    """
+    self.last_action = action
+    reward = self.task(self)
+    done = self.task.done(self)
+    if self._visualization:
+      self._update_foothold_visualization(action)
+
+    if isinstance(self._gym_env.robot, quadruped_base.QuadrupedBase):
+      obs, info = self._move_dynamic()
+    else:
+      obs, info = self._move_kinematic()
+
+    self._step_counter += 1
+    current_end_effector_pos = np.array(
+        self._gym_env.robot.foot_positions()[self.task.swing_foot_id])
+    obs["toe_position"] = current_end_effector_pos
+    obs["vision"] = self.task.get_depth_image_for_foot()
+    self._observation = obs
+    return obs, reward, done, info
+
+  def _construct_foot_trajectories(self, alpha, swing_foot_start_position,
+                                   swing_foot_destination,
+                                   foot_clearance_height):
+    """Construct the target foot position for the swing foot.
+
+    Args:
+      alpha: a float in [0.0, 1.0] indicating the phase of the swing foot.
+      swing_foot_start_position: foot position at the beginning of the swing
+        motion.
+      swing_foot_destination: target foot position at the end of the swing
+        motion.
+      foot_clearance_height: the maximum height of the swing foot.
+
+    Returns:
+      The interpolated swing foot position.
+    """
+    new_swing_foot_position = swing_foot_start_position + alpha * (
+        swing_foot_destination - swing_foot_start_position)
+    new_swing_foot_position[2] += (
+        foot_clearance_height * math.sin((alpha) * math.pi))
+    return new_swing_foot_position
+
+  def _create_foot_placement_visualization(self):
+    """Creates a visualization sphere that represents the foothold position."""
+    visual_id = self._gym_env.pybullet_client.createVisualShape(
+        self._gym_env.pybullet_client.GEOM_SPHERE,
+        radius=0.02,
+        rgbaColor=[0.7, 0.7, 0.7, 1])
+    self._foothold_visual_body = self._gym_env.pybullet_client.createMultiBody(
+        baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0])
+
+  def _update_foothold_visualization(self, action):
+    """Moves the visualization sphere that represents the next foothold."""
+    foothold_xyz = self.task.get_foothold_location(
+        action, use_world_frame=True)
+    self._gym_env.pybullet_client.resetBasePositionAndOrientation(
+        self._foothold_visual_body, foothold_xyz, UNIT_QUATERNION)
+
+  def _create_com_visualization(self):
+    """Creates visualization boxes for COM and support polygon center."""
+    visual_id = self._gym_env.pybullet_client.createVisualShape(
+        self._gym_env.pybullet_client.GEOM_BOX,
+        halfExtents=COM_VIZ_BOX_SIZE,
+        rgbaColor=[0.7, 0.5, 0.5, 1])
+    self._support_polygon_center_visual_body = self._gym_env.pybullet_client.createMultiBody(
+        baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0])
+
+    visual_id = self._gym_env.pybullet_client.createVisualShape(
+        self._gym_env.pybullet_client.GEOM_BOX,
+        halfExtents=COM_VIZ_BOX_SIZE,
+        rgbaColor=[0.5, 0.75, 0.5, 1])
+    self._projected_com_visual_body = self._gym_env.pybullet_client.createMultiBody(
+        baseMass=0, baseVisualShapeIndex=visual_id, basePosition=[0, 0, 0])
+
+  def _update_com_visualization(self):
+    """Moves the visualization for the COM and support polygon center."""
+    toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=True))
+    support_polygon_center_global = np.array([0.0, 0.0, 0.0])
+    for i in range(NUM_LEGS):
+      if i != self.task.next_swing_foot_id:
+        support_polygon_center_global += toe_positions[i] * _SUPPORT_WEIGHT_MAP[
+            self.task.next_swing_foot_id][i]
+    support_polygon_center_global[2] = 0.0
+    self._gym_env.pybullet_client.resetBasePositionAndOrientation(
+        self._support_polygon_center_visual_body, support_polygon_center_global,
+        UNIT_QUATERNION)
+
+    com = np.copy(self._gym_env.robot.base_position)
+    com[2] = 0.0
+    self._gym_env.pybullet_client.resetBasePositionAndOrientation(
+        self._projected_com_visual_body, com, UNIT_QUATERNION)
+
+  @property
+  def observation(self):
+    return self._observation
+
+  @property
+  def env_step_counter(self):
+    return self._step_counter
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py
new file mode 100644
index 0000000000..03207c92d8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py
@@ -0,0 +1,91 @@
+"""A wrapper that controls the timing between steps.
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import time
+import gin
+
+
+@gin.configurable
+class FixedSteptimeWrapperEnv(object):
+  """A wrapped LocomotionGymEnv with timing control between steps."""
+
+  def __init__(self,
+               gym_env,
+               desired_time_between_steps=None):
+    """Initializes the wrapper env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      desired_time_between_steps: The desired time between steps in seconds.
+        If this is None, it is set to the env_time_step of the gym_env.
+    """
+    self._gym_env = gym_env
+    if desired_time_between_steps is None:
+      self._desired_time_between_steps = gym_env.env_time_step
+    else:
+      self._desired_time_between_steps = desired_time_between_steps
+
+    self._last_reset_time = time.time()
+    self._last_step_time = time.time()
+    self._step_counter = 0
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    """Reset the environment.
+
+    This function records the timing of the reset.
+
+    Args:
+      initial_motor_angles: Not used.
+      reset_duration: Not used.
+
+    Returns:
+      The observation of the environment after reset.
+    """
+    obs = self._gym_env.reset(initial_motor_angles=initial_motor_angles,
+                              reset_duration=reset_duration)
+    self._last_reset_time = time.time()
+    self._last_step_time = time.time()
+    self._step_counter = 0
+    return obs
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+    """
+    time_between_steps = time.time() - self._last_step_time
+    if time_between_steps < self._desired_time_between_steps:
+      time.sleep(self._desired_time_between_steps - time_between_steps)
+    self._last_step_time = time.time()
+    self._step_counter += 1
+    return self._gym_env.step(action)
+
+  @property
+  def elapsed_time(self):
+    """Returns the elapsed time in seconds."""
+    return time.time() - self._last_reset_time
+
+  @property
+  def steps_per_second(self):
+    """Returns the average number of time steps for 1 second."""
+    return self._step_counter / self.elapsed_time
+
+  @property
+  def seconds_per_step(self):
+    """Returns the average time between steps."""
+    return self.elapsed_time / self._step_counter
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py
new file mode 100644
index 0000000000..da80bf159b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/ik_based_wrapper_env.py
@@ -0,0 +1,109 @@
+"""A wrapped Quadruped with Inverse Kinematics based controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gin
+import gym
+import numpy as np
+from pybullet_envs.minitaur.robots import vision60
+from pybullet_envs.minitaur.robots.utilities import kinematics
+
+ACTION_DIM_PER_LEG = 3
+ACTION_DIM_BASE = 7
+ACTION_DIM_TOTAL = vision60.NUM_LEGS * ACTION_DIM_PER_LEG + ACTION_DIM_BASE
+
+
+@gin.configurable
+class IKBasedWrapperEnv(object):
+  """An env using IK to convert toe positions to joint angles."""
+
+  def __init__(self,
+               gym_env,
+               toe_indices=(3, 7, 11, 15),
+               abduction_motor_ids=(0, 3, 6, 9)):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      toe_indices: A list of four pybullet joint indices for the four toes. [3,
+        7, 11, 15] for the vision60.
+      abduction_motor_ids: A list of four pybullet joint indices for the four
+        abuduction motors. [0, 3, 6, 9] for the vision60.
+    """
+    lower_bound = np.array([-1.0] * ACTION_DIM_TOTAL)
+    upper_bound = np.array([1.0] * ACTION_DIM_TOTAL)
+    self._gym_env = gym_env
+    self.action_space = gym.spaces.Box(lower_bound, upper_bound)
+    self._toe_ids = toe_indices
+    self._abduction_motor_ids = abduction_motor_ids
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def get_toe_indices(self):
+    return self._toe_ids
+
+  def _joint_angles_from_toe_positions_and_base_pose(self, ik_actions):
+    """Uses Inverse Kinematics to calculate jont angles.
+
+    Args:
+      ik_actions: The action should be local (x, y, z) for each toe. action for
+        each leg [x, y, z] in a local frame. This local frame is transformed
+        relative to the COM frame using a given translation, and rotation. The
+        total action space would be 3 + 4 + 3 * ACTION_DIM_PER_LEG = 16.
+
+    Returns:
+      A list of joint angles.
+    """
+    assert len(ik_actions) == ACTION_DIM_TOTAL
+
+    base_translation_index = vision60.NUM_LEGS * ACTION_DIM_PER_LEG
+    base_rotation_index = vision60.NUM_LEGS * ACTION_DIM_PER_LEG + 3
+
+    base_translation = ik_actions[
+        base_translation_index:base_translation_index + 3]
+    base_rotation = ik_actions[base_rotation_index:base_rotation_index + 4]
+    desired_joint_angles = []
+    for i in range(vision60.NUM_LEGS):
+      local_toe_pos = ik_actions[i * ACTION_DIM_PER_LEG:i * ACTION_DIM_PER_LEG +
+                                 ACTION_DIM_PER_LEG]
+      leg_joint_ids = [
+          self._abduction_motor_ids[i], self._abduction_motor_ids[i] + 1,
+          self._abduction_motor_ids[i] + 2
+      ]
+
+      desired_joint_angles.extend(
+          kinematics.joint_angles_from_link_position(
+              robot=self._gym_env.robot,
+              link_position=local_toe_pos,
+              link_id=self._toe_ids[i],
+              joint_ids=leg_joint_ids,
+              base_translation=base_translation,
+              base_rotation=base_rotation))
+
+    return desired_joint_angles
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the modified observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+
+    """
+    if action is None:
+      raise ValueError('Action cannot be None')
+
+    desired_joint_angles = self._joint_angles_from_toe_positions_and_base_pose(
+        ik_actions=action)
+    observation, reward, done, _ = self._gym_env.step(desired_joint_angles)
+
+    return observation, reward, done, _
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py
new file mode 100644
index 0000000000..bbe14ea831
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/imitation_wrapper_env.py
@@ -0,0 +1,101 @@
+"""A wrapper for motion imitation environment."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gin
+import gym
+import numpy as np
+
+
+@gin.configurable
+class ImitationWrapperEnv(object):
+  """An env using for training policy with motion imitation."""
+
+  def __init__(self, gym_env):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+    """
+    self._gym_env = gym_env
+    self.observation_space = self._build_observation_space()
+
+    self.seed()
+    return
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the modified observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+
+    """
+    original_observation, reward, done, _ = self._gym_env.step(action)
+    observation = self._modify_observation(original_observation)
+
+    return observation, reward, done, _
+
+  @gin.configurable('imitation_wrapper_env.ImitationWrapperEnv.reset')
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    """Resets the robot's position in the world or rebuild the sim world.
+
+    The simulation world will be rebuilt if self._hard_reset is True.
+
+    Args:
+      initial_motor_angles: A list of Floats. The desired joint angles after
+        reset. If None, the robot will use its built-in value.
+      reset_duration: Float. The time (in seconds) needed to rotate all motors
+        to the desired initial values.
+
+    Returns:
+      A numpy array contains the initial observation after reset.
+    """
+    original_observation = self._gym_env.reset(initial_motor_angles, reset_duration)
+    observation = self._modify_observation(original_observation)
+    return observation
+
+  def _modify_observation(self, original_observation):
+    """Appends target observations from the reference motion to the observations.
+
+    Args:
+      original_observation: A numpy array containing the original observations.
+
+    Returns:
+      A numpy array contains the initial original concatenated with target
+      observations from the reference motion.
+    """
+    target_observation = self._task.build_target_obs()
+    observation = np.concatenate([original_observation, target_observation], axis=-1)
+    return observation
+
+  def _build_observation_space(self):
+    """Constructs the observation space, including target observations from
+    the reference motion.
+
+    Returns:
+      Observation space representing the concatenations of the original
+      observations and target observations.
+    """
+    obs_space0 = self._gym_env.observation_space
+    low0 = obs_space0.low
+    high0 = obs_space0.high
+
+    task_low, task_high = self._task.get_target_obs_bounds()
+    low = np.concatenate([low0, task_low], axis=-1)
+    high = np.concatenate([high0, task_high], axis=-1)
+
+    obs_space = gym.spaces.Box(low, high)
+
+    return obs_space
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py
new file mode 100644
index 0000000000..faebcdfead
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/mpc_locomotion_wrapper.py
@@ -0,0 +1,794 @@
+"""An env that uses MPC-based motion controller to realize higher level footstep planning."""
+
+import copy
+import enum
+from typing import Sequence
+
+import dataclasses
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import com_height_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import gait_generator as gait_generator_lib
+from pybullet_envs.minitaur.agents.baseline_controller import imu_based_com_velocity_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import multi_state_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator
+from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller
+from pybullet_envs.minitaur.robots import laikago_kinematic_constants
+
+_UNIT_QUATERNION = (0, 0, 0, 1)
+_NUM_LEGS = laikago_kinematic_constants.NUM_LEGS
+_MOTORS_PER_LEG = 3
+_DEFAULT_BODY_HEIGHT = 0.45
+_DEFAULT_BASE_SPEED = (0.0, 0.0)
+_DEFAULT_BASE_TWIST_SPEED = 0.0
+_DEFAULT_ROLL_PITCH = (0.0, 0.0)
+_DEFAULT_SWING_TARGET = (0.0, 0.0, 0.0)
+_DEFAULT_SWING_CLERANCE = 0.05
+_MOTOR_KP = [220.0] * 12
+_MOTOR_KD = [0.3, 2.0, 2.0] * 4
+_BASE_VELOCITY_ACTION_RANGE = ((-1.0, -0.1), (1.0, 0.1))
+_BASE_TWIST_SPEED_ACTION_RANGE = (-0.5, 0.5)
+_BASE_HEIGHT_ACTION_RANGE = (0.3, 0.5)
+# Action bound for the swing target in local x, y, z direction.
+_SWING_TARGET_ACTION_RANGE = ((-0.3, -0.1, -0.25), (0.3, 0.1, 0.25))
+_PITCH_ROLL_ACTION_RANGE = (-0.35, 0.35)
+_SWING_CLEARANCE_ACTION_RANGE = (0.05, 0.3)
+_SWING_TARGET_DELTA_ACTION_RANGE = ((-0.02, -0.01, -0.02), (0.02, 0.01, 0.02))
+_SWING_CLEARANCE_DELTA_RANGE = (-0.02, 0.02)
+
+
+@gin.configurable
+@dataclasses.dataclass
+class BaseTargetHorizontalComVelocityHeuristic(object):
+  """A class for mapping swing foot targets to a heuristic target com velocity."""
+  horizontal_com_velocity_heuristic: np.ndarray = np.zeros(2)
+
+  def update_horizontal_com_velocity_heuristic(self, hip_relative_swing_targets,
+                                               com_velocity, swing_durations):
+    del hip_relative_swing_targets, com_velocity, swing_durations
+    pass
+
+  def reset(self):
+    self.horizontal_com_velocity_heuristic = np.zeros(2)
+
+
+# TODO(magicmelon): Add a one-pager to explain the inverse raibert heuristics.
+@gin.configurable
+class InverseRaibertTargetHorizontalComVelocityHeuristic(
+    BaseTargetHorizontalComVelocityHeuristic):
+  """A class for mapping swing foot targets to a target com velocity with Raibert Heuristics."""
+
+  def __init__(self, gains=(-0.25, -0.1)):
+    self._gains = np.array(gains)
+
+  def update_horizontal_com_velocity_heuristic(self, hip_relative_swing_targets,
+                                               com_velocity, swing_durations):
+    assert len(hip_relative_swing_targets) == len(swing_durations)
+    target_com_horizontal_velocities = []
+    for i in range(len(hip_relative_swing_targets)):
+      target_com_horizontal_velocity = (
+          com_velocity / 2.0 * swing_durations[i] -
+          hip_relative_swing_targets[i]) / self._gains + com_velocity
+      target_com_horizontal_velocities.append(target_com_horizontal_velocity)
+    if target_com_horizontal_velocities:
+      self.horizontal_com_velocity_heuristic = np.mean(
+          target_com_horizontal_velocities, axis=0)
+
+
+@gin.constants_from_enum
+class Gait(enum.Enum):
+  """The possible gaits."""
+  WALK = 0
+  TROT = 1
+
+
+def _select_gait(gait_type=Gait.WALK):
+  """Selects a gait pattern.
+
+  Args:
+    gait_type: which gait to use.
+
+  Returns:
+    A tuple of (stance_duration, duty_factor, initial_phase)
+  """
+  # Each gait is composed of stance_duration, duty_factor, and
+  # init_phase_full_cycle.
+  if gait_type == Gait.TROT:
+    return [0.3] * 4, [0.6] * 4, [0, 0.5, 0.5, 0]
+  elif gait_type == Gait.WALK:
+    return [0.75] * 4, [0.8] * 4, [0.25, 0.75, 0.5, 0]
+  else:
+    raise NotImplementedError
+
+
+@gin.configurable
+class MPCLocomotionWrapper(object):
+  """An env that uses MPC-based motion controller to realize footstep planning.
+
+    The env takes as input the target position of the swing feet and the target
+    base movements, and internally uses an MPC-based controller to achieve these
+    targets. It assumes that the robot follows a given gait pattern, specified
+    during initialization.
+    Before each foot starts to swing, the env will request from the policy a
+    target swing location and height defined in the local frame w.r.t the
+    default toe position. During the swing of the foot, the policy can adjust
+    the base velocity, height, roll, pitch, and twist. Optionally, the policy
+    can also output a delta to the last target swing location to adjust the
+    swing trajectory during the swing
+    Observations (introduced in this env):
+      gait_phases (4D): Normalized phase within the gait cycle for each foot.
+      feet_states (4D): State of each foot. -1: stance, 1: swing, -2: lose
+        contact, 2: early contact.
+      need_new_swing_target (4D): Whether the foot needs a new swing target at
+        the current step. Set to 1 when the foot switches to swing from a
+        different state. When equals to 0, the corresponding foot target will
+        not have effect.
+      estimated_base_speed (3D): Estimated base velocity.
+      estimated_body_height (1D): Estimated base height.
+      heuristics_com_velocity (3D): Target base velocity calculated from the
+        input step-length using inverse Raibert heuristics. Used when
+        compute_heuristic_com_speed is True.
+      current_toe_target: Immediate tracking targets for the four feet in the
+        local frame.
+    Action components:
+      swing_targets (12D): Used in HL_LL and HL_only mode. Specifies
+        the swing target for each foot w.r.t the default local toe position.
+      swing_clearance (4D): Used in HL_LL and HL_only mode. Specifies
+        the height of the highest point in the swing trajectory.
+      swing_targets_delta (12D): Used if policy_output_swing_action_delta.
+        Specifies the change in the swing target for each foot.
+      swing_clearance_delta (4D): Used if policy_output_swing_action_delta.
+        Specifies the change in the swing clearance for each foot.
+      target_base_velocity (2D): Target base velocity in the horizontal plane.
+        Used when compute_heuristic_com_speed is False.
+      base_twist (1D): Target base twist.
+      base_height (1D): Target base height.
+      base_roll_pitch (2D): Target base roll and pitch.
+
+  Attributes:
+    observation: The current observation of the environment.
+    last_action: The last that was used to step the environment.
+    env_step_counter: The number of control steps that have been elapesed since
+      the environment is reset.
+    action_space: The action space of the environment.
+  """
+
+  def __init__(
+      self,
+      gym_env,
+      swing_target_action_range=_SWING_TARGET_ACTION_RANGE,
+      swing_clearance_action_range=_SWING_CLEARANCE_ACTION_RANGE,
+      pitch_action_range=_PITCH_ROLL_ACTION_RANGE,
+      roll_action_range=_PITCH_ROLL_ACTION_RANGE,
+      base_velocity_action_range=_BASE_VELOCITY_ACTION_RANGE,
+      base_twist_action_range=_BASE_TWIST_SPEED_ACTION_RANGE,
+      base_height_action_range=_BASE_HEIGHT_ACTION_RANGE,
+      policy_output_swing_action_delta=False,
+      swing_target_delta_range=_SWING_TARGET_DELTA_ACTION_RANGE,
+      swing_clearance_delta_range=_SWING_CLEARANCE_DELTA_RANGE,
+      foot_friction_coeff=0.5,
+      contact_detection_force_threshold=0.0,
+      locomotion_gait=Gait.WALK,
+      target_horizontal_com_velocity_heuristic=BaseTargetHorizontalComVelocityHeuristic(
+      ),
+      robot_mass_in_mpc=235.0 / 9.8,
+      control_frequency=20,
+      com_velocity_estimator_class=imu_based_com_velocity_estimator
+      .IMUBasedCOMVelocityEstimator):
+    """Initializes the wrapper.
+
+    Args:
+      gym_env: the wrapped gym environment.
+      swing_target_action_range: range for the swing targets specified before
+        each swing.
+      swing_clearance_action_range: range for the swing clearance.
+      pitch_action_range: range for the target body pitch.
+      roll_action_range: range for the target body roll.
+      base_velocity_action_range: range for the base velocity.
+      base_twist_action_range: range for the base twist.
+      base_height_action_range: range for the base height.
+      policy_output_swing_action_delta: whether to allow the policy to output an
+        adjustment to the last swing target during the swing motion.
+      swing_target_delta_range: range for the adjustment of the swing target.
+      swing_clearance_delta_range: range for the swing clearance adjustments.
+      foot_friction_coeff: friction on the feet.
+      contact_detection_force_threshold: Threshold of the contact sensor for
+        determining whether a foot is in contact. Use 20 for real robot and 0
+        for simulation.
+      locomotion_gait: Gait to be used.
+      target_horizontal_com_velocity_heuristic: .
+      robot_mass_in_mpc: mass of the robot used in MPC.
+      control_frequency: frequency of querying the policy. The internal MPC
+        controller can have higher frequency. Note that the policy outputs a
+        swing target and clearance at each query, however, it is only used by
+        the environment at the beginning of each swing phase (when
+        need_new_swing_target is 1).
+      com_velocity_estimator_class: class of the com velocity estimator. Use
+        IMUBasedCOMVelocityEstimator for estimating velocity from IMU sensor and
+        contact states. Use COMVelocityEstimator for using the ground-truth com
+        velocity (e.g. when mocap is available).
+    """
+    self._gym_env = gym_env
+    self._time_per_control_step = 1.0 / control_frequency
+    self._foot_friction_coeff = foot_friction_coeff
+    self._contact_detection_force_threshold = contact_detection_force_threshold
+    self._locomotion_gait = locomotion_gait
+    self._policy_output_swing_action_delta = policy_output_swing_action_delta
+    self._target_horizontal_com_velocity_heuristic = target_horizontal_com_velocity_heuristic
+
+    self.last_action = None
+
+    self._configure_action_space(
+        swing_target_action_range, swing_clearance_action_range,
+        pitch_action_range, roll_action_range, base_velocity_action_range,
+        base_twist_action_range, base_height_action_range,
+        policy_output_swing_action_delta, swing_target_delta_range,
+        swing_clearance_delta_range)
+
+    self._configure_observation_space()
+
+    # Set up the MPC controller
+    stance_duration, duty_factor, initial_phase = _select_gait(locomotion_gait)
+    self._gait_generator = openloop_gait_generator.OpenloopGaitGenerator(
+        self._gym_env.robot, stance_duration, duty_factor, initial_phase,
+        contact_detection_force_threshold)
+    self._com_velocity_estimator = com_velocity_estimator_class(
+        self._gym_env.robot)
+    self._com_height_estimator = com_height_estimator.COMHeightEstimator(
+        self._gym_env.robot)
+    self._state_estimator = multi_state_estimator.MultiStateEstimator(
+        self._gym_env.robot,
+        state_estimators=[
+            self._com_velocity_estimator, self._com_height_estimator
+        ])
+    self._stance_controller = torque_stance_leg_controller.TorqueStanceLegController(
+        self._gym_env.robot,
+        self._gait_generator,
+        self._state_estimator,
+        desired_speed=np.array(_DEFAULT_BASE_SPEED),
+        desired_twisting_speed=_DEFAULT_BASE_TWIST_SPEED,
+        desired_body_height=_DEFAULT_BODY_HEIGHT,
+        desired_roll_pitch=np.array(_DEFAULT_ROLL_PITCH),
+        body_mass=robot_mass_in_mpc)
+
+  def _configure_observation_space(self):
+    """Configure the observation space."""
+    self.observation_space.spaces["gait_phases"] = gym.spaces.Box(
+        np.array([-1.0] * 4), np.array([1.0] * 4))
+    self.observation_space.spaces["feet_states"] = gym.spaces.Box(
+        np.array([-2.0] * 4), np.array([2.0] * 4))
+    self.observation_space.spaces["need_new_swing_target"] = gym.spaces.Box(
+        np.array([0.0] * 4), np.array([1.0] * 4))
+    self.observation_space.spaces["estimated_base_speed"] = gym.spaces.Box(
+        np.array([-1.0, -1.0, -1.0]), np.array([1.0, 1.0, 1.0]))
+    self.observation_space.spaces["estimated_body_height"] = gym.spaces.Box(
+        np.array([0.35]), np.array([0.5]))
+    self.observation_space.spaces["heuristics_com_velocity"] = gym.spaces.Box(
+        np.array([-1.0] * 2), np.array([1.0] * 2))
+    self.observation_space.spaces["current_toe_target"] = gym.spaces.Box(
+        np.array([-1.0, -1.0, -1.0] * _NUM_LEGS),
+        np.array([1.0, 1.0, 1.0] * _NUM_LEGS))
+
+    # Needed so that LastActionSensor uses the correct action space.
+    for s in self.all_sensors():
+      s.on_reset(self)
+    for sensor in self.all_sensors():
+      if sensor.get_name() not in self._gym_config.ignored_sensor_list:
+        if hasattr(sensor, "observation_space"):
+          self.observation_space.spaces[
+              sensor.get_name()] = sensor.observation_space
+
+    self.task.reset(self)
+    if hasattr(self.task, "observation_space"):
+      self.observation_space.spaces[
+          self.task.get_name()] = self.task.observation_space
+
+  def _configure_action_space(self, swing_target_action_range,
+                              swing_clearance_action_range, pitch_action_range,
+                              roll_action_range, base_velocity_action_range,
+                              base_twist_action_range, base_height_action_range,
+                              policy_output_swing_action_delta,
+                              swing_target_delta_range,
+                              swing_clearance_delta_range):
+    """Configure the action space."""
+    ac_lb = np.array([])
+    ac_ub = np.array([])
+
+    # Index of different part of the actions within the action array.
+    self._action_start_indices = {}
+    self._action_dimensions = {}
+    self._action_names = []
+
+    # Swing targets and swing clearance.
+    for leg_id in range(_NUM_LEGS):
+      self._action_start_indices["swing_targets_" + str(leg_id)] = len(ac_lb)
+      self._action_dimensions["swing_targets_" + str(leg_id)] = len(
+          swing_target_action_range[0])
+      self._action_names.append("swing_targets_" + str(leg_id))
+      ac_lb = np.concatenate([ac_lb, swing_target_action_range[0]])
+      ac_ub = np.concatenate([ac_ub, swing_target_action_range[1]])
+    for leg_id in range(_NUM_LEGS):
+      self._action_start_indices["swing_clearance_" + str(leg_id)] = len(ac_lb)
+      self._action_dimensions["swing_clearance_" + str(leg_id)] = 1
+      self._action_names.append("swing_clearance_" + str(leg_id))
+      ac_lb = np.concatenate([ac_lb, [swing_clearance_action_range[0]]])
+      ac_ub = np.concatenate([ac_ub, [swing_clearance_action_range[1]]])
+
+    # Delta to the swing targets and clearance.
+    if policy_output_swing_action_delta:
+      for leg_id in range(_NUM_LEGS):
+        self._action_start_indices["swing_targets_delta_" +
+                                   str(leg_id)] = len(ac_lb)
+        self._action_dimensions["swing_targets_delta_" + str(leg_id)] = len(
+            swing_target_delta_range[0])
+        self._action_names.append("swing_targets_delta_" + str(leg_id))
+        ac_lb = np.concatenate([ac_lb, swing_target_delta_range[0]])
+        ac_ub = np.concatenate([ac_ub, swing_target_delta_range[1]])
+      for leg_id in range(_NUM_LEGS):
+        self._action_start_indices["swing_clearance_delta_" +
+                                   str(leg_id)] = len(ac_lb)
+        self._action_dimensions["swing_clearance_delta_" + str(leg_id)] = 1
+        self._action_names.append("swing_clearance_delta_" + str(leg_id))
+        ac_lb = np.concatenate([ac_lb, [swing_clearance_delta_range[0]]])
+        ac_ub = np.concatenate([ac_ub, [swing_clearance_delta_range[1]]])
+
+    # Desired CoM velocity actions
+    # Do not include the action if bounds are all equal to zero
+    if not np.all(np.array(base_velocity_action_range) == 0):
+      self._action_start_indices["target_base_velocity"] = len(ac_lb)
+      self._action_dimensions["target_base_velocity"] = 2
+      self._action_names.append("target_base_velocity")
+      ac_lb = np.concatenate([
+          ac_lb,
+          [base_velocity_action_range[0][0], base_velocity_action_range[0][1]]
+      ])
+      ac_ub = np.concatenate([
+          ac_ub,
+          [base_velocity_action_range[1][0], base_velocity_action_range[1][1]]
+      ])
+
+    # Base twist speed action
+    self._action_start_indices["base_twist"] = len(ac_lb)
+    self._action_dimensions["base_twist"] = 1
+    self._action_names.append("base_twist")
+    ac_lb = np.concatenate([ac_lb, [base_twist_action_range[0]]])
+    ac_ub = np.concatenate([ac_ub, [base_twist_action_range[1]]])
+
+    # Base height action
+    self._action_start_indices["base_height"] = len(ac_lb)
+    self._action_dimensions["base_height"] = 1
+    self._action_names.append("base_height")
+    ac_lb = np.concatenate([ac_lb, [base_height_action_range[0]]])
+    ac_ub = np.concatenate([ac_ub, [base_height_action_range[1]]])
+
+    # Roll-pitch action
+    self._action_start_indices["base_roll_pitch"] = len(ac_lb)
+    self._action_dimensions["base_roll_pitch"] = 2
+    self._action_names.append("base_roll_pitch")
+    ac_lb = np.concatenate(
+        [ac_lb, [roll_action_range[0], pitch_action_range[0]]])
+    ac_ub = np.concatenate(
+        [ac_ub, [roll_action_range[1], pitch_action_range[1]]])
+
+    self.action_space = gym.spaces.Box(ac_lb, ac_ub)
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def _fill_observations(self, obs):
+    """Fill the additional observations from this wrapper."""
+    phase_offset = np.array([
+        0 if leg_state == gait_generator_lib.LegState.STANCE else 1
+        for leg_state in self._gait_generator.desired_leg_state
+    ])
+    obs["gait_phases"] = self._gait_generator.normalized_phase - phase_offset
+    obs["feet_states"] = []
+    for leg_state in self._gait_generator.desired_leg_state:
+      if leg_state == gait_generator_lib.LegState.STANCE:
+        obs["feet_states"].append(-1)
+      if leg_state == gait_generator_lib.LegState.SWING:
+        obs["feet_states"].append(1)
+      if leg_state == gait_generator_lib.LegState.EARLY_CONTACT:
+        obs["feet_states"].append(2)
+      if leg_state == gait_generator_lib.LegState.LOSE_CONTACT:
+        obs["feet_states"].append(-2)
+    obs["need_new_swing_target"] = np.copy(self._need_new_swing_target)
+    obs["estimated_base_speed"] = self._state_estimator.com_velocity_body_yaw_aligned_frame
+    obs["estimated_body_height"] = [self._state_estimator.estimated_com_height]
+    obs["heuristics_com_velocity"] = np.copy(
+        self._target_horizontal_com_velocity_heuristic
+        .horizontal_com_velocity_heuristic)
+    obs["current_toe_target"] = np.copy(self._current_toe_target)
+
+  def _reset_mpc_controller(self):
+    """Reset the state of the MPC controller."""
+    self._gait_generator.reset(0.0)
+    self._state_estimator.reset(0.0)
+    self._stance_controller.reset(0.0)
+    self._stance_controller.desired_speed = np.array(_DEFAULT_BASE_SPEED)
+    self._stance_controller.desired_twisting_speed = _DEFAULT_BASE_TWIST_SPEED
+    self._stance_controller.desired_body_height = _DEFAULT_BODY_HEIGHT
+    self._stance_controller.desired_roll_pitch = np.array(_DEFAULT_ROLL_PITCH)
+    self._mpc_reset_time = self.robot.GetTimeSinceReset()
+
+  def reset(self, **kwargs):
+    """Reset the environment."""
+    self._gym_env.reset(**kwargs)
+
+    self._reset_mpc_controller()
+
+    self._last_leg_state = copy.copy(self._gait_generator.leg_state)
+
+    self._initial_local_toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=False))
+
+    self._current_toe_target = np.reshape(
+        copy.deepcopy(self._initial_local_toe_positions), 3 * _NUM_LEGS)
+
+    # Record last lift off position for each foot for computing swing
+    # trajectory.
+    self._lift_off_positions = copy.deepcopy(self._initial_local_toe_positions)
+
+    # Swing command by policy at the beginning of each swing phase.
+    self._nominal_swing_leg_commands = []
+    for _ in range(_NUM_LEGS):
+      self._nominal_swing_leg_commands.append({
+          "swing_target": np.array(_DEFAULT_SWING_TARGET),
+          "swing_clearance": _DEFAULT_SWING_CLERANCE
+      })
+    # Actual swing leg commands that incorporated potential delta adjustments
+    # from the policy.
+    self._actual_swing_leg_commands = []
+    for _ in range(_NUM_LEGS):
+      self._actual_swing_leg_commands.append({
+          "swing_target": np.array(_DEFAULT_SWING_TARGET),
+          "swing_clearance": _DEFAULT_SWING_CLERANCE
+      })
+
+    self._need_new_swing_target = np.array([0.0] * _NUM_LEGS)
+
+    self._target_horizontal_com_velocity_heuristic.reset()
+
+    self.last_action = []
+    for leg_id in range(_NUM_LEGS):
+      self.last_action.extend(
+          [0.0] * self._action_dimensions["swing_targets_" + str(leg_id)])
+    for leg_id in range(_NUM_LEGS):
+      self.last_action.extend(
+          [0.0] * self._action_dimensions["swing_clearance_" + str(leg_id)])
+    if self._policy_output_swing_action_delta:
+      for leg_id in range(_NUM_LEGS):
+        self.last_action.extend(
+            [0.0] *
+            self._action_dimensions["swing_targets_delta_" + str(leg_id)])
+      for leg_id in range(_NUM_LEGS):
+        self.last_action.extend(
+            [0.0] *
+            self._action_dimensions["swing_clearance_delta_" + str(leg_id)])
+    print("=========", len(self.last_action))
+    if "target_base_velocity" in self._action_names:
+      self.last_action.extend([0.0] *
+                              self._action_dimensions["target_base_velocity"])
+    self.last_action.extend([0.0] * self._action_dimensions["base_twist"])
+    self.last_action.extend([0.0] * self._action_dimensions["base_height"])
+    self.last_action.extend([0.0] * self._action_dimensions["base_roll_pitch"])
+
+    # Needed for LastActionSensor to use the correct last_action.
+    for s in self.all_sensors():
+      s.on_reset(self)
+    obs = self._get_observation()
+    self._fill_observations(obs)
+
+    self.task.reset(self)
+    self._step_counter = 0
+
+    # Change feet friction.
+    for link_id in list(
+        self.robot.urdf_loader.get_end_effector_id_dict().values()):
+      self.pybullet_client.changeDynamics(
+          self.robot.robot_id,
+          link_id,
+          lateralFriction=self._foot_friction_coeff)
+    self._observation = obs
+
+    return self._observation
+
+  def _clean_up_action(self, action):
+    """Return a cleaned up action to use previous value or zero for components not used.
+
+    Args:
+      action: Input action from the policy.
+
+    Returns:
+      A cleaned up action where components not used in this step is replaced
+        with zero or value from previous steps.
+    """
+    cleaned_action = np.copy(action)
+    for leg_id in range(_NUM_LEGS):
+      if not self._need_new_swing_target[leg_id]:
+        swing_target_name = "swing_targets_" + str(leg_id)
+        swing_targets_start_index = self._action_start_indices[
+            swing_target_name]
+        swing_targets_end_index = swing_targets_start_index + self._action_dimensions[
+            swing_target_name]
+        cleaned_action[swing_targets_start_index:
+                       swing_targets_end_index] = self.last_action[
+                           swing_targets_start_index:swing_targets_end_index]
+
+        swing_clearance_name = "swing_clearance_" + str(leg_id)
+        swing_clearance_start_index = self._action_start_indices[
+            swing_clearance_name]
+        cleaned_action[swing_clearance_start_index] = self.last_action[
+            swing_clearance_start_index]
+    if self._policy_output_swing_action_delta:
+      for leg_id in range(_NUM_LEGS):
+        if self._observation["feet_states"][leg_id] != 1:
+          swing_target_delta_name = "swing_targets_delta_" + str(leg_id)
+          swing_targets_delta_start_index = self._action_start_indices[
+              swing_target_delta_name]
+          swing_targets_delta_end_index = swing_targets_delta_start_index + self._action_dimensions[
+              swing_target_delta_name]
+          cleaned_action[
+              swing_targets_delta_start_index:
+              swing_targets_delta_end_index] = self.last_action[
+                  swing_targets_delta_start_index:swing_targets_delta_end_index]
+
+          swing_clearance_delta_name = "swing_clearance_delta_" + str(leg_id)
+          swing_clearance_delta_start_index = self._action_start_indices[
+              swing_clearance_delta_name]
+          cleaned_action[swing_clearance_delta_start_index] = self.last_action[
+              swing_clearance_delta_start_index]
+
+    return cleaned_action
+
+  def _get_toe_tracking_target(self, lift_off_position, phase, swing_clearance,
+                               landing_position):
+    """Get the tracking target for the toes during the swing phase.
+
+    The swing toe will move 70% of the distance in the first half of the swing.
+    Intuitely, we want to move the swing foot quickly to the target landing
+    location and stay above the ground, in this way the control is more robust
+    to perturbations to the body that may cause the swing foot to drop onto
+    the ground earlier than expected. This is a common practice similar
+    to the MIT cheetah and Marc Raibert's original controllers. After the
+    designated swing motion finishes, we also command the foot to go down
+    for a short ditance (0.03m). This is to mitigate issues when the swing
+    finishes before it touches the ground.
+
+    Args:
+      lift_off_position: Local position when the foot leaves ground.
+      phase: Normalized phase of the foot in the current swing cycle.
+      swing_clearance: Height of the highest point in the swing trajectory.
+      landing_position: Target landing position in the local space.
+
+    Returns:
+      The interpolated foot target for the current step.
+    """
+    # Up vector in the world coordinate (without considering yaw).
+    rotated_up_vec = np.array(
+        self.pybullet_client.multiplyTransforms(
+            (0, 0, 0),
+            self.pybullet_client.getQuaternionFromEuler(
+                (self.robot.base_roll_pitch_yaw[0],
+                 self.robot.base_roll_pitch_yaw[1], 0)), (0, 0, 1),
+            _UNIT_QUATERNION)[0])
+
+    # Linearly interpolate the trajectory to get the foot target.
+    keyframe_timings = [0.0, 0.45, 0.9, 0.9001, 1.0]
+    peak_toe_position = 0.3 * lift_off_position + 0.7 * landing_position + rotated_up_vec * swing_clearance
+    # TODO(magicmelon): Update the gait generator to warp the gait and keep
+    # the swing leg going down until it touches the ground.
+    landing_position_pressing_down = landing_position - rotated_up_vec * 0.03
+    keyframe_positions = np.array([
+        lift_off_position, peak_toe_position, landing_position,
+        landing_position_pressing_down, landing_position_pressing_down
+    ])
+
+    target_toe_positions = np.array([
+        np.interp(phase, keyframe_timings, keyframe_positions[:, 0]),
+        np.interp(phase, keyframe_timings, keyframe_positions[:, 1]),
+        np.interp(phase, keyframe_timings, keyframe_positions[:, 2])
+    ])
+    return target_toe_positions
+
+  def step(self, action: Sequence[float]):
+    """Steps the wrapped environment.
+
+    Args:
+      action:
+
+    Returns:
+      The tuple containing the observation, the reward, and the episode
+        end indicator.
+    """
+    self.last_action = self._clean_up_action(action)
+
+    obs, reward, done, info = self._step_motion_controller(self.last_action)
+    self._step_counter += 1
+    self._fill_observations(obs)
+    self._observation = obs
+
+    return obs, reward, done, info
+
+  def _extract_action(self, action, name):
+    return action[self.
+                  _action_start_indices[name]:self._action_start_indices[name] +
+                  self._action_dimensions[name]]
+
+  def _get_swing_foot_ids(self):
+    swing_foot_ids = []
+    for leg_id in range(_NUM_LEGS):
+      if self._gait_generator.leg_state[
+          leg_id] == gait_generator_lib.LegState.SWING:
+        swing_foot_ids.append(leg_id)
+    return swing_foot_ids
+
+  def _update_gait_states_and_flags(self):
+    """Update gait-related variables and flags."""
+    current_leg_state = self._gait_generator.leg_state
+    for leg_id in range(_NUM_LEGS):
+      if current_leg_state[
+          leg_id] == gait_generator_lib.LegState.SWING and self._last_leg_state[
+              leg_id] != gait_generator_lib.LegState.SWING:
+        self._lift_off_positions[leg_id] = self._gym_env.robot.foot_positions(
+        )[leg_id]
+        self._need_new_swing_target[leg_id] = 1
+    self._last_leg_state = copy.copy(current_leg_state)
+
+    com_estimate_leg_indices = []
+    for leg_id in range(_NUM_LEGS):
+      # Use the ones not swinging to estimate the com height
+      if leg_id not in self._get_swing_foot_ids():
+        com_estimate_leg_indices.append(leg_id)
+    self._com_height_estimator.com_estimate_leg_indices = com_estimate_leg_indices
+    self._state_estimator.update(self.robot.GetTimeSinceReset() -
+                                 self._mpc_reset_time)
+    self._gait_generator.update(self.robot.GetTimeSinceReset() -
+                                self._mpc_reset_time)
+
+  def _process_action(self, action):
+    """Process the action and set relevant variables."""
+    # Extract the swing targets from the input action.
+    for leg_id in range(_NUM_LEGS):
+      if self._need_new_swing_target[leg_id]:
+        self._nominal_swing_leg_commands[leg_id]["swing_target"] = (
+            self._extract_action(action, "swing_targets_" + str(leg_id)))
+        self._nominal_swing_leg_commands[leg_id]["swing_clearance"] = (
+            self._extract_action(action, "swing_clearance_" + str(leg_id)))
+
+        self._actual_swing_leg_commands[leg_id]["swing_target"] = np.copy(
+            self._nominal_swing_leg_commands[leg_id]["swing_target"])
+        self._actual_swing_leg_commands[leg_id][
+            "swing_clearance"] = self._nominal_swing_leg_commands[leg_id][
+                "swing_clearance"]
+
+    # Reset the flags so the next high level commands are not used until the
+    # next swing happens.
+    self._need_new_swing_target = np.zeros(_NUM_LEGS)
+
+    # Extract the delta swing targets from the input action.
+    if self._policy_output_swing_action_delta:
+      for leg_id in self._get_swing_foot_ids():
+        self._actual_swing_leg_commands[leg_id]["swing_target"] = (
+            self._nominal_swing_leg_commands[leg_id]["swing_target"] +
+            self._extract_action(action, "swing_targets_delta_" + str(leg_id)))
+        self._actual_swing_leg_commands[leg_id]["swing_clearance"] = (
+            self._nominal_swing_leg_commands[leg_id]["swing_clearance"] +
+            self._extract_action(action,
+                                 "swing_clearance_delta_" + str(leg_id)))
+    # Extract the target base movement commands from the input action.
+    if "target_base_velocity" in self._action_names:
+      self._target_base_velocity_from_policy = self._extract_action(
+          action, "target_base_velocity")
+    else:
+      self._target_base_velocity_from_policy = np.zeros(3)
+    desired_twist_speed = self._extract_action(action, "base_twist")
+    desired_body_height = self._extract_action(action, "base_height")
+    desired_roll_pitch = self._extract_action(action, "base_roll_pitch")
+
+    self._stance_controller.desired_twisting_speed = desired_twist_speed
+    self._stance_controller.desired_body_height = desired_body_height
+    self._stance_controller.desired_roll_pitch = desired_roll_pitch
+
+  def _compute_swing_action(self):
+    """Compute actions for the swing legs."""
+    local_toe_positions = np.array(
+        self._gym_env.robot.foot_positions(position_in_world_frame=False))
+    toe_positions_over_time = copy.deepcopy(local_toe_positions)
+
+    for leg_id in self._get_swing_foot_ids():
+      target_toe_positions_local = self._get_toe_tracking_target(
+          self._lift_off_positions[leg_id],
+          self._gait_generator.normalized_phase[leg_id],
+          self._actual_swing_leg_commands[leg_id]["swing_clearance"],
+          self._actual_swing_leg_commands[leg_id]["swing_target"] +
+          self._initial_local_toe_positions[leg_id])
+      toe_positions_over_time[leg_id] = target_toe_positions_local
+    self._current_toe_target = np.reshape(
+        copy.deepcopy(toe_positions_over_time), 3 * _NUM_LEGS)
+    return np.array(
+        self.robot.motor_angles_from_foot_positions(
+            toe_positions_over_time, position_in_world_frame=False)[1])
+
+  def _compute_stance_action(self):
+    """Compute actions for the stance legs."""
+
+    # update target com velocity by combining policy output and heuristics
+    hip_relative_swing_targets = []
+    swing_durations = []
+    com_horizontal_velocity = np.array(
+        self._state_estimator.com_velocity_body_yaw_aligned_frame)[0:2]
+    for swing_id in self._get_swing_foot_ids():
+      hip_relative_swing_targets.append(
+          np.array([
+              self._actual_swing_leg_commands[swing_id]["swing_target"][0],
+              self._actual_swing_leg_commands[swing_id]["swing_target"][1]
+          ]))
+      swing_durations.append(self._gait_generator.swing_duration[swing_id])
+
+    self._target_horizontal_com_velocity_heuristic.update_horizontal_com_velocity_heuristic(
+        hip_relative_swing_targets, com_horizontal_velocity, swing_durations)
+    self._stance_controller.desired_speed = np.array(
+        self._target_base_velocity_from_policy)
+    self._stance_controller.desired_speed[
+        0:
+        2] += self._target_horizontal_com_velocity_heuristic.horizontal_com_velocity_heuristic
+
+    # compute actions for the stance leg
+    return self._stance_controller.get_action()
+
+  def _combine_swing_stance_action(self, swing_action, stance_action):
+    """Combine stance and swing leg actions."""
+    feet_contact_states = copy.copy(self._gait_generator.leg_state)
+    actions = []
+    for leg_id in range(_NUM_LEGS):
+      if leg_id in self._get_swing_foot_ids(
+      ) and feet_contact_states[leg_id] == gait_generator_lib.LegState.SWING:
+        for motor_id_in_leg in range(_MOTORS_PER_LEG):
+          actions.extend(
+              (swing_action[leg_id * _MOTORS_PER_LEG + motor_id_in_leg],
+               _MOTOR_KP[leg_id * _MOTORS_PER_LEG + motor_id_in_leg], 0.0,
+               _MOTOR_KD[leg_id * _MOTORS_PER_LEG + motor_id_in_leg], 0.0))
+      else:
+        for motor_id_in_leg in range(_MOTORS_PER_LEG):
+          actions.extend(stance_action[leg_id * _MOTORS_PER_LEG +
+                                       motor_id_in_leg])
+    return actions
+
+  def _step_motion_controller(self, action):
+    """Run the MPC controller to advance the robot's state."""
+
+    self._process_action(action)
+
+    # run MPC-based control for a certain amount of time
+    total_reward = 0.0
+    start_time = self._gym_env.robot.GetTimeSinceReset()
+    while self._gym_env.robot.GetTimeSinceReset(
+    ) - start_time < self._time_per_control_step:
+      self._update_gait_states_and_flags()
+
+      swing_action = self._compute_swing_action()
+
+      stance_action = self._compute_stance_action()
+
+      actions = self._combine_swing_stance_action(swing_action, stance_action)
+
+      obs, rew, done, info = self._gym_env.step(actions)
+      if self._stance_controller.qp_solver_fail:
+        done = True
+      total_reward += rew
+
+      if done:
+        return obs, 0.0, done, info
+
+    return obs, total_reward, done, info
+
+  @property
+  def observation(self):
+    return self._observation
+
+  @property
+  def env_step_counter(self):
+    return self._step_counter
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py
new file mode 100644
index 0000000000..34e6049ccd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/observation_dictionary_to_array_wrapper.py
@@ -0,0 +1,65 @@
+"""An env wrapper that flattens the observation dictionary to an array."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gym
+import gin
+from pybullet_envs.minitaur.envs_v2.utilities import env_utils
+
+
+@gin.configurable
+class ObservationDictionaryToArrayWrapper(gym.Env):
+  """An env wrapper that flattens the observation dictionary to an array."""
+
+  def __init__(self, gym_env, observation_excluded=()):
+    """Initializes the wrapper."""
+    self.observation_excluded = observation_excluded
+    self._gym_env = gym_env
+    self.observation_space = self._flatten_observation_spaces(
+        self._gym_env.observation_space)
+    self.action_space = self._gym_env.action_space
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def _flatten_observation_spaces(self, observation_spaces):
+    flat_observation_space = env_utils.flatten_observation_spaces(
+        observation_spaces=observation_spaces,
+        observation_excluded=self.observation_excluded)
+    return flat_observation_space
+
+  def _flatten_observation(self, input_observation):
+    """Flatten the dictionary to an array."""
+    return env_utils.flatten_observations(
+        observation_dict=input_observation,
+        observation_excluded=self.observation_excluded)
+
+  def seed(self, seed=None):
+    return self._gym_env.seed(seed)
+
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    observation = self._gym_env.reset(
+        initial_motor_angles=initial_motor_angles,
+        reset_duration=reset_duration)
+    return self._flatten_observation(observation)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the flattened observation, the reward, the epsiode
+        end indicator.
+    """
+    observation_dict, reward, done, _ = self._gym_env.step(action)
+    return self._flatten_observation(observation_dict), reward, done, _
+
+  def render(self, mode='human'):
+    return self._gym_env.render(mode)
+
+  def close(self):
+    return self._gym_env.close()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py
new file mode 100644
index 0000000000..0a274d3996
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_inplace_wrapper_env.py
@@ -0,0 +1,176 @@
+"""A wrapped MinitaurGymEnv with a built-in controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+import attr
+from gym import spaces
+import numpy as np
+import gin
+from pybullet_envs.minitaur.agents.trajectory_generator import tg_inplace
+from pybullet_envs.minitaur.envs.utilities import laikago_pose_utils
+from pybullet_envs.minitaur.envs.utilities import minitaur_pose_utils
+
+_NUM_LEGS = 4
+_LAIKAGO_NUM_ACTIONS = 12
+_FREQ_LOWER_BOUND = 0.0
+_FREQ_UPPER_BOUND = 3
+_DEFAULT_AMPLITUDE_STANCE = -0.02
+_DEFAULT_AMPLITUDE_LIFT = 0.9
+_DEFAULT_CENTER_EXTENSION = 0
+_DEFAULT_STANCE_LIFT_CUTOFF = 2 * np.pi * 0.67
+_DEFAULT_RESIDUAL_RANGE = 0.4
+_LAIKAGO_KNEE_ACTION_INDEXES = [2, 5, 8, 11]
+MINITAUR_INIT_EXTENSION_POS = 2.0
+MINITAUR_INIT_SWING_POS = 0.0
+
+
+@gin.configurable
+class PmtgInplaceWrapperEnv(object):
+  """A wrapped LocomotionGymEnv with a built-in trajectory generator."""
+
+  def __init__(self,
+               gym_env,
+               freq_lower_bound=_FREQ_LOWER_BOUND,
+               freq_upper_bound=_FREQ_UPPER_BOUND,
+               residual_range=_DEFAULT_RESIDUAL_RANGE,
+               amplitude_stance=_DEFAULT_AMPLITUDE_STANCE,
+               amplitude_lift=_DEFAULT_AMPLITUDE_LIFT,
+               center_extension=_DEFAULT_CENTER_EXTENSION,
+               stance_lift_cutoff=_DEFAULT_STANCE_LIFT_CUTOFF):
+    """Initializes the TG inplace wrapper class.
+
+    Args:
+      gym_env: the gym environment to wrap on.
+      freq_lower_bound: minimum frequency that the TGs can be propagated at.
+      freq_upper_bound: maximum frequency that the TGs can be propagated at.
+      residual_range: range of residuals that can be added to tg outputs.
+      amplitude_stance: stance amplitude of TG (see tg_inplace.py for details).
+      amplitude_lift: swing amplitude of TG (see tg_inplace.py for details).
+      center_extension: center extension of TG (see tg_inplace.py for details).
+      stance_lift_cutoff: phase cutoff between stance and lift phase (see
+        tg_inplace.py for details).
+    """
+    self._gym_env = gym_env
+    self._num_actions = gym_env.robot.num_motors
+    self._tg_phases = tg_inplace.reset()
+    self._tg_params = dict(
+        amplitude_stance=amplitude_stance,
+        amplitude_lift=amplitude_lift,
+        center_extension=center_extension,
+        stance_lift_cutoff=stance_lift_cutoff)
+
+    # Add the action boundaries for delta time, one per integrator.
+    action_low = np.hstack(
+        ([-residual_range] * self._num_actions, [freq_lower_bound] * _NUM_LEGS))
+    action_high = np.hstack(
+        ([residual_range] * self._num_actions, [freq_upper_bound] * _NUM_LEGS))
+    self.action_space = spaces.Box(action_low, action_high)
+
+    # Set the observation space and boundaries.
+    if hasattr(self._gym_env.observation_space, "spaces"):
+      self.observation_space = self._gym_env.observation_space
+      self.observation_space.spaces["pmtg_inplace"] = spaces.Box(
+          -1 * np.ones(2 * _NUM_LEGS), np.ones(2 * _NUM_LEGS))
+    else:
+      lower_bound = self._gym_env.observation_space.low
+      upper_bound = self._gym_env.observation_space.high
+      lower_bound = np.hstack((lower_bound, [-1.] * 2 * _NUM_LEGS))
+      upper_bound = np.hstack((upper_bound, [1.] * 2 * _NUM_LEGS))
+      self.observation_space = spaces.Box(lower_bound, upper_bound)
+
+  def __getattr__(self, attrb):
+    return getattr(self._gym_env, attrb)
+
+  def _modify_observation(self, observation):
+    if isinstance(observation, dict):
+      observation["tg_inplace"] = np.hstack(
+          (np.cos(self._tg_phases), np.sin(self._tg_phases)))
+      return observation
+    else:
+      return np.hstack(
+          (observation, np.cos(self._tg_phases), np.sin(self._tg_phases)))
+
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    """Resets the environment as well as trajectory generators."""
+    self._last_real_time = 0
+    self._num_step = 0
+    self._tg_phases = tg_inplace.reset()
+    if self._num_actions == _LAIKAGO_NUM_ACTIONS:
+      # Use laikago's init pose as zero action.
+      init_pose = np.array(
+          attr.astuple(
+              laikago_pose_utils.LaikagoPose(
+                  abduction_angle_0=laikago_pose_utils
+                  .LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+                  hip_angle_0=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+                  knee_angle_0=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
+                  abduction_angle_1=laikago_pose_utils
+                  .LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+                  hip_angle_1=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+                  knee_angle_1=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
+                  abduction_angle_2=laikago_pose_utils
+                  .LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+                  hip_angle_2=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+                  knee_angle_2=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
+                  abduction_angle_3=laikago_pose_utils
+                  .LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+                  hip_angle_3=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+                  knee_angle_3=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE)))
+      self._init_pose = init_pose
+      observation = self._gym_env.reset(init_pose, reset_duration)
+    else:
+      # Use minitaur's init pose as zero action.
+      init_pose = np.array(
+          attr.astuple(
+              minitaur_pose_utils.MinitaurPose(
+                  swing_angle_0=MINITAUR_INIT_SWING_POS,
+                  swing_angle_1=MINITAUR_INIT_SWING_POS,
+                  swing_angle_2=MINITAUR_INIT_SWING_POS,
+                  swing_angle_3=MINITAUR_INIT_SWING_POS,
+                  extension_angle_0=MINITAUR_INIT_EXTENSION_POS,
+                  extension_angle_1=MINITAUR_INIT_EXTENSION_POS,
+                  extension_angle_2=MINITAUR_INIT_EXTENSION_POS,
+                  extension_angle_3=MINITAUR_INIT_EXTENSION_POS)))
+      initial_motor_angles = minitaur_pose_utils.leg_pose_to_motor_angles(
+          init_pose)
+      observation = self._gym_env.reset(initial_motor_angles, reset_duration)
+    return self._modify_observation(observation)
+
+  def step(self, action):
+    """Steps the wrapped PMTG inplace environment."""
+    time = self._gym_env.get_time_since_reset()
+
+    # Convert the policy's residual actions to motor space.
+    if self._num_actions == _LAIKAGO_NUM_ACTIONS:
+      action_residual = np.array(
+          attr.astuple(
+              laikago_pose_utils.LaikagoPose(*(action[0:self._num_actions]))))
+    else:
+      action_residual = minitaur_pose_utils.leg_pose_to_motor_angles(
+          action[0:self._num_actions])
+
+    self._last_real_time = time
+    self._tg_phases, tg_extensions = tg_inplace.step(
+        self._tg_phases, action[-_NUM_LEGS:], self._gym_env.env_time_step,
+        self._tg_params)
+    # Convert TG's actions to motor space depending on the robot type.
+    if self._num_actions == _LAIKAGO_NUM_ACTIONS:
+      # If the legs have 3 DOF, apply extension directly to knee joints
+      action_tg_motor_space = np.zeros(self._num_actions)
+      for tg_idx, knee_idx in zip(
+          range(_NUM_LEGS), _LAIKAGO_KNEE_ACTION_INDEXES):
+        action_tg_motor_space[knee_idx] = tg_extensions[tg_idx]
+    else:
+      # Conversion to motor space for minitaur robot.
+      action_tg_motor_space = []
+      for idx in range(_NUM_LEGS):
+        extend = tg_extensions[idx]
+        action_tg_motor_space.extend(
+            minitaur_pose_utils.swing_extend_to_motor_angles(idx, 0, extend))
+    new_action = action_tg_motor_space + action_residual
+    if self._num_actions == _LAIKAGO_NUM_ACTIONS:
+      new_action += self._init_pose
+    original_observation, reward, done, _ = self._gym_env.step(new_action)
+
+    return self._modify_observation(original_observation), reward, done, _
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py
new file mode 100644
index 0000000000..1df14a2965
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/pmtg_wrapper_env.py
@@ -0,0 +1,290 @@
+"""A wrapped MinitaurGymEnv with a built-in controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+from gym import spaces
+import numpy as np
+import gin
+from pybullet_envs.minitaur.agents.trajectory_generator import tg_simple
+from pybullet_envs.minitaur.envs_v2.utilities import robot_pose_utils
+from pybullet_envs.minitaur.robots.utilities import action_filter
+
+_DELTA_TIME_LOWER_BOUND = 0.0
+_DELTA_TIME_UPPER_BOUND = 3
+
+_GAIT_PHASE_MAP = {
+    "walk": [0, 0.25, 0.5, 0.75],
+    "trot": [0, 0.5, 0.5, 0],
+    "bound": [0, 0.5, 0, 0.5],
+    "pace": [0, 0, 0.5, 0.5],
+    "pronk": [0, 0, 0, 0]
+}
+
+
+@gin.configurable
+class PmtgWrapperEnv(object):
+  """A wrapped LocomotionGymEnv with a built-in trajectory generator."""
+
+  def __init__(self,
+               gym_env,
+               intensity_upper_bound=1.5,
+               min_delta_time=_DELTA_TIME_LOWER_BOUND,
+               max_delta_time=_DELTA_TIME_UPPER_BOUND,
+               integrator_coupling_mode="all coupled",
+               walk_height_coupling_mode="all coupled",
+               variable_swing_stance_ratio=True,
+               swing_stance_ratio=1.0,
+               residual_range=0.15,
+               init_leg_phase_offsets=None,
+               init_gait=None,
+               default_walk_height=0,
+               action_filter_enable=True,
+               action_filter_order=1,
+               action_filter_low_cut=0,
+               action_filter_high_cut=3.0,
+               action_filter_initialize=False,
+               leg_pose_class=None):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      intensity_upper_bound: The upper bound for intensity of the trajectory
+        generator. It can be used to limit the leg movement.
+      min_delta_time: Lower limit for the time in seconds that the trajectory
+        generator can be moved forward at each simulation step. The effective
+        frequency of the gait is based on the delta time multiplied by the
+        internal frequency of the trajectory generator.
+      max_delta_time: Upper limit for the time in seconds that the trajectory
+        generator can be moved forward at each simulation step.
+      integrator_coupling_mode: How the legs should be coupled for integrators.
+      walk_height_coupling_mode: The same coupling mode used for walking walking
+        heights for the legs.
+      variable_swing_stance_ratio: A boolean to indicate if the swing stance
+        ratio can change per time step or not.
+      swing_stance_ratio: Time taken by swing phase vs stance phase. This is
+        only relevant if variable_swing_stance_ratio is False.
+      residual_range: The upper limit for the residual actions that adds to the
+        leg motion. It is 0.15 by default, can be increased for more flexibility
+        or decreased to only to use the trajectory generator's motion.
+      init_leg_phase_offsets: The initial phases of the legs. A list of 4
+        variables within [0,1). The order is front-left, rear-left, front-right
+        and rear-right.
+      init_gait: The initial gait that sets the starting phase difference
+        between the legs. Overrides the arg init_phase_offsets. Has to be
+        "walk", "trot", "bound" or "pronk". Used in vizier search.
+      default_walk_height: Offset for the extension of the legs for the robot.
+        Applied to the legs at every time step. Implicitly affects the walking
+        and standing height of the policy. Zero by default. Units is in
+        extension space (can be considered in radiant since it is a linear
+        transformation to motor angles based on the robot's geometry).
+      action_filter_enable: Use a butterworth filter for the output of the PMTG
+        actions (before conversion to leg swing-extend model). It forces
+        smoother behaviors depending on the parameters used.
+      action_filter_order: The order for the action_filter (1 by default).
+      action_filter_low_cut: The cut for the lower frequencies (0 by default).
+      action_filter_high_cut: The cut for the higher frequencies (3 by default).
+      action_filter_initialize: If the action filter should be initialized when
+        the first action is taken. If enabled, the filter does not affect action
+        value the first time it is called and fills the history with that value.
+      leg_pose_class: A class providing a convert_leg_pose_to_motor_angle
+        instance method or None. If None, robot_pose_utils is used.
+
+    Raises:
+      ValueError if the controller does not implement get_action and
+      get_observation.
+
+    """
+    self._gym_env = gym_env
+    self._num_actions = gym_env.robot.num_motors
+    self._residual_range = residual_range
+    self._min_delta_time = min_delta_time
+    self._max_delta_time = max_delta_time
+    self._leg_pose_util = leg_pose_class() if leg_pose_class else None
+    # If not specified, default leg phase offsets to walking.
+    if init_gait:
+      if init_gait in _GAIT_PHASE_MAP:
+        init_leg_phase_offsets = _GAIT_PHASE_MAP[init_gait]
+      else:
+        raise ValueError("init_gait is not one of the defined gaits.")
+    else:
+      init_leg_phase_offsets = init_leg_phase_offsets or [0, 0.25, 0.5, 0.75]
+    # Create the Trajectory Generator based on the parameters.
+    self._trajectory_generator = tg_simple.TgSimple(
+        intensity_upper_bound=intensity_upper_bound,
+        integrator_coupling_mode=integrator_coupling_mode,
+        walk_height_coupling_mode=walk_height_coupling_mode,
+        variable_swing_stance_ratio=variable_swing_stance_ratio,
+        swing_stance_ratio=swing_stance_ratio,
+        init_leg_phase_offsets=init_leg_phase_offsets)
+
+    action_dim = self._extend_action_space()
+    self._extend_obs_space()
+
+    self._default_walk_height = default_walk_height
+    self._action_filter_enable = action_filter_enable
+    if self._action_filter_enable:
+      self._action_filter_initialize = action_filter_initialize
+      self._action_filter_order = action_filter_order
+      self._action_filter_low_cut = action_filter_low_cut
+      self._action_filter_high_cut = action_filter_high_cut
+      self._action_filter = self._build_action_filter(action_dim)
+
+  def _extend_obs_space(self):
+    """Extend observation space to include pmtg phase variables."""
+    # Set the observation space and boundaries.
+    lower_bound, upper_bound = self._get_observation_bounds()
+    if hasattr(self._gym_env.observation_space, "spaces"):
+      new_obs_space = spaces.Box(np.array(lower_bound), np.array(upper_bound))
+      self.observation_space.spaces.update({"pmtg_phase": new_obs_space})
+    else:
+      lower_bound = np.append(self._gym_env.observation_space.low, lower_bound)
+      upper_bound = np.append(self._gym_env.observation_space.high, upper_bound)
+      self.observation_space = spaces.Box(
+          np.array(lower_bound), np.array(upper_bound), dtype=np.float32)
+
+  def _extend_action_space(self):
+    """Extend the action space to include pmtg parameters."""
+    # Add the action boundaries for delta time, one per integrator.
+    action_low = [-self._residual_range] * self._num_actions
+    action_high = [self._residual_range] * self._num_actions
+    action_low = np.append(action_low, [self._min_delta_time] *
+                           self._trajectory_generator.num_integrators)
+    action_high = np.append(action_high, [self._max_delta_time] *
+                            self._trajectory_generator.num_integrators)
+
+    # Add the action boundaries for parameters of the trajectory generator.
+    l_bound, u_bound = self._trajectory_generator.get_parameter_bounds()
+    action_low = np.append(action_low, l_bound)
+    action_high = np.append(action_high, u_bound)
+    self.action_space = spaces.Box(
+        np.array(action_low), np.array(action_high), dtype=np.float32)
+    return len(action_high)
+
+  def __getattr__(self, attrb):
+    return getattr(self._gym_env, attrb)
+
+  def _modify_observation(self, observation):
+    if isinstance(observation, dict):
+      observation["pmtg_phase"] = self._trajectory_generator.get_state()
+      return observation
+    else:
+      return np.append(observation, self._trajectory_generator.get_state())
+
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    """Resets the environment as well as the trajectory generator(s).
+
+    Args:
+      initial_motor_angles: Unused for PMTG. Instead, it sets the legs to a pose
+        with the neutral action for the trajectory generator.
+      reset_duration: Float. The time (in seconds) needed to rotate all motors
+        to the desired initial values.
+
+    Returns:
+      A numpy array contains the initial observation after reset.
+    """
+    del initial_motor_angles
+    if self._action_filter_enable:
+      self._reset_action_filter()
+    self._last_real_time = 0
+    self._num_step = 0
+    self._target_speed_coef = 0.0
+    if self._trajectory_generator:
+      self._trajectory_generator.reset()
+    if self._leg_pose_util:
+      initial_motor_angles = self._leg_pose_util.convert_leg_pose_to_motor_angles(
+          [0, 0, 0] * 4)
+    else:
+      initial_motor_angles = robot_pose_utils.convert_leg_pose_to_motor_angles(
+          self._gym_env.robot_class, [0, 0, 0] * 4)
+    observation = self._gym_env.reset(initial_motor_angles, reset_duration)
+    return self._modify_observation(observation)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the modified observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+
+    """
+
+    if action is None:
+      raise ValueError("Action cannot be None")
+
+    if self._action_filter_enable:
+      action = self._filter_action(action)
+
+    time = self._gym_env.get_time_since_reset()
+
+    action_residual = action[0:self._num_actions]
+    # Add the default walking height offset to extension.
+    dimensions = len(action_residual) // 4
+    action_residual[dimensions - 1::dimensions] += self._default_walk_height
+    # Calculate trajectory generator's output based on the rest of the actions.
+    delta_real_time = time - self._last_real_time
+    self._last_real_time = time
+    action_tg = self._trajectory_generator.get_actions(
+        delta_real_time, action[self._num_actions:])
+    # If the residuals have a larger dimension, extend trajectory generator's
+    # actions to include abduction motors.
+    if len(action_tg) == 8 and len(action_residual) == 12:
+      for i in [0, 3, 6, 9]:
+        action_tg.insert(i, 0)
+    # Add TG actions with residual actions (in swing - extend space).
+    action_total = [a + b for a, b in zip(action_tg, action_residual)]
+    # Convert them to motor space based on the robot-specific conversions.
+    if self._leg_pose_util:
+      action_motor_space = self._leg_pose_util.convert_leg_pose_to_motor_angles(
+          action_total)
+    else:
+      action_motor_space = robot_pose_utils.convert_leg_pose_to_motor_angles(
+          self._gym_env.robot_class, action_total)
+    original_observation, reward, done, _ = self._gym_env.step(
+        action_motor_space)
+
+    return self._modify_observation(original_observation), np.float32(
+        reward), done, _
+
+  def _get_observation_bounds(self):
+    """Get the bounds of the observation added from the trajectory generator.
+
+    Returns:
+      lower_bounds: Lower bounds for observations.
+      upper_bounds: Upper bounds for observations.
+    """
+    lower_bounds = self._trajectory_generator.get_state_lower_bounds()
+    upper_bounds = self._trajectory_generator.get_state_upper_bounds()
+    return lower_bounds, upper_bounds
+
+  def _build_action_filter(self, num_joints):
+    order = self._action_filter_order
+    low_cut = self._action_filter_low_cut
+    high_cut = self._action_filter_high_cut
+    sampling_rate = 1 / (0.01)
+    a_filter = action_filter.ActionFilterButter([low_cut], [high_cut],
+                                                sampling_rate, order,
+                                                num_joints)
+    return a_filter
+
+  def _reset_action_filter(self):
+    self._action_filter.reset()
+    self._action_filter_empty = True
+    return
+
+  def _filter_action(self, action):
+    if self._action_filter_empty and self._action_filter_initialize:
+      # If initialize is selected and it is the first time filter is called,
+      # fill the buffer with that action so that it starts from that value
+      # instead of zero(s).
+      init_action = np.array(action).reshape(len(action), 1)
+      self._action_filter.reset(init_action)
+      self._action_filter_empty = False
+    filtered_action = self._action_filter.filter(np.array(action))
+    return filtered_action
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py
new file mode 100644
index 0000000000..65cb6446f2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/simple_openloop.py
@@ -0,0 +1,127 @@
+"""Simple openloop trajectory generators."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import attr
+from gym import spaces
+import numpy as np
+
+import gin
+from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils
+from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils
+
+
+@gin.configurable
+class MinitaurPoseOffsetGenerator(object):
+  """A trajectory generator that return a constant leg pose."""
+
+  def __init__(self,
+               init_swing=0,
+               init_extension=2.0,
+               init_pose=None,
+               action_scale=1.0,
+               action_limit=0.5):
+    """Initializes the controller.
+
+    Args:
+      init_swing: the swing of the default pose offset
+      init_extension: the extension of the default pose offset
+      init_pose: the default pose offset, which is None by default. If not None,
+        it will define the default pose offset while ignoring init_swing and
+        init_extension.
+      action_scale: changes the magnitudes of actions
+      action_limit: clips actions
+    """
+    if init_pose is None:
+      self._pose = np.array(
+          attr.astuple(
+              minitaur_pose_utils.MinitaurPose(
+                  swing_angle_0=init_swing,
+                  swing_angle_1=init_swing,
+                  swing_angle_2=init_swing,
+                  swing_angle_3=init_swing,
+                  extension_angle_0=init_extension,
+                  extension_angle_1=init_extension,
+                  extension_angle_2=init_extension,
+                  extension_angle_3=init_extension)))
+    else:  # Ignore init_swing and init_extension
+      self._pose = np.array(init_pose)
+    action_high = np.array([action_limit] * minitaur_pose_utils.NUM_MOTORS)
+    self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
+    self._action_scale = action_scale
+
+  def reset(self):
+    pass
+
+  def get_action(self, current_time=None, input_action=None):
+    """Computes the trajectory according to input time and action.
+
+    Args:
+      current_time: The time in gym env since reset.
+      input_action: A numpy array. The input leg pose from a NN controller.
+
+    Returns:
+      A numpy array. The desired motor angles.
+    """
+    del current_time
+    return minitaur_pose_utils.leg_pose_to_motor_angles(
+        self._pose + self._action_scale * np.array(input_action))
+
+  def get_observation(self, input_observation):
+    """Get the trajectory generator's observation."""
+
+    return input_observation
+
+
+@gin.configurable
+class LaikagoPoseOffsetGenerator(object):
+  """A trajectory generator that return constant motor angles."""
+
+  def __init__(
+      self,
+      init_abduction=laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+      init_hip=laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+      init_knee=laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE,
+      action_limit=0.5,
+      ):
+    """Initializes the controller."""
+    self._pose = np.array(
+        attr.astuple(
+            laikago_pose_utils.LaikagoPose(
+                abduction_angle_0=init_abduction,
+                hip_angle_0=init_hip,
+                knee_angle_0=init_knee,
+                abduction_angle_1=init_abduction,
+                hip_angle_1=init_hip,
+                knee_angle_1=init_knee,
+                abduction_angle_2=init_abduction,
+                hip_angle_2=init_hip,
+                knee_angle_2=init_knee,
+                abduction_angle_3=init_abduction,
+                hip_angle_3=init_hip,
+                knee_angle_3=init_knee)))
+    action_high = np.array([action_limit] * 12)
+    self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
+
+  def reset(self):
+    pass
+
+  def get_action(self, current_time=None, input_action=None):
+    """Computes the trajectory according to input time and action.
+
+    Args:
+      current_time: The time in gym env since reset.
+      input_action: A numpy array. The input leg pose from a NN controller.
+
+    Returns:
+      A numpy array. The desired motor angles.
+    """
+    del current_time
+    return self._pose + input_action
+
+  def get_observation(self, input_observation):
+    """Get the trajectory generator's observation."""
+
+    return input_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py
new file mode 100644
index 0000000000..56a92dcd06
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/state_machine_based_wrapper_env.py
@@ -0,0 +1,321 @@
+"""A wrapped Quadruped with State-machine based controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import enum
+import gin
+import gym
+import numpy as np
+
+NUM_LEGS = 4
+ACTION_DIM_COM = 2
+ACTION_DIM_TOE = 1
+ACTION_DIM_TOTAL = ACTION_DIM_COM + ACTION_DIM_TOE
+OBSERVATION_DIM_LEG_ID = NUM_LEGS
+OBSERVATION_DIM_TOE_POS = 2 * NUM_LEGS
+OBSERVATION_DIM_TOTAL = OBSERVATION_DIM_TOE_POS + OBSERVATION_DIM_LEG_ID
+
+
+# States of the state machine.
+class GaitStateMachine(enum.IntEnum):
+  """The state machine for quadruped gait."""
+  STEP_LEFT_FRONT_TOE = 0
+  STEP_RIGHT_HIND_TOE = 1
+  STEP_RIGHT_FRONT_TOE = 2
+  STEP_LEFT_HIND_TOE = 3
+  TOTAL_GAIT_STATE_NUM = 4
+
+
+@gin.configurable
+class StateMachineBasedWrapperEnv(object):
+  """An env using IK to convert toe positions to joint angles.
+
+    The state machine consists of 4 states. During each state, the center of
+    mass of the base link is moved first, then one of the legs will take a
+    step by following a planned elliptical trajectory. The legs will move in
+    the order of front left -> hind right -> front right -> hind left.
+    The state transition is determined by elapsed time since last transition.
+    Observation (16 dimensions):
+    [one hot vector of the state id, local toe positions in x and y direction]
+    Action (3 dimensions):
+    [target moving distance of the current moving leg in x direction,
+     target moving distance of base COM in x direction,
+     target moving distance of base COM in y direction]
+  """
+
+  def __init__(self,
+               gym_env,
+               default_local_toe_positions,
+               toe_link_indices=(3, 7, 11, 15),
+               foot_lift_height=0.15,
+               state_duration=2.0,
+               action_lower_bound=(-0.0, -0.25, -0.25),
+               action_upper_bound=(0.3, 0.25, 0.25),
+               state_to_foot_id=(0, 3, 2, 1)):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      default_local_toe_positions: A list of vectors that contains the default
+        local position of each toe.
+      toe_link_indices: A list of indices to the toe link. Used for calculating
+        local toe positions.
+      foot_lift_height: Specifies how high the foot lifts during swing stage.
+      state_duration: Specifies the duration of each state.
+      action_lower_bound: Lower bound for the actions.
+      action_upper_bound: Upper bound for the actions.
+      state_to_foot_id: Mapping from state machine state to foot id.
+    """
+    self._gym_env = gym_env
+
+    assert len(action_lower_bound) == ACTION_DIM_TOTAL
+    assert len(action_upper_bound) == ACTION_DIM_TOTAL
+    self.action_space = gym.spaces.Box(
+        np.array(action_lower_bound), np.array(action_upper_bound))
+    observation_lower_bound = np.array([-1.0] * OBSERVATION_DIM_TOTAL)
+    observation_upper_bound = np.array([1.0] * OBSERVATION_DIM_TOTAL)
+    self.observation_space = gym.spaces.Box(observation_lower_bound,
+                                            observation_upper_bound)
+    self._default_local_toe_positions = default_local_toe_positions
+    self._toe_link_indices = toe_link_indices
+    self._foot_lift_height = foot_lift_height
+    self._state_to_foot_id = state_to_foot_id
+
+    # Use the largest value for bounding the toe movement
+    self._toe_move_bound = np.max(
+        np.abs(np.concatenate([action_lower_bound, action_upper_bound])))
+
+    # Duration of each state
+    self.state_machine_state_duration = [state_duration] * int(
+        GaitStateMachine.TOTAL_GAIT_STATE_NUM)
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def _state_machine_observation(self):
+    """Get the current observation: [state_id, local_toe_positions]."""
+    observation = []
+    # One-hot vector for the current state machine state.
+    one_hot_foot_id = np.zeros(GaitStateMachine.TOTAL_GAIT_STATE_NUM)
+    one_hot_foot_id[self.current_state_machine_state] = 1
+    observation.extend(one_hot_foot_id)
+
+    # Toe positions in X and Y direction in the local space.
+    for toe_index in range(NUM_LEGS):
+      toe_pos_local = self.current_local_toe_positions[toe_index]
+      toe_pos_local_xy = [toe_pos_local[0], toe_pos_local[1]]
+      observation.extend(toe_pos_local_xy)
+
+    return observation
+
+  def _get_constant_accel_interpolation(self, interp_ratio):
+    """Modify an interpolation between 0 and 1 to have constant acceleration."""
+    assert interp_ratio <= 1.0 and interp_ratio >= 0.0
+    if interp_ratio < 0.5:
+      return 0.5 * (2 * interp_ratio)**2
+    else:
+      return -0.5 * (2 * interp_ratio - 2)**2 + 1
+
+  def _move_com(self, target_com_movement, time_since_transition,
+                state_duration):
+    """Get the ik action for moving the COM.
+
+    Args:
+      target_com_movement: Target COM movement relative to the previous COM
+        position in the x-y plane.
+      time_since_transition: Time elapsed since last state machien transition.
+      state_duration: Duration of the state machine. The first half will be used
+        for moving COM and the second half for moving the swing leg.
+
+    Returns:
+      ik_action: ik targets for moving the COM.
+    """
+    com_movement_ratio = np.clip(
+        time_since_transition / ((state_duration - 0.0) / 2.0), 0, 1)
+    com_movement_ratio = self._get_constant_accel_interpolation(
+        com_movement_ratio)
+    current_com_movement = np.array(target_com_movement) * com_movement_ratio
+
+    ik_action = []
+    for toe_index in range(NUM_LEGS):
+      toe_pos_local = np.copy(self.current_local_toe_positions[toe_index])
+      toe_pos_local[2] = self._default_local_toe_positions[toe_index][2]
+      toe_pos_local[0] -= current_com_movement[0]
+      toe_pos_local[1] -= current_com_movement[1]
+      toe_pos_local[0] = np.clip(
+          toe_pos_local[0], self._default_local_toe_positions[toe_index][0] -
+          self._toe_move_bound,
+          self._default_local_toe_positions[toe_index][0] +
+          self._toe_move_bound)
+      toe_pos_local[1] = np.clip(
+          toe_pos_local[1], self._default_local_toe_positions[toe_index][1] -
+          self._toe_move_bound,
+          self._default_local_toe_positions[toe_index][1] +
+          self._toe_move_bound)
+      ik_action.extend(toe_pos_local)
+
+    zero_translation = [0, 0, 0]
+    identity_rotation = [0, 0, 0, 1]
+    ik_action.extend(zero_translation)
+    ik_action.extend(identity_rotation)
+
+    return ik_action
+
+  def _move_leg(self, target_toe_movement, time_since_transition,
+                state_duration):
+    """Get the ik action for moving the swing leg.
+
+    Args:
+      target_toe_movement: Target toe movement relative to the default toe
+        position in the positive x direction.
+      time_since_transition: Time elapsed since last state machien transition.
+      state_duration: Duration of the state machine. The first half will be used
+        for moving COM and the second half for moving the swing leg.
+
+    Returns:
+      ik_action: ik targets for moving the swing leg.
+    """
+
+    # The target toe position at the end of the movement.
+    target_toe_local_position = np.array(self._default_local_toe_positions[
+        self._state_to_foot_id[self.current_state_machine_state]])
+    target_toe_local_position[0] += target_toe_movement
+
+    # Toe position at the beginning of the movement.
+    initial_toe_local_position = np.array(self.current_local_toe_positions[
+        self._state_to_foot_id[self.current_state_machine_state]])
+
+    # Auxiliary variables for computing the interpolation between the current
+    # toe position and the target toe position.
+    toe_circle_radius = 0.5 * np.linalg.norm(
+        np.array(target_toe_local_position) - initial_toe_local_position)
+    toe_moving_direction = np.array(
+        target_toe_local_position) - initial_toe_local_position
+    toe_moving_direction /= np.max([np.linalg.norm(toe_moving_direction), 1e-5])
+    toe_traj_scale_ratio = self._foot_lift_height / np.max(
+        [toe_circle_radius, 1e-5])
+
+    # Current percentage of time into the state machine.
+    toe_movement_ratio = np.clip(
+        (time_since_transition - state_duration / 2.0) /
+        ((state_duration - 0.0) / 2.0), 0, 1)
+    toe_movement_ratio = self._get_constant_accel_interpolation(
+        toe_movement_ratio)
+    toe_circle_moved_angle = np.pi * toe_movement_ratio
+
+    # Target horizontal movement from the previous local toe position.
+    target_toe_horizontal_movement = toe_circle_radius - np.cos(
+        toe_circle_moved_angle) * toe_circle_radius
+    current_toe_target = np.array([
+        target_toe_horizontal_movement * toe_moving_direction[0],
+        target_toe_horizontal_movement * toe_moving_direction[1],
+        np.sin(toe_circle_moved_angle) * toe_circle_radius *
+        toe_traj_scale_ratio
+    ]) + initial_toe_local_position
+
+    ik_action = []
+    for toe_index in range(NUM_LEGS):
+      toe_pos_local = np.copy(self.current_local_toe_positions[toe_index])
+      toe_pos_local[2] = self._default_local_toe_positions[toe_index][2]
+      if toe_index == self._state_to_foot_id[self.current_state_machine_state]:
+        toe_pos_local[0] = current_toe_target[0]
+        toe_pos_local[1] = current_toe_target[1]
+        toe_pos_local[2] = current_toe_target[2]
+
+      ik_action.extend(toe_pos_local)
+
+    zero_translation = [0, 0, 0]
+    identity_rotation = [0, 0, 0, 1]
+    ik_action.extend(zero_translation)
+    ik_action.extend(identity_rotation)
+    return ik_action
+
+  def _update_state_machine_transition(self):
+    """Update the state machine state if the duration has been reached."""
+    self.current_state_machine_state = (self.current_state_machine_state + 1
+                                       ) % GaitStateMachine.TOTAL_GAIT_STATE_NUM
+    self.last_state_transition_time = self.robot.GetTimeSinceReset()
+
+  def _update_local_toe_positions(self):
+    """Update the local position of the toes."""
+    identity_orientation = [0, 0, 0, 1]
+    base_position = self.robot.GetBasePosition()
+    base_orientation = self.robot.GetBaseOrientation()
+    inv_base_position, inv_base_orientation = self.pybullet_client.invertTransform(
+        base_position, base_orientation)
+    for toe_index in range(NUM_LEGS):
+      toe_pose_world = self.pybullet_client.getLinkState(
+          self.robot.quadruped, self._toe_link_indices[toe_index])[0]
+      toe_pos_local, _ = self.pybullet_client.multiplyTransforms(
+          inv_base_position, inv_base_orientation, toe_pose_world,
+          identity_orientation)
+      self.current_local_toe_positions[toe_index] = np.array(toe_pos_local)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the modified observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+
+    """
+    if action is None:
+      raise ValueError("Action cannot be None")
+    action = np.clip(action, self.action_space.low, self.action_space.high)
+    sum_reward = 0
+    step_num = 0
+    state_duration = self.state_machine_state_duration[
+        self.current_state_machine_state]
+    time_since_transition = self.robot.GetTimeSinceReset(
+    ) - self.last_state_transition_time
+
+    # Move COM
+    while time_since_transition < state_duration / 2.0:
+      ik_actions = self._move_com(action[1:3], time_since_transition,
+                                  state_duration)
+      _, reward, done, _ = self._gym_env.step(ik_actions)
+      sum_reward += reward
+      step_num += 1
+      time_since_transition = self.robot.GetTimeSinceReset(
+      ) - self.last_state_transition_time
+      if done:
+        break
+    self._update_local_toe_positions()
+    # Move Leg
+    while time_since_transition < state_duration:
+      ik_actions = self._move_leg(action[0], time_since_transition,
+                                  state_duration)
+      _, reward, done, _ = self._gym_env.step(ik_actions)
+      sum_reward += reward
+      step_num += 1
+      time_since_transition = self.robot.GetTimeSinceReset(
+      ) - self.last_state_transition_time
+      if done:
+        break
+    self._update_local_toe_positions()
+    self._update_state_machine_transition()
+
+    state_machine_observation = self._state_machine_observation()
+
+    return state_machine_observation, sum_reward, done, _
+
+  def reset(self):
+    """Reset the simulation and state machine states."""
+    self.current_state_machine_state = GaitStateMachine.STEP_LEFT_FRONT_TOE
+    self.last_state_transition_time = 0
+    self.current_local_toe_positions = np.copy(
+        self._default_local_toe_positions)
+
+    self._gym_env.reset()
+
+    state_machine_observation = self._state_machine_observation()
+
+    return state_machine_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py
new file mode 100644
index 0000000000..e6296cd802
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/step_based_curriculum_wrapper_env.py
@@ -0,0 +1,231 @@
+"""A wrapped LocomotionGymEnv with functions that change the world and task."""
+
+import numbers
+from typing import Optional, Sequence, Text, Tuple, Union
+
+import numpy as np
+
+import gin
+
+
+@gin.configurable
+class CurriculumParameter(object):
+  """Definition of a env parameter tuned by a curriculum."""
+
+  def __init__(self,
+               name: Text,
+               init_val: numbers.Real,
+               bounds: Tuple[numbers.Real, numbers.Real]):
+    """A parameter to tune throughout the curriculum.
+
+    Args:
+      name: The name of the curriculum parameter. This must be the name of
+        attribute of the scene class.
+      init_val: The value to use at the start of the curriculum.
+      bounds: A tuple of [lower_bound, upper_bound] defining the minimum and
+        maximum values of the parameter.
+    """
+    self.name = name
+
+    if not isinstance(bounds[0], type(bounds[1])):
+      raise ValueError("All elements in [bounds] must be of the same type.")
+
+    if (init_val < min(bounds)) or (init_val > max(bounds)):
+      raise ValueError("Initial parameter value must lie in range defined"
+                       " by [bounds].")
+
+    if not isinstance(init_val, type(bounds[0])):
+      raise ValueError("[init_val] type must match the type of the elements"
+                       " in [bounds].")
+
+    self.init_val = init_val
+    self.bounds = bounds
+    self.dtype = type(init_val)
+
+
+@gin.configurable
+class RandomSamplingCurriculumParameter(CurriculumParameter):
+  """Env parameter whose value is sampled randomly without curriculum."""
+
+  def __init__(self, name: Text, bounds: Tuple[numbers.Real, numbers.Real]):
+    """A parameter whose value to sample randomly.
+
+    Args:
+      name: The name of the parameter.
+      bounds: A tuple of [lower_bound, upper_bound] defining the minimum and
+        maximum values of the parameter.
+    """
+    super(RandomSamplingCurriculumParameter, self).__init__(
+        name=name, init_val=bounds[0], bounds=bounds)
+
+  def sample(
+      self, step: numbers.Real,
+      curriculum_steps: Optional[numbers.Real] = None) -> Union[int, float]:
+    del step, curriculum_steps
+    sampled_val = np.random.uniform(*self.bounds)
+
+    if not isinstance(self.bounds[0], float):
+      sampled_val = int(round(sampled_val))
+
+    return sampled_val
+
+  def __call__(
+      self, step: numbers.Real,
+      curriculum_steps: Optional[numbers.Real] = None) -> Union[int, float]:
+    return self.sample(step, curriculum_steps)
+
+
+@gin.configurable
+class LinearStepBasedCurriculumParameter(CurriculumParameter):
+  """Definition of a env parameter tuned by a linear time-based curriculum."""
+
+  def __init__(self,
+               name: Text,
+               init_val: numbers.Real,
+               bounds: Tuple[numbers.Real, numbers.Real],
+               curriculum_steps: Optional[numbers.Real] = None):
+    """A parameter to tune throughout the curriculum.
+
+    Args:
+      name: The name of the curriculum parameter. This must be the name of
+        attribute of the scene class.
+      init_val: The value to use at the start of the curriculum.
+      bounds: A tuple of [lower_bound, upper_bound] defining the minimum and
+        maximum values of the parameter.
+      curriculum_steps: Integer defining the number of steps to take when
+        varying the curriculum parameter value from the init_val to either
+        bound. If None is specified, then the curriculum must provide the
+        curriculum_steps when sampling.
+    """
+    super(LinearStepBasedCurriculumParameter, self).__init__(
+        name=name, init_val=init_val, bounds=bounds)
+    self.curriculum_steps = curriculum_steps
+
+  def get_bounds_at_step(
+      self, step: numbers.Real,
+      curriculum_steps: Optional[numbers.Real] = None
+    ) -> Tuple[Union[int, float], Union[int, float]]:
+    """Compute the bounds of the parameter at the current step.
+
+    Args:
+      step: An integer defining the current timestep.
+      curriculum_steps: Optional curriculum steps. Must be passed if not passed
+        during initialization.
+    Returns:
+      A tuple containing the lower bound and upper bound at the current step.
+    """
+
+    if not self.curriculum_steps and not curriculum_steps:
+      raise ValueError("curriculum_steps not defined. Must be passed upon"
+                       " initialization or must specified by curriculum"
+                       " wrapper env on method call.")
+
+    if self.curriculum_steps:
+      curriculum_steps = self.curriculum_steps
+
+    prog = min(float(step) / curriculum_steps, 1.0)
+    curr_lower_bound = self.init_val - prog * (self.init_val - self.bounds[0])
+    curr_upper_bound = self.init_val + prog * (self.bounds[1] - self.init_val)
+
+    if not isinstance(self.bounds[0], float):
+      curr_lower_bound = int(round(curr_lower_bound))
+      curr_upper_bound = int(round(curr_upper_bound))
+
+    return (curr_lower_bound, curr_upper_bound)
+
+  def sample(
+      self, step: numbers.Real,
+      curriculum_steps: Optional[numbers.Real] = None) -> Union[int, float]:
+    sampled_val = np.random.uniform(*self.get_bounds_at_step(
+        step, curriculum_steps))
+
+    if not isinstance(self.bounds[0], float):
+      sampled_val = int(round(sampled_val))
+
+    return sampled_val
+
+  def __call__(
+      self, step: numbers.Real,
+      curriculum_steps: Optional[numbers.Real] = None) -> Union[int, float]:
+    return self.sample(step, curriculum_steps)
+
+
+@gin.configurable
+class Task(object):
+  """Defines a single task in the environment and its corresponding params."""
+
+  def __init__(self, name: Text,
+               curriculum_parameters: Sequence[CurriculumParameter]):
+    """Initialize the task.
+
+    Args:
+      name: The name of the task.
+      curriculum_parameters: A list of CurriculumParameter instances which
+        define the parameters that this task makes use of.
+    """
+    self.name = name
+    self.curriculum_parameters = curriculum_parameters
+
+
+@gin.configurable
+class StepBasedCurriculumWrapperEnv(object):
+  """A wrapper to tune the scene parameters linearly with the steps taken."""
+
+  def __init__(self, env, tasks: Sequence[Task],
+               default_curriculum_steps: Optional[numbers.Real] = None,
+               reset_total_step_count_val: numbers.Real = -1,
+               steps_before_curriculum_start: numbers.Real = 0):
+    """Initializes the linear curriculum wrapper env.
+
+    Args:
+      env: An instance of a (potentially previously wrapped) LocomotionGymEnv.
+      tasks: Various tasks to shuffle through throughout the curriculum.
+      default_curriculum_steps: Optional default value for curriculum steps.
+      reset_total_step_count_val: Step at which to reset the total step count.
+        The internal total_step_count is reset to 0 once this value is reached.
+      steps_before_curriculum_start: Steps to take in environment before the
+        curriculum begins.
+    """
+    self._gym_env = env
+    self._tasks = tasks
+    self._default_curriculum_steps = default_curriculum_steps
+    self._reset_total_step_count_val = reset_total_step_count_val
+    self._steps_before_curriculum_start = steps_before_curriculum_start
+
+    # Total number of environment steps.
+    self._total_step_count = 0
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def set_scene_params(self):
+    # Choose a task at random.
+    curr_task = np.random.choice(self._tasks)
+
+    # Cycle through the task's parameters and set them in the scene.
+    self._gym_env.scene.reset_scene_params()
+    self._gym_env.scene.scene_type = curr_task.name
+    for curriculum_parameter in curr_task.curriculum_parameters:
+      setattr(
+          self._gym_env.scene, curriculum_parameter.name,
+          curriculum_parameter(
+              self._total_step_count - self._steps_before_curriculum_start,
+              self._default_curriculum_steps))
+
+  def reset(self, *args, **kwargs):
+    """Reset and adjust the environment."""
+
+    # Update the total step count.
+    self._total_step_count += self._gym_env.env_step_counter
+    if self._reset_total_step_count_val >= 0:
+      if self._total_step_count >= self._reset_total_step_count_val:
+        self._total_step_count = 0
+
+    if self._total_step_count < self._steps_before_curriculum_start:
+      return self._get_observation()
+
+    self.set_scene_params()
+    self._gym_env.reset(*args, **kwargs)
+
+    return self._get_observation()
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py
new file mode 100644
index 0000000000..a2c6f0bf65
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/trajectory_generator_wrapper_env.py
@@ -0,0 +1,81 @@
+"""A wrapped MinitaurGymEnv with a built-in controller."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+
+import gin
+
+
+@gin.configurable
+class TrajectoryGeneratorWrapperEnv(object):
+  """A wrapped LocomotionGymEnv with a built-in trajectory generator."""
+
+  def __init__(self, gym_env, trajectory_generator):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      trajectory_generator: A trajectory_generator that can potentially modify
+        the action and observation. Typticall generators includes the PMTG and
+        openloop signals. Expected to have get_action and get_observation
+        interfaces.
+
+    Raises:
+      ValueError if the controller does not implement get_action and
+      get_observation.
+
+    """
+    self._gym_env = gym_env
+    if not hasattr(trajectory_generator, 'get_action') or not hasattr(
+        trajectory_generator, 'get_observation'):
+      raise ValueError(
+          'The controller does not have the necessary interface(s) implemented.'
+      )
+
+    self._trajectory_generator = trajectory_generator
+
+    # The trajectory generator can subsume the action/observation space.
+    if hasattr(trajectory_generator, 'observation_space'):
+      self.observation_space = self._trajectory_generator.observation_space
+
+    if hasattr(trajectory_generator, 'action_space'):
+      self.action_space = self._trajectory_generator.action_space
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def _modify_observation(self, observation):
+    return self._trajectory_generator.get_observation(observation)
+
+  def reset(self, initial_motor_angles=None, reset_duration=1.0):
+    if getattr(self._trajectory_generator, 'reset'):
+      self._trajectory_generator.reset()
+    observation = self._gym_env.reset(initial_motor_angles, reset_duration)
+    return self._modify_observation(observation)
+
+  def step(self, action):
+    """Steps the wrapped environment.
+
+    Args:
+      action: Numpy array. The input action from an NN agent.
+
+    Returns:
+      The tuple containing the modified observation, the reward, the epsiode end
+      indicator.
+
+    Raises:
+      ValueError if input action is None.
+
+    """
+
+    if action is None:
+      raise ValueError('Action cannot be None')
+
+    new_action = self._trajectory_generator.get_action(
+        self._gym_env.robot.GetTimeSinceReset(), action)
+
+    original_observation, reward, done, _ = self._gym_env.step(new_action)
+
+    return self._modify_observation(original_observation), reward, done, _
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py
new file mode 100644
index 0000000000..6235a85363
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/walking_wrapper.py
@@ -0,0 +1,134 @@
+"""Wraps a quadruped walking controller for navigation control."""
+
+from typing import Any
+import gin
+from gym import spaces
+import numpy as np
+
+from pybullet_envs.minitaur.agents.baseline_controller import com_velocity_estimator
+from pybullet_envs.minitaur.agents.baseline_controller import locomotion_controller
+from pybullet_envs.minitaur.agents.baseline_controller import openloop_gait_generator
+from pybullet_envs.minitaur.agents.baseline_controller import raibert_swing_leg_controller
+from pybullet_envs.minitaur.agents.baseline_controller import torque_stance_leg_controller
+
+_N_LEGS = 4
+_STANCE_DURATION_SECONDS = [
+    0.25
+] * _N_LEGS  # The stance phase duration for each leg.
+_DUTY_FACTOR = [
+    0.6
+] * _N_LEGS  # Percentage of the leg in the stance phase within the cycle.
+_BODY_HEIGHT = 0.45
+_INIT_PHASE_FULL_CYCLE = [0, 0.5, 0.5, 0]
+
+
+def _setup_controller(robot: Any) -> locomotion_controller.LocomotionController:
+  """Creates the controller."""
+  desired_speed = (0, 0)
+  desired_twisting_speed = 0
+
+  gait_generator = openloop_gait_generator.OpenloopGaitGenerator(
+      robot,
+      stance_duration=_STANCE_DURATION_SECONDS,
+      duty_factor=_DUTY_FACTOR,
+      initial_leg_phase=_INIT_PHASE_FULL_CYCLE)
+  state_estimator = com_velocity_estimator.COMVelocityEstimator(robot)
+  sw_controller = raibert_swing_leg_controller.RaibertSwingLegController(
+      robot,
+      gait_generator,
+      state_estimator,
+      desired_speed=desired_speed,
+      desired_twisting_speed=desired_twisting_speed,
+      desired_height=_BODY_HEIGHT,
+  )
+  st_controller = torque_stance_leg_controller.TorqueStanceLegController(
+      robot,
+      gait_generator,
+      state_estimator,
+      desired_speed=desired_speed,
+      desired_twisting_speed=desired_twisting_speed,
+      desired_body_height=_BODY_HEIGHT,
+      body_mass=215 / 9.8,
+      body_inertia=(0.07335, 0, 0, 0, 0.25068, 0, 0, 0, 0.25447),
+  )
+
+  controller = locomotion_controller.LocomotionController(
+      robot=robot,
+      gait_generator=gait_generator,
+      state_estimator=state_estimator,
+      swing_leg_controller=sw_controller,
+      stance_leg_controller=st_controller,
+      clock=robot.GetTimeSinceReset)
+  return controller
+
+
+def _update_controller_params(
+    controller: locomotion_controller.LocomotionController,
+    lin_speed: np.ndarray, ang_speed: float):
+  """Apply the desired speed and twisting speed."""
+  controller.swing_leg_controller.desired_speed = lin_speed
+  controller.swing_leg_controller.desired_twisting_speed = ang_speed
+  controller.stance_leg_controller.desired_speed = lin_speed
+  controller.stance_leg_controller.desired_twisting_speed = ang_speed
+
+
+@gin.configurable
+class WalkingWrapper(object):
+  """Wraps a baseline walking controller for Laikago/Vision60."""
+
+  def __init__(self,
+               gym_env: Any,
+               action_repeat=20,
+               speed_bound=(-0.3, 0.3),
+               angular_speed_bound=(-0.3, 0.3)):
+    """Initialzes the wrapped env.
+
+    Args:
+      gym_env: An instance of LocomotionGymEnv.
+      action_repeat: Number of control steps to run low level controller with
+        the high level inputs per step().
+      speed_bound: The min/max of the input speed.
+      angular_speed_bound: The min/max of the twisting speed.
+    """
+    self._gym_env = gym_env
+    self._controller = _setup_controller(self._gym_env.robot)
+    self._action_repeat = action_repeat
+
+    action_low = np.array(speed_bound)
+    action_high = np.array(angular_speed_bound)
+
+    # Overwrite the action space.
+    self.action_space = spaces.Box(action_low, action_high)
+
+  def reset(self, *args, **kwargs) -> Any:
+    obs = self._gym_env.reset(*args, **kwargs)
+    # The robot instance might have been replaced if hard_reset is called. We
+    # just recreate the controller.
+    self._controller = _setup_controller(self._gym_env.robot)
+    self._controller.reset()
+    return obs
+
+  def __getattr__(self, attr):
+    return getattr(self._gym_env, attr)
+
+  def step(self, action) -> Any:
+    """Steps the wrapped env with high level commands.
+
+    Args:
+      action: A high level command containing the desired linear and angular
+        speed of the robot base. The speed can be adjusted at any time.
+
+    Returns:
+      The gym env observation, reward, termination, and additional info.
+
+    """
+    lin_speed = np.array((action[0], 0, 0))
+    ang_speed = action[1]
+    _update_controller_params(self._controller, lin_speed, ang_speed)
+    for _ in range(self._action_repeat):
+      self._controller.update()
+      hybrid_action = self._controller.get_action()
+      obs, reward, done, info = self._gym_env.step(hybrid_action)
+      if done:
+        break
+    return obs, reward, done, info
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py
new file mode 100644
index 0000000000..00dea1800f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric.py
@@ -0,0 +1,125 @@
+"""The metric reporting system used in our env.
+
+In the gym environment, there are many variables or quantities that can help
+researchers to debug, evaluate policy performance. Such quantities may
+include: Motor torques for quadrupeds, even when they are controlled in
+POSITION mode; Distance to walls while a wheeled robot is navigating the
+indoor environment. Often, these metrics are private variables (or can only be
+computed from private variables). To expose the user interested metrics
+outside the environment's observations, we designed this Metric system that
+can be invoked in any modules (robot, tasks, sensors) inside the gym env.
+"""
+
+import enum
+import logging
+from typing import Any, Callable, Dict, Sequence, Text
+import gin
+
+
+@gin.constants_from_enum
+class MetricScope(enum.Enum):
+  """The supported scope of metrics."""
+  # The performance metrics.
+  PERFORMANCE = 1,
+
+  # The debug metrics for diagnostic purposes.
+  DEBUG = 2,
+
+  # The safety metrics.
+  SAFETY = 3,
+
+  # The statistics of episodes in metric format.
+  STATISTIC = 4,
+
+
+class MetricCore(object):
+  """Aggregates values of interest to compute statistics."""
+
+  def __init__(
+      self,
+      name: Text,
+      scope: MetricScope,
+      single_ep_aggregator: Callable[[Sequence[Any]], Any],
+      multi_ep_aggregator: Callable[[Sequence[Any]], Dict[Text, Any]],
+  ):
+    """Initializes the class.
+
+    Args:
+      name: The name of the metric, for example "motor_torques",
+        "distance_to_wall", etc. The full name of the metric will have scope
+        name in the prefix, i.e. "scope/name".
+      scope: The scope of this metric. Most metric should be for DEBUG purpose.
+        The scope name will be added to the final name of metric in this way:
+          "scope/name", which is standarded format for Tensorboard to group
+          named variables.
+      single_ep_aggregator: The function to process all aggregated metric
+        values. The derived MetricReporter (see below) will implements
+        reset_episode() which clears the episode data, and will be called during
+        env.reset().
+      multi_ep_aggregator: The functions to process multi-episode metric values.
+        We assume the inputs to the functions is a list of per episode metric
+        values, i.e. each element of the list is the output from the
+        single_ep_aggregator.
+    """
+    self._name = scope.name + "/" + name
+    self._single_ep_aggregator = single_ep_aggregator
+    self._multi_ep_aggregator = multi_ep_aggregator
+    self._episode_data = []
+
+  def report(self, metric_value: Any):
+    """Stores the reported metric in the internal buffer.
+
+    Args:
+      metric_value: The metric we are interested to report.
+    """
+    self._episode_data.append(metric_value)
+
+
+class MetricReporter(MetricCore):
+  """Reports the metric using the provided aggregator functions."""
+
+  def get_episode_metric(self) -> Dict[Text, Sequence[Any]]:
+    """Processes and returns episode metric values.
+
+    Returns:
+      Aggregated metrics for the current episode.
+    """
+    if self._episode_data:
+      return {self._name: self._single_ep_aggregator(self._episode_data)}
+    else:
+      return {}
+
+  def get_multi_ep_metric(
+      self, episodic_metric: Dict[Text, Sequence[Any]]) -> Dict[Text, Any]:
+    """Processes the aggregated metrics over many episodes.
+
+    Will not be affected by reset_episode, since we take multi-episode data as
+    inputs.
+
+    Args:
+      episodic_metric: The per episode metrics. We expect the inputs to contain
+        the same key as self._name, and that the value is a list of metric
+        values computed using self.get_episode_metrc().
+
+    Returns:
+      The processed multi-episode metrics.
+    """
+    if self._name not in episodic_metric:
+      logging.warning(
+          "The inputs does not contain the key for the current metric: %s",
+          self._name)
+      return {}
+    outputs = {}
+    for key, val in self._multi_ep_aggregator(
+        episodic_metric[self._name]).items():
+      outputs[self._name + "_" + key] = val
+    return outputs
+
+  def reset_episode(self):
+    """Clears the episode data stored.
+
+    Will be invoked during env.reset(). This will effect how get_episode_metric
+    gets computed.
+
+    """
+    self._episode_data = []
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py
new file mode 100644
index 0000000000..05d24b4e1a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_logger.py
@@ -0,0 +1,155 @@
+# Lint as: python3
+"""The system to log and manage all metrics."""
+
+import logging
+from typing import Any, Callable, Dict, Sequence, Text, Union
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib
+
+
+def _merge_dict_throw_on_duplicates(
+    dict_1: Dict[Text, Any],
+    dict_2: Dict[Text, Any],
+):
+  """Merge the contents of dict_2 to dict_1.
+
+  Args:
+    dict_1: The dictionary to merge into.
+    dict_2: The dictionary to merge from.
+
+  Raises:
+    KeyError: if duplicated keys are found.
+  """
+  for key, val in dict_2.items():
+    if key in dict_1:
+      raise KeyError(f"Duplicate key: {key} found in both "
+                     f"dictionaries: {dict_1} {dict_2}.")
+    dict_1[key] = val
+
+
+def common_stats(x: Sequence[Union[float, Sequence[float]]],
+                 flatten_array=False):
+  out = x
+  if flatten_array:
+    # Deals with array of arrays.
+    out = np.concatenate(x).flatten()
+  return {
+      "mean": np.mean(out),
+      "max": np.max(out),
+      "min": np.min(out),
+      "std": np.std(out),
+  }
+
+
+class MetricLogger(object):
+  """The central system to manage all metrics."""
+
+  def __init__(self, ignore_duplicate_metrics: bool = True):
+    """Initializes the system.
+
+    Args:
+      ignore_duplicate_metrics: Don't throw error when users want to recreate
+        the same metric.
+    """
+    self._metric_reporters = {}
+    self._ignore_duplicate_metrics = ignore_duplicate_metrics
+
+  def reset_episode(self):
+    """Resets all metric reporters's internal buffer.
+
+    Will be called by the gym env during reset.
+    """
+    for metric in self._metric_reporters.values():
+      metric.reset_episode()
+
+  def create_metric(
+      self,
+      name: Text,
+      scope: metric_lib.MetricScope,
+      single_ep_aggregator: Callable[[Sequence[Any]], Any],
+      multi_ep_aggregator: Callable[[Sequence[Any]], Dict[Text, Any]],
+  ) -> metric_lib.MetricCore:
+    """Creates a new metric.
+
+    Args:
+      name: The name of the metric, for example "motor_torques",
+        "distance_to_wall", etc. The full name of the metric will have scope
+        name in the prefix, i.e. "scope/name".
+      scope: The scope of this metric. Most metric should be for DEBUG purpose.
+        The scope name will be added to the final name of metric in this way:
+          "scope/name", which is standarded format for Tensorboard to group
+          named variables.
+      single_ep_aggregator: The function to process all aggregated metric
+        values. The derived MetricReporter (see below) will implements
+        reset_episode() which clears the episode data, and will be called during
+        env.reset().
+      multi_ep_aggregator: The function to process multi-episode metric values.
+        We assume the inputs to the function is a list of per episode metric
+        values, i.e. each element of the list is the output from the
+        single_ep_aggregator.
+
+    Returns:
+      A MetricCore which can be used to report values of interest.
+    """
+    if name in self._metric_reporters:
+      if self._ignore_duplicate_metrics:
+        logging.warning("Trying to create an existing metric: %s", name)
+        name = self._get_valid_duplicate_name(name)
+        logging.warning("Changed duplicate metric to new name: %s", name)
+      else:
+        raise ValueError(f"Duplicated metrics found: {name}")
+
+    self._metric_reporters[name] = metric_lib.MetricReporter(
+        name, scope, single_ep_aggregator, multi_ep_aggregator)
+    return self._metric_reporters[name]
+
+  def create_scalar_metric(
+      self,
+      name: Text,
+      scope: metric_lib.MetricScope,
+      single_ep_aggregator: Callable[[Sequence[Any]], Any],
+  ) -> metric_lib.MetricCore:
+    """Shortcut to create a metric for scalar variables."""
+    return self.create_metric(
+        name,
+        scope,
+        single_ep_aggregator,
+        multi_ep_aggregator=common_stats,
+    )
+
+  def _get_valid_duplicate_name(self, original_name: Text) -> Text:
+    counter = 1
+    test_name = "{}_duplicate_{}".format(original_name, str(counter))
+    while test_name in self._metric_reporters:
+      counter += 1
+      test_name = "{}_duplicate_{}".format(original_name, str(counter))
+    return test_name
+
+  def get_episode_metrics(self) -> Dict[Text, Any]:
+    """Return all metrics registered in the logger for the current episode."""
+    ep_stats = {}
+    for metric in self._metric_reporters.values():
+      _merge_dict_throw_on_duplicates(ep_stats, metric.get_episode_metric())
+    return ep_stats
+
+  def get_multi_episode_metrics(
+      self, episodic_metrics: Dict[Text, Sequence[Any]]) -> Dict[Text, Any]:
+    """Processes the aggregated metrics over many episodes.
+
+    Will not be affected by reset_episode, since we take multi-episode data as
+    inputs.
+
+    Args:
+      episodic_metrics: The per episode metrics. For each key in the inputs, we
+        expect at least one metric reporter can process the corresponding value,
+        which contains a list of episodic metrics.
+
+    Returns:
+      The processed multi-episode metrics.
+    """
+    stats = {}
+    for metric in self._metric_reporters.values():
+      _merge_dict_throw_on_duplicates(
+          stats, metric.get_multi_ep_metric(episodic_metrics))
+    return stats
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py
new file mode 100644
index 0000000000..1defba9770
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/evaluation/metric_utils.py
@@ -0,0 +1,29 @@
+"""Helper class and functions to make computing meteric statistics easier."""
+from typing import Any, Sequence
+
+import numpy as np
+
+
+class MetricStats(object):
+  """Helper class to make computing meteric statistics easier to manage."""
+
+  def __init__(self, data: Sequence[Any]):
+    if None or not list(data):
+      raise ValueError("Input data for ComputeMetricStats cannot be empty.")
+    self._data = np.asarray(data).flatten()
+
+  @property
+  def avg(self):
+    return np.mean(self._data)
+
+  @property
+  def min(self):
+    return np.min(self._data)
+
+  @property
+  def max(self):
+    return np.max(self._data)
+
+  @property
+  def sum(self):
+    return np.sum(self._data)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py
new file mode 100644
index 0000000000..5c6c01194f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_mpc_wrapper_example.py
@@ -0,0 +1,96 @@
+# Lint as: python3
+r"""An example where Laikago walks forward using mpc controller.
+
+This script illustrates an example of MPCLocomotionWrapper class for
+controlling a simulated Laikago robot to walk on a flat ground. The wrapped
+environment takes as input the target local foothold locations and the desired
+base pose. An MPC-based controller is executed internally to compute the
+required forces to achieve the desired foothold position and base movement.
+
+
+blaze run -c opt \
+//robotics/reinforcement_learning/minitaur/envs_v2/examples\
+:laikago_mpc_wrapper_example
+"""
+import os
+import tempfile
+
+from absl import app
+from absl import flags
+import gin
+import numpy as np
+import pybullet_data as pd
+
+from pybullet_envs.minitaur.envs_v2 import env_loader
+
+FLAGS = flags.FLAGS
+flags.DEFINE_string("video_file", None, "The filename for saving the videos.")
+
+CONFIG_FILE_SIM = (pd.getDataPath()+"/configs/laikago_mpc_two_camera_random_stepstone.gin")
+
+NUM_STEPS = 100
+ENABLE_RENDERING = True  # Will be disabled for tests
+ENV_RANDOM_SEED = 100
+DEFAULT_TARGET_FOOTHOLD = (0.05, 0.0, -0.01)
+DEFAULT_BASE_VELOCITY = (0.0, 0.0)
+DEFAULT_TWIST_SPEED = 0.0
+DEFAULT_BODY_HEIGHT = 0.45
+DEFAULT_ROLL_PITCH = (0.0, 0.0)
+DEFAULT_SWING_HEIGHT = 0.07
+
+
+def _build_env():
+  """Builds the environment for the Laikago robot.
+
+  Returns:
+    The OpenAI gym environment.
+  """
+  gin.parse_config_file(CONFIG_FILE_SIM)
+  gin.bind_parameter("SimulationParameters.enable_rendering", ENABLE_RENDERING)
+  env = env_loader.load()
+  env.seed(ENV_RANDOM_SEED)
+
+  return env
+
+
+def _run_example():
+  """An example that Laikago moves with a constant speed and predicts foothold.
+
+  Returns:
+    env: the environment after the simulation
+  """
+
+  env = _build_env()
+
+  env.reset()
+  if FLAGS.video_file is not None:
+    pybullet = env.pybullet_client
+    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
+    log_id = pybullet.startStateLogging(pybullet.STATE_LOGGING_VIDEO_MP4,
+                                        FLAGS.video_file)
+
+  try:
+    max_step = NUM_STEPS
+    for _ in range(max_step):
+      target_foothold = np.array(DEFAULT_TARGET_FOOTHOLD)
+      action = np.concatenate([
+          target_foothold, target_foothold, target_foothold, target_foothold,
+          [
+              DEFAULT_SWING_HEIGHT, DEFAULT_SWING_HEIGHT, DEFAULT_SWING_HEIGHT,
+              DEFAULT_SWING_HEIGHT
+          ], DEFAULT_BASE_VELOCITY, [DEFAULT_TWIST_SPEED],
+          [DEFAULT_BODY_HEIGHT], DEFAULT_ROLL_PITCH
+      ])
+      _ = env.step(action)
+  finally:
+    if FLAGS.video_dir is not None:
+      pybullet.stopStateLogging(log_id)
+
+
+def main(argv):
+  del argv
+  _run_example()
+
+
+if __name__ == "__main__":
+  app.run(main)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py
new file mode 100644
index 0000000000..d791dd18a7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_pmtg_example.py
@@ -0,0 +1,86 @@
+r"""An example to run an OpenAI gym environment with laikago and PMTG wrapper.
+
+This is an open-loop controller where we use 0 residuals and only execute the
+trajectory generator. The parameters that are (normally modulated by the policy)
+are fixed (except the intensity) and not optimized. They are hand picked as
+follows:
+ - The gait cycle frequency is 3 Hz.
+ - Walking height is neutral (0).
+ - Swing vs stance ratio is 2 (swing takes half the time vs stance).
+ - Intensity starts from zero and is gradually increased over time.
+
+blaze run -c opt \
+//robotics/reinforcement_learning/minitaur/envs_v2/examples\
+:laikago_pmtg_example
+"""
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os
+
+import gin
+import sys
+
+from pybullet_envs.minitaur.envs_v2 import env_loader
+import pybullet_data as pd
+
+CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
+CONFIG_FILES = [
+    os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
+    os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
+    os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
+    os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
+]
+# Constants used to show example PMTG behavior with zero residual.
+# Since we use the default PMTG configuration, there is only one trajectory
+# generator. So the parameters that can be changed are:
+# - Multiplier for delta time (similar to frequency but per time step).
+# - Intensity of the trajectory generator.
+# - Walking heights used for the legs.
+# - The ratio of the speed of the leg during swing vs stance phase.
+# For more details, check out TgSimple._process_tg_params method.
+_PMTG_DELTA_TIME_MULTIPLIER = 2.0
+_PMTG_INTENSITY_RANGE = (0.0, 1.5)
+_PMTG_INTENSITY_STEP_SIZE = 0.0001
+_PMTG_WALKING_HEIGHT = -0.3
+_PMTG_SWING_VS_STANCE = 2
+_NUM_MOTORS = 12
+
+
+def main(argv):
+  del argv  # Unused.
+
+  # Parse the gym config and create the environment.
+  for gin_file in CONFIG_FILES:
+    gin.parse_config_file(gin_file)
+  gin.bind_parameter("SimulationParameters.enable_rendering", True)
+  gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
+                     10000)
+  env = env_loader.load()
+  tg_intensity = _PMTG_INTENSITY_RANGE[0]
+  sum_reward = 0
+  env.reset()
+  done = False
+  # Use zero residual, only use the output of the trajectory generator.
+  residual = [0] * _NUM_MOTORS
+  # Since we fix residuals and all the parameters of the TG, this example
+  # is practically an open loop controller. A learned policy would provide
+  # different values for these parameters at every timestep.
+  while not done:
+    # Increase the intensity of the trajectory generator gradually
+    # to illustrate increasingly larger steps.
+    if tg_intensity < _PMTG_INTENSITY_RANGE[1]:
+      tg_intensity += _PMTG_INTENSITY_STEP_SIZE
+    tg_params = [
+        _PMTG_DELTA_TIME_MULTIPLIER, tg_intensity, _PMTG_WALKING_HEIGHT,
+        _PMTG_SWING_VS_STANCE
+    ]
+    action = residual + tg_params
+    _, reward, done, _ = env.step(action)
+    sum_reward += reward
+
+
+if __name__ == "__main__":
+  
+  main(sys.argv)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py
new file mode 100644
index 0000000000..13e2387cc5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/examples/laikago_static_gait_example.py
@@ -0,0 +1,52 @@
+# Lint as: python3
+r"""An example that the Laikago walks forward using a static gait.
+
+blaze run -c opt //robotics/reinforcement_learning/minitaur/envs_v2/examples:\
+laikago_static_gait_example
+"""
+from absl import app
+from absl import flags
+import gin
+from pybullet_envs.minitaur.agents.baseline_controller import static_gait_controller
+from pybullet_envs.minitaur.envs_v2 import env_loader
+import pybullet_data as pd
+
+flags.DEFINE_bool("render", True, "Whether to render the example.")
+
+FLAGS = flags.FLAGS
+_CONFIG_FILE = pd.getDataPath()+"/configs/laikago_walk_static_gait.gin"
+_NUM_STEPS = 10000
+_ENV_RANDOM_SEED = 13
+
+
+def _load_config(render=False):
+  gin.parse_config_file(_CONFIG_FILE)
+  gin.bind_parameter("SimulationParameters.enable_rendering", render)
+
+
+def run_example(num_max_steps=_NUM_STEPS):
+  """Runs the example.
+
+  Args:
+    num_max_steps: Maximum number of steps this example should run for.
+  """
+  env = env_loader.load()
+
+  env.seed(_ENV_RANDOM_SEED)
+  observation = env.reset()
+  policy = static_gait_controller.StaticGaitController(env.robot)
+
+  for _ in range(num_max_steps):
+    action = policy.act(observation)
+    _, _, done, _ = env.step(action)
+    if done:
+      break
+
+
+def main(_):
+  _load_config(FLAGS.render)
+  run_example()
+
+
+if __name__ == "__main__":
+  app.run(main)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py
new file mode 100644
index 0000000000..38c33c02a7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py
@@ -0,0 +1,148 @@
+"""
+
+Code to load a policy and generate rollout data. Adapted from https://github.com/berkeleydeeprlcourse. 
+Example usage:
+python3 laikago_ars_run_policy.py --expert_policy_file=data/lin_policy_plus_best_10.npz --json_file=data/params.json
+
+"""
+import numpy as np
+import gym
+import time
+import pybullet_envs
+try:
+  import tds_environments
+except:
+  pass
+import json
+from arspb.policies import *
+import time
+import arspb.trained_policies as tp
+import os
+
+
+import os
+import gin
+from pybullet_envs.minitaur.envs_v2 import env_loader
+
+
+import pybullet_data as pd
+
+
+
+def create_laikago_env(args):
+  CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
+  CONFIG_FILES = [
+      os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
+      os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
+      os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
+      os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
+  ]
+   
+  #gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
+  for gin_file in CONFIG_FILES:
+    gin.parse_config_file(gin_file)
+  gin.bind_parameter("SimulationParameters.enable_rendering", True)
+  gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
+                     10000)
+  env = env_loader.load()
+  return env
+
+  
+def main(argv):
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--expert_policy_file', type=str, default="")
+    parser.add_argument('--nosleep', action='store_true')
+
+    parser.add_argument('--num_rollouts', type=int, default=20,
+                        help='Number of expert rollouts')
+    parser.add_argument('--json_file', type=str, default="")
+    parser.add_argument('--run_on_robot', action='store_true')
+    if len(argv):
+      args = parser.parse_args(argv)
+    else:
+      args = parser.parse_args()
+
+    print('loading and building expert policy')
+    if len(args.json_file)==0:
+      args.json_file = tp.getDataPath()+"/"+ args.envname+"/params.json"    
+    with open(args.json_file) as f:
+       params = json.load(f)
+    print("params=",params)
+    if len(args.expert_policy_file)==0:
+      args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/nn_policy_plus.npz" 
+      if not os.path.exists(args.expert_policy_file):
+        args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/lin_policy_plus.npz"
+    data = np.load(args.expert_policy_file, allow_pickle=True)
+
+    print('create Laikago gym environment:')
+    env = create_laikago_env(args)
+
+
+    lst = data.files
+    weights = data[lst[0]][0]
+    mu = data[lst[0]][1]
+    print("mu=",mu)
+    std = data[lst[0]][2]
+    print("std=",std)
+        
+    ob_dim = env.observation_space.shape[0]
+    ac_dim = env.action_space.shape[0]
+    ac_lb = env.action_space.low
+    ac_ub = env.action_space.high
+    
+    policy_params={'type': params["policy_type"],
+                   'ob_filter':params['filter'],
+                   'ob_dim':ob_dim,
+                   'ac_dim':ac_dim,
+                   'action_lower_bound' : ac_lb,
+                   'action_upper_bound' : ac_ub,
+    }
+    policy_params['weights'] = weights
+    policy_params['observation_filter_mean'] = mu
+    policy_params['observation_filter_std'] = std
+    if params["policy_type"]=="nn":
+      print("FullyConnectedNeuralNetworkPolicy")
+      policy_sizes_string = params['policy_network_size_list'].split(',')
+      print("policy_sizes_string=",policy_sizes_string)
+      policy_sizes_list = [int(item) for item in policy_sizes_string]
+      print("policy_sizes_list=",policy_sizes_list)
+      policy_params['policy_network_size'] = policy_sizes_list
+      policy = FullyConnectedNeuralNetworkPolicy(policy_params, update_filter=False)
+    else:
+      print("LinearPolicy2")
+      policy = LinearPolicy2(policy_params, update_filter=False)
+    policy.get_weights()
+   
+    returns = []
+    observations = []
+    actions = []
+    for i in range(args.num_rollouts):
+        print('iter', i)
+        obs = env.reset()
+        done = False
+        totalr = 0.
+        steps = 0
+        while not done:
+            action = policy.act(obs)
+            observations.append(obs)
+            actions.append(action)
+            
+            #time.sleep(1)
+            obs, r, done, _ = env.step(action)
+            totalr += r
+            steps += 1
+            
+            #if steps % 100 == 0: print("%i/%i"%(steps, env.spec.timestep_limit))
+            #if steps >= env.spec.timestep_limit:
+            #    break
+        #print("steps=",steps)
+        returns.append(totalr)
+
+    print('returns', returns)
+    print('mean return', np.mean(returns))
+    print('std of return', np.std(returns))
+    
+if __name__ == '__main__':
+    import sys
+    main(sys.argv[1:])
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py
new file mode 100644
index 0000000000..f04404f3e3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py
@@ -0,0 +1,521 @@
+'''
+Parallel implementation of the Augmented Random Search method.
+Horia Mania --- hmania@berkeley.edu
+Aurelia Guy
+Benjamin Recht 
+'''
+
+import parser
+import time
+import os
+import numpy as np
+import gym
+
+import arspb.logz as logz
+import ray
+import arspb.utils as utils
+import arspb.optimizers as optimizers
+from arspb.policies import *
+import socket
+from arspb.shared_noise import *
+
+##############################
+#create an envs_v2 laikago env
+
+import os
+
+import gin
+from pybullet_envs.minitaur.envs_v2 import env_loader
+import pybullet_data as pd
+
+
+
+def create_laikago_env():
+  CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
+  CONFIG_FILES = [
+      os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
+      os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
+      os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
+      os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
+  ]
+  
+  #gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
+  for gin_file in CONFIG_FILES:
+    gin.parse_config_file(gin_file)
+  gin.bind_parameter("SimulationParameters.enable_rendering", False)
+  gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
+                     10000)
+  env = env_loader.load()
+  return env
+  
+  
+##############################
+
+@ray.remote
+class Worker(object):
+    """ 
+    Object class for parallel rollout generation.
+    """
+
+    def __init__(self, env_seed,
+                 env_name='',
+                 policy_params = None,
+                 deltas=None,
+                 rollout_length=1000,
+                 delta_std=0.01):
+
+        # initialize OpenAI environment for each worker
+        try:
+          import pybullet_envs
+        except:
+          pass
+        try:
+          import tds_environments
+        except:
+          pass
+
+        self.env = create_laikago_env()
+        self.env.seed(env_seed)
+
+        # each worker gets access to the shared noise table
+        # with independent random streams for sampling
+        # from the shared noise table. 
+        self.deltas = SharedNoiseTable(deltas, env_seed + 7)
+        self.policy_params = policy_params
+        if policy_params['type'] == 'linear':
+            print("LinearPolicy2")
+            self.policy = LinearPolicy2(policy_params)
+        elif policy_params['type'] == 'nn':
+            print("FullyConnectedNeuralNetworkPolicy")
+            self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
+        else:
+            raise NotImplementedError
+            
+        self.delta_std = delta_std
+        self.rollout_length = rollout_length
+
+        
+    def get_weights_plus_stats(self):
+        """ 
+        Get current policy weights and current statistics of past states.
+        """
+        #assert self.policy_params['type'] == 'linear'
+        return self.policy.get_weights_plus_stats()
+    
+
+    def rollout(self, shift = 0., rollout_length = None):
+        """ 
+        Performs one rollout of maximum length rollout_length. 
+        At each time-step it substracts shift from the reward.
+        """
+        
+        if rollout_length is None:
+            rollout_length = self.rollout_length
+
+        total_reward = 0.
+        steps = 0
+
+        ob = self.env.reset()
+        for i in range(rollout_length):
+            action = self.policy.act(ob)
+            ob, reward, done, _ = self.env.step(action)
+            steps += 1
+            total_reward += (reward - shift)
+            if done:
+                break
+            
+        return total_reward, steps
+
+    def do_rollouts(self, w_policy, num_rollouts = 1, shift = 1, evaluate = False):
+        """ 
+        Generate multiple rollouts with a policy parametrized by w_policy.
+        """
+
+        rollout_rewards, deltas_idx = [], []
+        steps = 0
+
+        for i in range(num_rollouts):
+
+            if evaluate:
+                self.policy.update_weights(w_policy)
+                deltas_idx.append(-1)
+                
+                # set to false so that evaluation rollouts are not used for updating state statistics
+                self.policy.update_filter = False
+
+                # for evaluation we do not shift the rewards (shift = 0) and we use the
+                # default rollout length (1000 for the MuJoCo locomotion tasks)
+                reward, r_steps = self.rollout(shift = 0., rollout_length = self.rollout_length)
+                rollout_rewards.append(reward)
+                
+            else:
+                idx, delta = self.deltas.get_delta(w_policy.size)
+             
+                delta = (self.delta_std * delta).reshape(w_policy.shape)
+                deltas_idx.append(idx)
+
+                # set to true so that state statistics are updated 
+                self.policy.update_filter = True
+
+                # compute reward and number of timesteps used for positive perturbation rollout
+                self.policy.update_weights(w_policy + delta)
+                pos_reward, pos_steps  = self.rollout(shift = shift)
+
+                # compute reward and number of timesteps used for negative pertubation rollout
+                self.policy.update_weights(w_policy - delta)
+                neg_reward, neg_steps = self.rollout(shift = shift) 
+                steps += pos_steps + neg_steps
+
+                rollout_rewards.append([pos_reward, neg_reward])
+                            
+        return {'deltas_idx': deltas_idx, 'rollout_rewards': rollout_rewards, "steps" : steps}
+    
+    def stats_increment(self):
+        self.policy.observation_filter.stats_increment()
+        return
+
+    def get_weights(self):
+        return self.policy.get_weights()
+    
+    def get_filter(self):
+        return self.policy.observation_filter
+
+    def sync_filter(self, other):
+        self.policy.observation_filter.sync(other)
+        return
+
+    
+class ARSLearner(object):
+    """ 
+    Object class implementing the ARS algorithm.
+    """
+
+    def __init__(self, env_name='HalfCheetah-v1',
+                 policy_params=None,
+                 num_workers=32, 
+                 num_deltas=320, 
+                 deltas_used=320,
+                 delta_std=0.01, 
+                 logdir=None, 
+                 rollout_length=4000,
+                 step_size=0.01,
+                 shift='constant zero',
+                 params=None,
+                 seed=123):
+
+        logz.configure_output_dir(logdir)
+        logz.save_params(params)
+        try:
+          import pybullet_envs
+        except:
+          pass
+        try:
+          import tds_environments
+        except:
+          pass
+
+        env = create_laikago_env()
+        
+        self.timesteps = 0
+        self.action_size = env.action_space.shape[0]
+        self.ob_size = env.observation_space.shape[0]
+        self.num_deltas = num_deltas
+        self.deltas_used = deltas_used
+        self.rollout_length = rollout_length
+        self.step_size = step_size
+        self.delta_std = delta_std
+        self.logdir = logdir
+        self.shift = shift
+        self.params = params
+        self.max_past_avg_reward = float('-inf')
+        self.num_episodes_used = float('inf')
+
+        
+        # create shared table for storing noise
+        print("Creating deltas table.")
+        deltas_id = create_shared_noise.remote()
+        self.deltas = SharedNoiseTable(ray.get(deltas_id), seed = seed + 3)
+        print('Created deltas table.')
+
+        # initialize workers with different random seeds
+        print('Initializing workers.') 
+        self.num_workers = num_workers
+        self.workers = [Worker.remote(seed + 7 * i,
+                                      env_name=env_name,
+                                      policy_params=policy_params,
+                                      deltas=deltas_id,
+                                      rollout_length=rollout_length,
+                                      delta_std=delta_std) for i in range(num_workers)]
+
+
+        # initialize policy 
+        if policy_params['type'] == 'linear':
+            print("LinearPolicy2")
+            self.policy = LinearPolicy2(policy_params)
+            self.w_policy = self.policy.get_weights()
+        elif policy_params['type'] == 'nn':
+            print("FullyConnectedNeuralNetworkPolicy")
+            self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
+            self.w_policy = self.policy.get_weights()
+        else:
+            raise NotImplementedError
+            
+        # initialize optimization algorithm
+        self.optimizer = optimizers.SGD(self.w_policy, self.step_size)        
+        print("Initialization of ARS complete.")
+
+    def aggregate_rollouts(self, num_rollouts = None, evaluate = False):
+        """ 
+        Aggregate update step from rollouts generated in parallel.
+        """
+
+        if num_rollouts is None:
+            num_deltas = self.num_deltas
+        else:
+            num_deltas = num_rollouts
+            
+        # put policy weights in the object store
+        policy_id = ray.put(self.w_policy)
+
+        t1 = time.time()
+        num_rollouts = int(num_deltas / self.num_workers)
+            
+        # parallel generation of rollouts
+        rollout_ids_one = [worker.do_rollouts.remote(policy_id,
+                                                 num_rollouts = num_rollouts,
+                                                 shift = self.shift,
+                                                 evaluate=evaluate) for worker in self.workers]
+
+        rollout_ids_two = [worker.do_rollouts.remote(policy_id,
+                                                 num_rollouts = 1,
+                                                 shift = self.shift,
+                                                 evaluate=evaluate) for worker in self.workers[:(num_deltas % self.num_workers)]]
+
+        # gather results 
+        results_one = ray.get(rollout_ids_one)
+        results_two = ray.get(rollout_ids_two)
+
+        rollout_rewards, deltas_idx = [], [] 
+
+        for result in results_one:
+            if not evaluate:
+                self.timesteps += result["steps"]
+            deltas_idx += result['deltas_idx']
+            rollout_rewards += result['rollout_rewards']
+
+        for result in results_two:
+            if not evaluate:
+                self.timesteps += result["steps"]
+            deltas_idx += result['deltas_idx']
+            rollout_rewards += result['rollout_rewards']
+
+        deltas_idx = np.array(deltas_idx)
+        rollout_rewards = np.array(rollout_rewards, dtype = np.float64)
+        
+        print('Maximum reward of collected rollouts:', rollout_rewards.max())
+        t2 = time.time()
+
+        print('Time to generate rollouts:', t2 - t1)
+
+        if evaluate:
+            return rollout_rewards
+
+        # select top performing directions if deltas_used < num_deltas
+        max_rewards = np.max(rollout_rewards, axis = 1)
+        if self.deltas_used > self.num_deltas:
+            self.deltas_used = self.num_deltas
+            
+        idx = np.arange(max_rewards.size)[max_rewards >= np.percentile(max_rewards, 100*(1 - (self.deltas_used / self.num_deltas)))]
+        deltas_idx = deltas_idx[idx]
+        rollout_rewards = rollout_rewards[idx,:]
+        
+        # normalize rewards by their standard deviation
+        np_std = np.std(rollout_rewards)
+        if np_std>1e-6:
+          rollout_rewards /= np_std
+
+        t1 = time.time()
+        # aggregate rollouts to form g_hat, the gradient used to compute SGD step
+        g_hat, count = utils.batched_weighted_sum(rollout_rewards[:,0] - rollout_rewards[:,1],
+                                                  (self.deltas.get(idx, self.w_policy.size)
+                                                   for idx in deltas_idx),
+                                                  batch_size = 500)
+        g_hat /= deltas_idx.size
+        t2 = time.time()
+        print('time to aggregate rollouts', t2 - t1)
+        return g_hat
+        
+
+    def train_step(self):
+        """ 
+        Perform one update step of the policy weights.
+        """
+        
+        g_hat = self.aggregate_rollouts()                    
+        print("Euclidean norm of update step:", np.linalg.norm(g_hat))
+        self.w_policy -= self.optimizer._compute_step(g_hat).reshape(self.w_policy.shape)
+        return
+
+    def train(self, num_iter):
+
+        start = time.time()
+        best_mean_rewards = -1e30
+        
+        for i in range(num_iter):
+            
+            t1 = time.time()
+            self.train_step()
+            t2 = time.time()
+            print('total time of one step', t2 - t1)           
+            print('iter ', i,' done')
+
+            # record statistics every 10 iterations
+            if ((i + 1) % 10 == 0):
+                
+                rewards = self.aggregate_rollouts(num_rollouts = 100, evaluate = True)
+                w = ray.get(self.workers[0].get_weights_plus_stats.remote())
+                np.savez(self.logdir + "/lin_policy_plus_latest", w)
+                
+                mean_rewards = np.mean(rewards)
+                if (mean_rewards > best_mean_rewards):
+                  best_mean_rewards = mean_rewards
+                  np.savez(self.logdir + "/lin_policy_plus_best_"+str(i+1), w)
+                  
+                
+                print(sorted(self.params.items()))
+                logz.log_tabular("Time", time.time() - start)
+                logz.log_tabular("Iteration", i + 1)
+                logz.log_tabular("AverageReward", np.mean(rewards))
+                logz.log_tabular("StdRewards", np.std(rewards))
+                logz.log_tabular("MaxRewardRollout", np.max(rewards))
+                logz.log_tabular("MinRewardRollout", np.min(rewards))
+                logz.log_tabular("timesteps", self.timesteps)
+                logz.dump_tabular()
+                
+            t1 = time.time()
+            # get statistics from all workers
+            for j in range(self.num_workers):
+                self.policy.observation_filter.update(ray.get(self.workers[j].get_filter.remote()))
+            self.policy.observation_filter.stats_increment()
+
+            # make sure master filter buffer is clear
+            self.policy.observation_filter.clear_buffer()
+            # sync all workers
+            filter_id = ray.put(self.policy.observation_filter)
+            setting_filters_ids = [worker.sync_filter.remote(filter_id) for worker in self.workers]
+            # waiting for sync of all workers
+            ray.get(setting_filters_ids)
+         
+            increment_filters_ids = [worker.stats_increment.remote() for worker in self.workers]
+            # waiting for increment of all workers
+            ray.get(increment_filters_ids)            
+            t2 = time.time()
+            print('Time to sync statistics:', t2 - t1)
+                        
+        return 
+
+def run_ars(params):
+    dir_path = params['dir_path']
+    
+    if not(os.path.exists(dir_path)):
+        os.makedirs(dir_path)
+    logdir = dir_path
+    if not(os.path.exists(logdir)):
+        os.makedirs(logdir)
+
+    try:
+      import pybullet_envs
+    except:
+      pass
+    try:
+      import tds_environments
+    except:
+      pass
+    env = create_laikago_env()
+    ob_dim = env.observation_space.shape[0]
+    ac_dim = env.action_space.shape[0]
+    ac_lb = env.action_space.low
+    ac_ub = env.action_space.high
+
+    # set policy parameters. Possible filters: 'MeanStdFilter' for v2, 'NoFilter' for v1.
+    if params["policy_type"]=="nn":
+      policy_sizes_string = params['policy_network_size_list'].split(',')
+      print("policy_sizes_string=",policy_sizes_string)
+      policy_sizes_list = [int(item) for item in policy_sizes_string]
+      print("policy_sizes_list=",policy_sizes_list)
+      activation = params['activation']
+      policy_params={'type': params["policy_type"],
+                     'ob_filter':params['filter'],
+                     'policy_network_size' : policy_sizes_list,
+                     'ob_dim':ob_dim,
+                     'ac_dim':ac_dim,
+                     'activation' : activation,
+                     'action_lower_bound' : ac_lb,
+                     'action_upper_bound' : ac_ub,
+      }
+    else:
+      del params['policy_network_size_list']
+      del params['activation']
+      policy_params={'type': params["policy_type"],
+                     'ob_filter':params['filter'],
+                     'ob_dim':ob_dim,
+                     'ac_dim':ac_dim,
+                     'action_lower_bound' : ac_lb,
+                     'action_upper_bound' : ac_ub,
+      }
+    
+    
+    ARS = ARSLearner(env_name=params['env_name'],
+                     policy_params=policy_params,
+                     num_workers=params['n_workers'], 
+                     num_deltas=params['n_directions'],
+                     deltas_used=params['deltas_used'],
+                     step_size=params['step_size'],
+                     delta_std=params['delta_std'], 
+                     logdir=logdir,
+                     rollout_length=params['rollout_length'],
+                     shift=params['shift'],
+                     params=params,
+                     seed = params['seed'])
+        
+    ARS.train(params['n_iter'])
+       
+    return 
+
+
+if __name__ == '__main__':
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--env_name', type=str, default='InvertedPendulumSwingupBulletEnv-v0')
+    parser.add_argument('--n_iter', '-n', type=int, default=1000)
+    parser.add_argument('--n_directions', '-nd', type=int, default=16)
+    parser.add_argument('--deltas_used', '-du', type=int, default=16)
+    parser.add_argument('--step_size', '-s', type=float, default=0.03)
+    parser.add_argument('--delta_std', '-std', type=float, default=.03)
+    parser.add_argument('--n_workers', '-e', type=int, default=18)
+    parser.add_argument('--rollout_length', '-r', type=int, default=2000)
+
+    # for Swimmer-v1 and HalfCheetah-v1 use shift = 0
+    # for Hopper-v1, Walker2d-v1, and Ant-v1 use shift = 1
+    # for Humanoid-v1 used shift = 5
+    parser.add_argument('--shift', type=float, default=0)
+    parser.add_argument('--seed', type=int, default=37)
+    parser.add_argument('--policy_type', type=str, help="Policy type, linear or nn (neural network)", default= 'linear')
+    parser.add_argument('--dir_path', type=str, default='data')
+
+    # for ARS V1 use filter = 'NoFilter'
+    parser.add_argument('--filter', type=str, default='MeanStdFilter')
+    parser.add_argument('--activation', type=str, help="Neural network policy activation function, tanh or clip", default="tanh")
+    parser.add_argument('--policy_network_size', action='store', dest='policy_network_size_list',type=str, nargs='*', default='64,64')
+    
+
+
+    
+
+    local_ip = socket.gethostbyname(socket.gethostname())
+    ray.init(address= local_ip + ':6379')
+    
+    args = parser.parse_args()
+    params = vars(args)
+    run_ars(params)
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py
new file mode 100644
index 0000000000..7b9ad955a1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config.py
@@ -0,0 +1,58 @@
+"""A gin-config class for locomotion_gym_env.
+
+This should be identical to locomotion_gym_config.proto.
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import Sequence, Text
+
+import attr
+import gin
+
+
+@gin.configurable
+@attr.s
+class SimulationParameters(object):
+  """Parameters specific for the pyBullet simulation."""
+  sim_time_step_s = attr.ib(type=float, default=0.002)
+  num_action_repeat = attr.ib(type=int, default=5)
+  enable_hard_reset = attr.ib(type=bool, default=False)
+  enable_rendering = attr.ib(type=bool, default=False)
+  enable_rendering_gui = attr.ib(type=bool, default=True)
+  robot_on_rack = attr.ib(type=bool, default=False)
+  camera_target = attr.ib(type=Sequence[float], default=None)
+  camera_distance = attr.ib(type=float, default=1.0)
+  camera_yaw = attr.ib(type=float, default=0)
+  camera_pitch = attr.ib(type=float, default=-30)
+  render_width = attr.ib(type=int, default=480)
+  render_height = attr.ib(type=int, default=360)
+  egl_rendering = attr.ib(type=bool, default=False)
+
+
+@gin.configurable
+@attr.s
+class ScalarField(object):
+  """A named scalar space with bounds."""
+  # TODO(sehoonha) extension to vector fields.
+  name = attr.ib(type=str)
+  upper_bound = attr.ib(type=float)
+  lower_bound = attr.ib(type=float)
+
+
+@gin.configurable
+@attr.s
+class LocomotionGymConfig(object):
+  """Grouped Config Parameters for LocomotionGym."""
+  simulation_parameters = attr.ib(type=SimulationParameters)
+  # TODO(sehoonha) implement attr validators for the list
+  actions = attr.ib(type=list, default=None)  # pylint: disable=g-bare-generic
+  log_path = attr.ib(type=Text, default=None)
+  data_dir = attr.ib(
+      type=Text,
+      default='robotics/reinforcement_learning/minitaur/data/')
+  profiling_path = attr.ib(type=Text, default=None)
+  seed = attr.ib(type=int, default=None)
+  ignored_sensor_list = attr.ib(type=Sequence[Text], default=())
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py
new file mode 100644
index 0000000000..343b58db03
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_config_test.py
@@ -0,0 +1,75 @@
+"""Tests for pybullet_envs.minitaur.envs.locomotion_gym_config."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gin
+from pybullet_envs.minitaur.envs_v2 import locomotion_gym_config
+import unittest
+from absl.testing import parameterized
+
+
+
+class LocomotionGymConfigTest(unittest.TestCase):
+
+  def testSimulationParametersFromGinString(self):
+    config_text = (
+        'import pybullet_envs.minitaur'
+        '.envs_v2.locomotion_gym_config\n'
+        'locomotion_gym_config.SimulationParameters.sim_time_step_s = 0.005\n'
+        'locomotion_gym_config.SimulationParameters.camera_distance = 5.0\n'
+        'locomotion_gym_config.SimulationParameters.camera_yaw = 10\n'
+        'locomotion_gym_config.SimulationParameters.camera_pitch = -50\n'
+    )
+    gin.parse_config(config_text)
+
+    cfg = locomotion_gym_config.SimulationParameters()
+    self.assertEqual(cfg.sim_time_step_s, 0.005)
+    self.assertFalse(cfg.enable_hard_reset)
+    self.assertEqual(cfg.camera_distance, 5.0)
+    self.assertEqual(cfg.camera_yaw, 10)
+    self.assertEqual(cfg.camera_pitch, -50)
+
+  def testScalarFieldFromGinString(self):
+    config_text = (
+        'import pybullet_envs.minitaur'
+        '.envs_v2.locomotion_gym_config\n'
+        'locomotion_gym_config.ScalarField.name = "MotorUpperLimit"\n'
+        'locomotion_gym_config.ScalarField.upper_bound = 1.0\n'
+        'locomotion_gym_config.ScalarField.lower_bound = -1.0\n'
+    )
+    gin.parse_config(config_text)
+
+    cfg = locomotion_gym_config.ScalarField()
+    self.assertEqual(cfg.name, 'MotorUpperLimit')
+    self.assertEqual(cfg.upper_bound, 1.0)
+    self.assertEqual(cfg.lower_bound, -1.0)
+
+  def testLocomotionGymConfigFromGinString(self):
+    config_text = (
+        'import pybullet_envs.minitaur'
+        '.envs_v2.locomotion_gym_config\n'
+        # SimulationParameters
+        'locomotion_gym_config.SimulationParameters.sim_time_step_s = 0.005\n'
+        # Actions
+        'Motor/locomotion_gym_config.ScalarField.name = "MotorUpperLimit"\n'
+        'Motor/locomotion_gym_config.ScalarField.upper_bound = 1.0\n'
+        'Motor/locomotion_gym_config.ScalarField.lower_bound = -1.0\n'
+        # LocomotionGymConfigs
+        'locomotion_gym_config.LocomotionGymConfig.simulation_parameters = '
+        '@locomotion_gym_config.SimulationParameters()\n'
+        'locomotion_gym_config.LocomotionGymConfig.actions = ['
+        '@Motor/locomotion_gym_config.ScalarField()]\n'
+        'locomotion_gym_config.LocomotionGymConfig.ignored_sensor_list = ['
+        '"Collisions"]\n')
+    gin.parse_config(config_text)
+
+    cfg = locomotion_gym_config.LocomotionGymConfig()
+    self.assertEqual(cfg.simulation_parameters.sim_time_step_s, 0.005)
+    self.assertEqual(cfg.actions[0].upper_bound, 1.0)
+    self.assertEqual(cfg.ignored_sensor_list, ['Collisions'])
+
+
+if __name__ == '__main__':
+  unittest.main()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py
new file mode 100644
index 0000000000..b98d3b0056
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py
@@ -0,0 +1,733 @@
+# Lint as: python3
+"""This file implements the locomotion gym env."""
+
+import atexit
+import collections
+import time
+from typing import Any, Callable, Sequence, Text, Union
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2 import base_client
+from pybullet_utils import bullet_client
+import pybullet_data
+import pybullet
+from pybullet_envs.minitaur.envs import minitaur_logging
+from pybullet_envs.minitaur.envs import minitaur_logging_pb2
+#from pybullet_envs.minitaur.envs import minitaur_logging
+#from pybullet_envs.minitaur.envs import minitaur_logging_pb2
+from pybullet_envs.minitaur.envs_v2.evaluation import metric_logger
+from pybullet_envs.minitaur.envs_v2.scenes import scene_base
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.sensors import space_utils
+from pybullet_envs.minitaur.envs_v2.utilities import rendering_utils
+from pybullet_envs.minitaur.robots import autonomous_object
+from pybullet_envs.minitaur.robots import robot_base
+
+_ACTION_EPS = 0.01
+_NUM_SIMULATION_ITERATION_STEPS = 300
+_LOG_BUFFER_LENGTH = 5000
+
+SIM_CLOCK = 'SIM_CLOCK'
+
+# Exports this symbol so we can use it in the config file.
+gin.constant('locomotion_gym_env.SIM_CLOCK', SIM_CLOCK)
+
+# This allows us to bind @time.time in the gin configuration.
+gin.external_configurable(time.time, module='time')
+
+
+# TODO(b/122048194): Enable position/torque/hybrid control mode.
+@gin.configurable
+class LocomotionGymEnv(gym.Env):
+  """The gym environment for the locomotion tasks."""
+  metadata = {
+      'render.modes': ['human', 'rgb_array', 'topdown'],
+      'video.frames_per_second': 100
+  }
+
+  def __init__(self,
+               gym_config,
+               clock: Union[Callable[..., float], Text] = 'SIM_CLOCK',
+               robot_class: Any = None,
+               scene: scene_base.SceneBase = None,
+               sensors: Sequence[sensor.Sensor] = None,
+               task: Any = None,
+               env_randomizers: Any = None):
+    """Initializes the locomotion gym environment.
+
+    Args:
+      gym_config: An instance of LocomotionGymConfig.
+      clock: The clock source to be used for the gym env. The clock should
+        return a timestamp in seconds. Setting clock == "SIM_CLOCK" will enable
+        the built-in simulation clock. For real robot experiments, we can use
+        time.time or other clock wall clock sources.
+      robot_class: A class of a robot. We provide a class rather than an
+        instance due to hard_reset functionality. Parameters are expected to be
+        configured with gin.
+      scene: An object for managing the robot's surroundings.
+      sensors: A list of environmental sensors for observation.
+      task: A callable function/class to calculate the reward and termination
+        condition. Takes the gym env as the argument when calling.
+      env_randomizers: A list of EnvRandomizer(s). An EnvRandomizer may
+        randomize the physical property of minitaur, change the terrrain during
+        reset(), or add perturbation forces during step().
+      client_factory: A function to create a simulation client, it can be a
+        pybullet client.
+
+    Raises:
+      ValueError: If the num_action_repeat is less than 1.
+
+    """
+    self._pybullet_client = None
+    self._metric_logger = metric_logger.MetricLogger()
+    # TODO(sehoonha) split observation and full-state sensors (b/129858214)
+
+    # Makes sure that close() is always called to flush out the logs to the
+    # disk.
+    atexit.register(self.close)
+    self.seed()
+    self._gym_config = gym_config
+    if robot_class is None:
+      raise ValueError('robot_class cannot be None.')
+    self._robot_class = robot_class
+    if issubclass(self._robot_class, robot_base.RobotBase):
+      self._use_new_robot_class = True
+    else:
+      self._use_new_robot_class = False
+    self._robot = None
+
+    self._scene = scene or scene_base.SceneBase()
+
+    # TODO(sehoonha) change the data structure to dictionary
+    self._env_sensors = list(sensors) if sensors is not None else list()
+
+    # TODO(b/152161457): Make logging a standalone module.
+    self._log_path = gym_config.log_path
+    self._logging = minitaur_logging.MinitaurLogging(self._log_path)
+    self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
+    self._data_dir = gym_config.data_dir
+
+    self._task = task
+
+    self._env_randomizers = env_randomizers if env_randomizers else []
+
+    # Simulation related parameters.
+    self._num_action_repeat = gym_config.simulation_parameters.num_action_repeat
+    self._on_rack = gym_config.simulation_parameters.robot_on_rack
+    if self._num_action_repeat < 1:
+      raise ValueError('number of action repeats should be at least 1.')
+    # TODO(b/73829334): Fix the value of self._num_bullet_solver_iterations.
+    self._num_bullet_solver_iterations = int(_NUM_SIMULATION_ITERATION_STEPS /
+                                             self._num_action_repeat)
+
+    self._sim_time_step = gym_config.simulation_parameters.sim_time_step_s
+    # The sim step counter is an internal varialbe to count the number of
+    # pybullet stepSimulation() has been called since last reset.
+    self._sim_step_counter = 0
+
+    self._env_time_step = self._num_action_repeat * self._sim_time_step
+    # The env step counter accounts for how many times env.step has been
+    # called since reset.
+    self._env_step_counter = 0
+
+    if clock == SIM_CLOCK:
+      self._clock = self._get_sim_time
+    else:
+      self._clock = clock
+
+    # Creates the bullet client.
+    self._is_render = gym_config.simulation_parameters.enable_rendering
+    # The wall-clock time at which the last frame is rendered.
+    self._last_frame_time = 0.0
+    
+    if gym_config.simulation_parameters.enable_rendering:
+      self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
+      self._pybullet_client.configureDebugVisualizer(
+        pybullet.COV_ENABLE_GUI,
+        gym_config.simulation_parameters.enable_rendering_gui)
+    else:
+      self._pybullet_client = bullet_client.BulletClient()
+    if gym_config.simulation_parameters.egl_rendering:
+      self._pybullet_client.loadPlugin('eglRendererPlugin')
+
+    self._pybullet_client.setAdditionalSearchPath(
+      pybullet_data.getDataPath())
+
+    # If enabled, save the performance profile to profiling_path
+    # Use Google Chrome about://tracing to open the file
+    if gym_config.profiling_path is not None:
+      self._profiling_slot = self._pybullet_client.startStateLogging(
+          self._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS,
+          gym_config.profiling_path)
+      self._profiling_counter = 10
+    else:
+      self._profiling_slot = -1
+
+    # Set the default render options. TODO(b/152161124): Make rendering a
+    # standalone module.
+    self._camera_target = gym_config.simulation_parameters.camera_target
+    self._camera_dist = gym_config.simulation_parameters.camera_distance
+    self._camera_yaw = gym_config.simulation_parameters.camera_yaw
+    self._camera_pitch = gym_config.simulation_parameters.camera_pitch
+    self._render_width = gym_config.simulation_parameters.render_width
+    self._render_height = gym_config.simulation_parameters.render_height
+
+    # Loads the environment and robot. Actions space will be created as well.
+    self._hard_reset = True
+    self._observation_dict = {}
+    self.reset()
+    self._hard_reset = gym_config.simulation_parameters.enable_hard_reset
+
+    # Construct the observation space from the list of sensors.
+    self.observation_space = (
+        space_utils.convert_sensors_to_gym_space_dictionary([
+            sensor for sensor in self.all_sensors()
+            if sensor.get_name() not in self._gym_config.ignored_sensor_list
+        ]))
+
+  def __del__(self):
+    self.close()
+
+  def _load_old_robot_class(self):
+    self._robot = self._robot_class(
+        pybullet_client=self._pybullet_client, on_rack=self._on_rack)
+    self._action_list = []
+    action_upper_bound = []
+    action_lower_bound = []
+    for action in self._gym_config.actions:
+      self._action_list.append(action.name)
+      action_upper_bound.append(action.upper_bound)
+      action_lower_bound.append(action.lower_bound)
+    self.action_space = gym.spaces.Box(
+        np.array(action_lower_bound),
+        np.array(action_upper_bound),
+        dtype=np.float32)
+
+  def _load_new_robot_class(self):
+    self._robot = self._robot_class(
+        pybullet_client=self._pybullet_client, clock=self._clock)
+    self.action_space = self._robot.action_space
+
+  def _load(self):
+    self._pybullet_client.resetSimulation()
+    self._pybullet_client.setPhysicsEngineParameter(
+        numSolverIterations=self._num_bullet_solver_iterations)
+    self._pybullet_client.setTimeStep(self._sim_time_step)
+    self._pybullet_client.setGravity(0, 0, -10)
+    self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
+
+    # Disable rendering during scene loading will speed up simulation.
+    if self._is_render:
+      self._pybullet_client.configureDebugVisualizer(
+          self._pybullet_client.COV_ENABLE_RENDERING, 0)
+
+    # Rebuild the scene.
+    self._scene.build_scene(self._pybullet_client)
+
+    # TODO(b/151975607): Deprecate old robot support.
+    if self._use_new_robot_class:
+      self._load_new_robot_class()
+    else:
+      self._load_old_robot_class()
+
+    # Check action space.
+    if (isinstance(self.action_space, gym.spaces.Box) and
+        not np.all(self.action_space.low < self.action_space.high)):
+      raise ValueError(f'Action space contains invalid dimensions, '
+                       f'action space low = {self.action_space.low}, '
+                       f'action space high = {self.action_space.high}')
+
+    for an_object in self._dynamic_objects():
+      an_object.set_clock(self._clock)
+
+    # Enable rendering after loading finishes.
+    if self._is_render:
+      self._pybullet_client.configureDebugVisualizer(
+          self._pybullet_client.COV_ENABLE_RENDERING, 1)
+
+  def close(self):
+    atexit.unregister(self.close)
+    #if self._pybullet_client:
+    
+    if self._log_path is not None:
+      self._logging.save_episode(self._episode_proto)
+    for sensor_ in self.all_sensors():
+      sensor_.on_terminate(self)
+    if self._robot:
+      if self._use_new_robot_class:
+        self._robot.terminate()
+      else:
+        self._robot.Terminate()
+    if self._pybullet_client:
+      self._pybullet_client.disconnect()
+      self._pybullet_client = None
+
+  def seed(self, seed=None):
+    self.np_random, self.np_random_seed = gym.utils.seeding.np_random(seed)
+    return [self.np_random_seed]
+
+  def _dynamic_objects(self):
+    """Returns the python objects controlling moving obstacles."""
+    if self._scene:
+      return self._scene.dynamic_objects
+    else:
+      return []
+
+  def all_sensors(self):
+    """Returns all robot, environmental and dynamic objects sensors."""
+    if self._use_new_robot_class:
+      all_sensors = list(self._env_sensors)
+      if self._robot:
+        all_sensors.extend(list(self._robot.sensors))
+      for obj in self._dynamic_objects():
+        all_sensors.extend(obj.sensors)
+
+      # The new way of adding task specific sensors to the sensor lists.
+      if hasattr(self._task, 'sensors'):
+        all_sensors.extend(self._task.sensors)
+      return all_sensors
+    else:
+      # This is a workaround due to the issue in b/130128505#comment5
+      task_sensor = ([self._task]
+                     if isinstance(self._task, sensor.Sensor) else [])
+      robot_sensors = []
+      if self._robot:
+        robot_sensors = self._robot.GetAllSensors()
+      return robot_sensors + self._env_sensors + task_sensor
+
+  def sensor_by_name(self, name):
+    """Returns the sensor with the given name, or None if not exist."""
+    # TODO(b/154162104): Store sensors as dictionary.
+    for sensor_ in self.all_sensors():
+      if sensor_.get_name() == name:
+        return sensor_
+    return None
+
+  @gin.configurable('locomotion_gym_env.LocomotionGymEnv.reset')
+  def reset(
+      self,
+      initial_motor_angles=None,
+      reset_duration=1.0,
+      reset_visualization_camera=True,
+  ):
+    """Resets the robot's position in the world or rebuild the sim world.
+
+    The simulation world will be rebuilt if self._hard_reset is True.
+
+    Args:
+      initial_motor_angles: A list of Floats. The desired joint angles after
+        reset. If None, the robot will use its built-in value.
+      reset_duration: Float. The time (in seconds) needed to rotate all motors
+        to the desired initial values.
+      reset_visualization_camera: Whether to reset debug visualization camera on
+        reset.
+
+    Returns:
+      A numpy array contains the initial observation after reset.
+    """
+    
+
+    self._env_step_counter = 0
+    self._sim_step_counter = 0
+    self._last_reset_time = self._clock()
+    self._metric_logger.reset_episode()
+
+    # Clear the simulation world and rebuild the robot interface.
+    if self._hard_reset:
+      self._load()
+
+    # Resets the scene
+    self._scene.reset()
+
+    # Resets the robot with the provided init parameters.
+    if self._use_new_robot_class:
+      self._robot.reset()
+    else:
+      self._robot.Reset(
+          reload_urdf=False,
+          default_motor_angles=initial_motor_angles,
+          reset_time=reset_duration)
+
+    # Flush the logs to disc and reinitialize the logging system.
+    if self._log_path is not None:
+      self._logging.save_episode(self._episode_proto)
+      self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
+      minitaur_logging.preallocate_episode_proto(self._episode_proto,
+                                                 _LOG_BUFFER_LENGTH,
+                                                 self._robot)
+
+    # TODO(b/152161124): Move this part to the renderer module.
+    if reset_visualization_camera:
+      self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist,
+                                                       self._camera_yaw,
+                                                       self._camera_pitch,
+                                                       [0, 0, 0])
+
+    # Create an example last action based on the type of action space.
+    self._last_action = space_utils.create_constant_action(self.action_space)
+
+    for s in self.all_sensors():
+      s.on_reset(self)
+
+    if self._task and hasattr(self._task, 'reset'):
+      self._task.reset(self)
+
+    # Loop over all env randomizers.
+    for env_randomizer in self._env_randomizers:
+      env_randomizer.randomize_env(self)
+
+    for obj in self._dynamic_objects():
+      obj.reset()
+
+    # Initialize the robot base position.
+    if self._use_new_robot_class:
+      self._last_base_position = self._robot.base_position
+    else:
+      self._last_base_position = self._robot.GetBasePosition()
+
+    # Resets the observations again, since randomizers might change the env.
+    for s in self.all_sensors():
+      s.on_reset(self)
+
+    
+    self._last_reset_time = self._clock()
+    return self._get_observation()
+
+  def _wait_for_rendering(self):
+    # Sleep, otherwise the computation takes less time than real time,
+    # which will make the visualization like a fast-forward video.
+    time_spent = time.time() - self._last_frame_time
+    self._last_frame_time = time.time()
+    time_to_sleep = self._env_time_step - time_spent
+    if time_to_sleep > 0:
+      time.sleep(time_to_sleep)
+
+    # Also keep the previous orientation of the camera set by the user.
+    [yaw, pitch, dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11]
+    self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch,
+                                                     self._last_base_position)
+
+  def _step_old_robot_class(self, action):
+    self._last_base_position = self._robot.GetBasePosition()
+    self._last_action = action
+
+    if self._is_render:
+      self._wait_for_rendering()
+
+    for env_randomizer in self._env_randomizers:
+      env_randomizer.randomize_step(self)
+
+    self._robot.Step(action)
+
+    if self._profiling_slot >= 0:
+      self._profiling_counter -= 1
+      if self._profiling_counter == 0:
+        self._pybullet_client.stopStateLogging(self._profiling_slot)
+
+    if self._log_path is not None:
+      minitaur_logging.update_episode_proto(self._episode_proto, self._robot,
+                                            action, self._env_step_counter)
+    reward = self._reward()
+
+    for s in self.all_sensors():
+      s.on_step(self)
+
+    if self._task and hasattr(self._task, 'update'):
+      self._task.update(self)  # TODO(b/154635313): resolve API mismatch
+
+    done = self._termination()
+    self._env_step_counter += 1
+    # TODO(b/161941829): terminate removed for now, change terminate to other
+    # names.
+    return self._get_observation(), reward, done, {}
+
+  def _step_new_robot_class(self, action):
+    self._last_base_position = self._robot.base_position
+    self._last_action = action
+
+    if self._is_render:
+      self._wait_for_rendering()
+
+    for env_randomizer in self._env_randomizers:
+      env_randomizer.randomize_step(self)
+
+    action = self._robot.pre_control_step(action, self._env_time_step)
+    for obj in self._dynamic_objects():
+      obj.pre_control_step(autonomous_object.AUTONOMOUS_ACTION)
+    for _ in range(self._num_action_repeat):
+      for env_randomizer in self._env_randomizers:
+        env_randomizer.randomize_sub_step(self, i, self._num_action_repeat)
+      self._robot.apply_action(action)
+      for obj in self._dynamic_objects():
+        obj.update(self.get_time_since_reset(), self._observation_dict)
+        obj.apply_action(autonomous_object.AUTONOMOUS_ACTION)
+
+      self._pybullet_client.stepSimulation()
+      self._sim_step_counter += 1
+
+      self._robot.receive_observation()
+      for obj in self._dynamic_objects():
+        obj.receive_observation()
+
+      for s in self.all_sensors():
+        s.on_new_observation()
+
+    self._robot.post_control_step()
+    for obj in self._dynamic_objects():
+      obj.post_control_step()
+
+    if self._profiling_slot >= 0:
+      self._profiling_counter -= 1
+      if self._profiling_counter == 0:
+        self._pybullet_client.stopStateLogging(self._profiling_slot)
+
+    if self._log_path is not None:
+      minitaur_logging.update_episode_proto(self._episode_proto, self._robot,
+                                            action, self._env_step_counter)
+    reward = self._reward()
+
+    for s in self.all_sensors():
+      s.on_step(self)
+
+    if self._task and hasattr(self._task, 'update'):
+      self._task.update(self)  # TODO(b/154635313): resolve API mismatch
+
+    done = self._termination()
+    self._env_step_counter += 1
+    # TODO(b/161941829): terminate removed for now, change terminate to other
+    # names.
+    return self._get_observation(), reward, done, {}
+
+  def step(self, action):
+    """Step forward the simulation, given the action.
+
+    Args:
+      action: Can be a list of desired motor angles for all motors when the
+        robot is in position control mode; A list of desired motor torques. Or a
+        list of tuples (q, qdot, kp, kd, tau) for hybrid control mode. The
+        action must be compatible with the robot's motor control mode. Also, we
+        are not going to use the leg space (swing/extension) definition at the
+        gym level, since they are specific to Minitaur.
+
+    Returns:
+      observations: The observation dictionary. The keys are the sensor names
+        and the values are the sensor readings.
+      reward: The reward for the current state-action pair.
+      done: Whether the episode has ended.
+      info: A dictionary that stores diagnostic information.
+
+    Raises:
+      ValueError: The action dimension is not the same as the number of motors.
+      ValueError: The magnitude of actions is out of bounds.
+    """
+    # TODO(b/151975607): Finish the migration and remove old robot class
+    # support.
+    if self._use_new_robot_class:
+      return self._step_new_robot_class(action)
+    else:
+      return self._step_old_robot_class(action)
+
+  @gin.configurable('locomotion_gym_env.LocomotionGymEnv.render')
+  def render(self, mode='rgb_array'):
+    
+    if mode == 'topdown':
+      # Provide ground height if we know it. Otherwise leave it as gin
+      # configurable.
+      if hasattr(self.scene, 'ground_height'):
+        return rendering_utils.render_topdown(
+            self._pybullet_client, ground_height=self.scene.ground_height)
+      else:
+        return rendering_utils.render_topdown(self._pybullet_client)
+
+    if mode != 'rgb_array':
+      raise ValueError('Unsupported render mode:{}'.format(mode))
+
+    if self._camera_target is not None:
+      target_position = self._camera_target
+    else:
+      target_position = self._last_base_position
+    view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
+        cameraTargetPosition=target_position,
+        distance=self._camera_dist,
+        yaw=self._camera_yaw,
+        pitch=self._camera_pitch,
+        roll=0,
+        upAxisIndex=2)
+    proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
+        fov=60,
+        aspect=float(self._render_width) / self._render_height,
+        nearVal=0.1,
+        farVal=100.0)
+    return rendering_utils.render_image(self._pybullet_client,
+                                        self._render_width, self._render_height,
+                                        view_matrix, proj_matrix)
+
+  @property
+  def scene(self):
+    return self._scene
+
+  @property
+  def rendering_enabled(self):
+    return self._is_render
+
+  @property
+  def env_randomizers(self):
+    return self._env_randomizers
+
+  @property
+  def last_base_position(self):
+    return self._last_base_position
+
+  @property
+  def gym_config(self):
+    return self._gym_config
+
+  def _termination(self):
+    if not self._robot.is_safe:
+      return True
+
+    if self._task and hasattr(self._task, 'done'):
+      return self._task.done(self)  # TODO(b/154635313): resolve API mismatch
+
+    return False
+
+  def _reward(self):
+    if self._task:
+      return self._task.reward(self)  # TODO(b/154635313): resolve API mismatch
+    return 0
+
+  def _get_observation(self):
+    """Get observation of this environment from a list of sensors.
+
+    Returns:
+      observations: dictionary of sensory observation with sensor name as key
+        and corresponding observation in numpy array as value.
+    """
+    sensors_dict = {}
+    for s in self.all_sensors():
+      if s.get_name() in self._gym_config.ignored_sensor_list:
+        continue
+
+      obs = s.get_observation()
+      if isinstance(obs, dict):
+        sensors_dict.update(obs)
+      else:
+        sensors_dict[s.get_name()] = obs
+
+    self._observation_dict = collections.OrderedDict(
+        sorted(sensors_dict.items()))
+    return self._observation_dict
+
+  def set_time_step(self, num_action_repeat, sim_step=0.001):
+    """Sets the time step of the environment.
+
+    Args:
+      num_action_repeat: The number of simulation steps/action repeats to be
+        executed when calling env.step().
+      sim_step: The simulation time step in PyBullet. By default, the simulation
+        step is 0.001s, which is a good trade-off between simulation speed and
+        accuracy.
+
+    Raises:
+      ValueError: If the num_action_repeat is less than 1.
+    """
+    if num_action_repeat < 1:
+      raise ValueError('number of action repeats should be at least 1.')
+    self._sim_time_step = sim_step
+    self._num_action_repeat = num_action_repeat
+    self._env_time_step = sim_step * num_action_repeat
+    self._num_bullet_solver_iterations = int(
+        _NUM_SIMULATION_ITERATION_STEPS / self._num_action_repeat)
+    self._pybullet_client.setPhysicsEngineParameter(
+        numSolverIterations=self._num_bullet_solver_iterations)
+    self._pybullet_client.setTimeStep(self._sim_time_step)
+    if not self._use_new_robot_class:
+      self._robot.SetTimeSteps(self._num_action_repeat, self._sim_time_step)
+
+  def _get_sim_time(self):
+    """Returns the simulation time since the sim resets."""
+    return self._sim_step_counter * self._sim_time_step
+
+  def get_time_since_reset(self):
+    """Get the time passed (in seconds) since the last reset.
+
+    Returns:
+      Time in seconds since the last reset.
+    """
+    if self._use_new_robot_class:
+      return self._clock() - self._last_reset_time
+    else:
+      return self._robot.GetTimeSinceReset()
+
+  def get_time(self):
+    """Gets the time reading from the clock source."""
+    return self._clock()
+
+  @property
+  def observation(self):
+    return self._observation_dict
+
+  @property
+  def pybullet_client(self):
+    return self._pybullet_client
+
+  @property
+  def robot(self):
+    return self._robot
+
+  @property
+  def num_action_repeat(self):
+    return self._num_action_repeat
+
+  @property
+  def sim_time_step(self):
+    return self._sim_time_step
+
+  @property
+  def env_step_counter(self):
+    return self._env_step_counter
+
+  @property
+  def hard_reset(self):
+    return self._hard_reset
+
+  @property
+  def last_action(self):
+    return self._last_action
+
+  @property
+  def env_time_step(self):
+    return self._env_time_step
+
+  @property
+  def data_dir(self):
+    return self._data_dir
+
+  @property
+  def task(self):
+    return self._task
+
+  @property
+  def robot_class(self):
+    return self._robot_class
+
+  @property
+  def action_names(self):
+    """Name of each action in the action space.
+
+    By default this returns the actions the robot executes (e.g.
+    "VELOCITY_elbow_joint"), but env wrappers may override this if they change
+    the action space (e.g. if they convert twist to motor commands).
+
+    Returns:
+      Tuple of strings, the action names.
+    """
+    if self._use_new_robot_class:
+      return self._robot.action_names
+    return self._action_list
+
+  @property
+  def metric_logger(self):
+    return self._metric_logger
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py
new file mode 100644
index 0000000000..1c9ea0e9b9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env_test.py
@@ -0,0 +1,240 @@
+# Lint as: python3
+r"""Tests for locomotion_gym_env.
+
+
+"""
+
+import math
+import random
+
+import gin
+import mock
+import numpy as np
+import unittest
+from absl.testing import parameterized
+
+from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env
+from pybullet_envs.minitaur.envs_v2.evaluation import metric as metric_lib
+from pybullet_envs.minitaur.envs_v2.scenes import scene_base
+from pybullet_envs.minitaur.envs_v2.scenes import simple_scene
+from pybullet_envs.minitaur.envs_v2.tasks import task_interface
+from pybullet_envs.minitaur.envs_v2.utilities import env_utils
+from pybullet_envs.minitaur.robots import autonomous_object
+from pybullet_envs.minitaur.robots import minitaur_v2
+import pybullet_data as pd
+
+import unittest
+
+
+_POSITION_GAIN = 1.0
+_VELOCITY_GAIN = 0.015
+_CONTROL_LATENCY = 0.015
+_CONFIG_FILE = (pd.getDataPath()+'/configs/minitaur_gym_env.gin')
+_CONFIG_FILE_NEW_ROBOT = (pd.getDataPath()+'/configs_v2/base/laikago_reactive.gin')
+
+
+class TestTask(task_interface.Task):
+  """A step counter task for test purpose."""
+
+  def __init__(self):
+    self._counter = 0
+
+  def reset(self, env):
+    del env
+    self._counter = 0
+
+  def reward(self, env):
+    del env  # TODO(b/154635313): resolve the API mismatch
+    self._counter += 1
+    return self._counter
+
+  def update(self, env):
+    del env  # TODO(b/154635313): resolve the API mismatch
+
+  def done(self, env):
+    del env  # TODO(b/154635313): resolve the API mismatch
+    return False
+
+
+class LocomotionGymEnvTest(unittest.TestCase):
+
+  def setUp(self):
+    super().setUp()
+    gin.clear_config()
+
+  def test_env_from_gin(self):
+    # TODO(sehoonha) rename locomotion_gym_*test.gin to locomotion_gym_*.gin
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv()
+    self.assertIsInstance(env.robot, minitaur_v2.Minitaur)
+    # The robot will stand on the ground.
+    self.assertAlmostEqual(env.robot.base_position[2], 0.25, 1)
+
+  def test_reset_gym(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv(task=None)
+
+    desired_init_motor_angle = math.pi / 2
+    action_dim = len(env.action_space.high)
+    observations = env.reset(initial_motor_angles=[desired_init_motor_angle] *
+                             action_dim)
+    observations = env_utils.flatten_observations(observations)
+    self.assertEqual(observations.size, 12)
+    self.assertAlmostEqual(observations[0], 0, 1)
+    self.assertAlmostEqual(observations[4], desired_init_motor_angle, 0)
+
+  def test_step_gym(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv(task=TestTask())
+
+    desired_motor_angle = math.pi / 3
+    steps = 1000
+    action_dim = len(env.action_space.high)
+    for _ in range(steps):
+      observations, reward, done, _ = env.step([desired_motor_angle] *
+                                               action_dim)
+      observations = env_utils.flatten_observations(observations)
+
+    self.assertFalse(done)
+    self.assertEqual(reward, steps)
+    self.assertEqual(observations.size, 12)
+    self.assertAlmostEqual(observations[0], 0, 1)
+    self.assertAlmostEqual(observations[4], desired_motor_angle, 1)
+    np.testing.assert_allclose(env._last_action,
+                               [desired_motor_angle] * action_dim, 2e-1)
+
+  def test_scene(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    data_root = 'urdf/'
+    env = locomotion_gym_env.LocomotionGymEnv(
+        task=TestTask(), scene=simple_scene.SimpleScene(data_root=data_root))
+    desired_motor_angle = math.pi / 3
+    steps = 2
+    action_dim = len(env.action_space.high)
+    for _ in range(steps):
+      _, reward, _, _ = env.step([desired_motor_angle] * action_dim)
+    self.assertEqual(reward, steps)
+
+  def test_except_on_invalid_config(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    gin.bind_parameter('SimulationParameters.num_action_repeat', 0)
+    with self.assertRaises(ValueError):
+      locomotion_gym_env.LocomotionGymEnv(task=None)
+
+  def test_no_scene(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv(task=None, scene=None)
+
+    # The robot will free fall.
+    self.assertAlmostEqual(env.robot.base_position[2], 0.15, 1)
+
+  def test_seed_draw_with_np(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv(task=None)
+    # first draw
+    env.seed(42)
+    nums1 = []
+    for _ in range(3):
+      nums1.append(env.np_random.randint(2**31 - 1))
+    # second draw
+    env.seed(42)
+    nums2 = []
+    for _ in range(3):
+      nums2.append(env.np_random.randint(2**31 - 1))
+    self.assertListEqual(nums1, nums2)
+
+  def test_get_observations(self):
+    gin.parse_config_file(_CONFIG_FILE)
+    env = locomotion_gym_env.LocomotionGymEnv(task=None)
+    desired_init_motor_angle = math.pi / 2
+    action_dim = len(env.action_space.high)
+    observations = env.reset(initial_motor_angles=[desired_init_motor_angle] *
+                             action_dim)
+    self.assertEqual(len(observations), 2)
+    self.assertEqual(len(observations['IMU']), 4)
+    self.assertAlmostEqual(observations['IMU'][0], 0, 2)
+    self.assertEqual(len(observations['MotorAngle']), 8)
+    self.assertAlmostEqual(observations['MotorAngle'][0], desired_init_motor_angle,0)
+
+  
+
+  
+
+  def test_step_with_dynamic_objects(self):
+    gin.parse_config_file(_CONFIG_FILE_NEW_ROBOT)
+
+    gin.parse_config([
+        'AutonomousObject.urdf_file = "urdf/mug.urdf"',
+        'SceneBase.dynamic_objects = [@AutonomousObject(), @AutonomousObject()]',
+        'LocomotionGymEnv.scene = @SceneBase()',
+    ])
+    env = locomotion_gym_env.LocomotionGymEnv()
+
+    self.assertEqual(len(env.scene.dynamic_objects), 2)
+    for obj in env.scene.dynamic_objects:
+      self.assertIsInstance(obj, autonomous_object.AutonomousObject)
+
+    # Replace dynamic objects with mocks for step tests.
+    mock_objects = [
+        mock.create_autospec(autonomous_object.AutonomousObject),
+        mock.create_autospec(autonomous_object.AutonomousObject)
+    ]
+    env.scene._type_to_objects_dict[
+        scene_base.ObjectType.DYNAMIC_OBJECT] = mock_objects
+    env.step(env.robot.action_space.sample())
+
+    expected_update_calls = [
+        mock.call(i * env.sim_time_step, mock.ANY)
+        for i in range(env.num_action_repeat)
+    ]
+    expected_apply_action_calls = [
+        mock.call(autonomous_object.AUTONOMOUS_ACTION)
+        for i in range(env.num_action_repeat)
+    ]
+    expected_receive_observation_calls = [
+        mock.call() for i in range(env.num_action_repeat)
+    ]
+
+    for mock_obj in mock_objects:
+      mock_obj.pre_control_step.assert_called_once_with(
+          autonomous_object.AUTONOMOUS_ACTION)
+      self.assertEqual(mock_obj.update.call_args_list, expected_update_calls)
+      self.assertEqual(mock_obj.apply_action.call_args_list,
+                       expected_apply_action_calls)
+      self.assertEqual(mock_obj.receive_observation.call_args_list,
+                       expected_receive_observation_calls)
+      mock_obj.post_control_step.assert_called_once_with()
+
+ 
+  def test_env_metrics(self):
+    gin.parse_config_file(_CONFIG_FILE_NEW_ROBOT)
+    env = locomotion_gym_env.LocomotionGymEnv()
+    metric_logger = env.metric_logger
+    test_metric_1 = metric_logger.create_scalar_metric(
+        'test_metric_1',
+        scope=metric_lib.MetricScope.DEBUG,
+        single_ep_aggregator=np.mean)
+    test_metric_1.report(22)
+
+    test_metric_2 = metric_logger.create_scalar_metric(
+        'test_metric_2',
+        scope=metric_lib.MetricScope.PERFORMANCE,
+        single_ep_aggregator=np.max)
+    test_metric_2.report(15)
+    test_metric_2.report(16)
+
+    all_metrics = metric_logger.get_episode_metrics()
+
+    self.assertDictEqual(all_metrics, {
+        'DEBUG/test_metric_1': 22,
+        'PERFORMANCE/test_metric_2': 16
+    })
+
+    env.reset()
+
+    all_metrics = metric_logger.get_episode_metrics()
+    self.assertDictEqual(all_metrics, {})
+
+
+if __name__ == '__main__':
+   unittest.main()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py
new file mode 100644
index 0000000000..c716d367b4
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/multiagent_mobility_gym_env.py
@@ -0,0 +1,485 @@
+"""This file implements the locomotion gym env."""
+# pylint: disable=dangerous-default-value
+
+import atexit
+import collections
+import time
+
+import gin
+from gym import spaces
+import numpy as np
+
+from pybullet_utils import bullet_client
+from pybullet_envs.minitaur.envs import minitaur_logging
+from pybullet_envs.minitaur.envs import minitaur_logging_pb2
+from pybullet_envs.minitaur.envs_v2 import locomotion_gym_env
+from pybullet_envs.minitaur.envs_v2.scenes import scene_base
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.sensors import space_utils
+import pybullet
+
+_ACTION_EPS = 0.01
+_NUM_SIMULATION_ITERATION_STEPS = 300
+_LOG_BUFFER_LENGTH = 5000
+
+
+@gin.configurable
+class MultiagentMobilityGymEnv(locomotion_gym_env.LocomotionGymEnv):
+  """The gym environment for the locomotion tasks."""
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second': 100
+  }
+
+  def __init__(self,
+               gym_config,
+               robot_classes,
+               scene: scene_base.SceneBase = scene_base.SceneBase(),
+               sensors=None,
+               tasks=[],
+               global_task=None,
+               single_reward=False,
+               env_randomizers=None):
+    """Initializes the locomotion gym environment.
+
+    Args:
+      gym_config: An instance of LocomotionGymConfig.
+      robot_classes: A list of robot classes. We provide a class rather than an
+        instance due to hard_reset functionality. Parameters are expected to be
+        configured with gin.
+      scene: An object for managing the robot's surroundings.
+      sensors: A list of environmental sensors for observation. This does not
+        include on-robot sensors.
+      tasks: A list of callable function/class to calculate the reward and
+        termination condition. Takes the gym env as the argument when calling.
+      global_task: A callable function/class to calculate the reward and
+        termination condition for all robots. Takes the gym env as the argument
+        when calling.
+      single_reward: Whether the environment returns a single reward for all
+        agents or a dictionary.
+      env_randomizers: A list of EnvRandomizer(s). An EnvRandomizer may
+        randomize the physical property of minitaur, change the terrrain during
+        reset(), or add perturbation forces during step().
+
+    Raises:
+      ValueError: If the num_action_repeat is less than 1, or if number of
+        unique robot names do not match the number of robot classes.
+
+    """
+    # TODO(sehoonha) split observation and full-state sensors (b/129858214)
+
+    # Makes sure that close() is always called to flush out the logs to the
+    # disk.
+    atexit.register(self.close)
+    self.seed()
+    self._gym_config = gym_config
+    self._robot_classes = robot_classes
+    # Checking uniqueness of names and number of names
+    self._scene = scene
+    # TODO(sehoonha) change the data structure to dictionary
+    # TODO(b/144521291) make sure sensors have their own robot names
+    self._sensors = sensors if sensors is not None else list()
+    self._log_path = gym_config.log_path
+    self._logging = minitaur_logging.MinitaurLogging(self._log_path)
+    self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
+    self._data_dir = gym_config.data_dir
+
+    # A dictionary containing the objects in the world other than the robot.
+    self._tasks = tasks
+    self._global_task = global_task
+    self._single_reward = single_reward
+
+    self._env_randomizers = env_randomizers if env_randomizers else []
+
+    # This is a workaround due to the issue in b/130128505#comment5
+    for task in self._tasks:
+      if isinstance(task, sensor.Sensor):
+        self._sensors.append(task)
+    if global_task and isinstance(global_task, sensor.Sensor):
+      self._sensors.append(global_task)
+
+    # Simulation related parameters.
+    self._num_action_repeat = gym_config.simulation_parameters.num_action_repeat
+    self._on_rack = gym_config.simulation_parameters.robot_on_rack
+    if self._num_action_repeat < 1:
+      raise ValueError('number of action repeats should be at least 1.')
+    self._sim_time_step = gym_config.simulation_parameters.sim_time_step_s
+    self._env_time_step = self._num_action_repeat * self._sim_time_step
+    self._env_step_counter = 0
+
+    # TODO(b/73829334): Fix the value of self._num_bullet_solver_iterations.
+    self._num_bullet_solver_iterations = int(_NUM_SIMULATION_ITERATION_STEPS /
+                                             self._num_action_repeat)
+    self._is_render = gym_config.simulation_parameters.enable_rendering
+
+    # The wall-clock time at which the last frame is rendered.
+    self._last_frame_time = 0.0
+    if self._is_render:
+      self._pybullet_client = bullet_client.BulletClient(
+          connection_mode=pybullet.GUI)
+    else:
+      self._pybullet_client = bullet_client.BulletClient()
+
+    if gym_config.simulation_parameters.egl_rendering:
+      self._pybullet_client.loadPlugin('eglRendererPlugin')
+    self._pybullet_client.enable_cns()
+
+    # If enabled, save the performance profile to profiling_path
+    # Use Google Chrome about://tracing to open the file
+    if gym_config.profiling_path is not None:
+      self._profiling_slot = self._pybullet_client.startStateLogging(
+          self._pybullet_client.STATE_LOGGING_PROFILE_TIMINGS,
+          gym_config.profiling_path)
+      self._profiling_counter = 10
+    else:
+      self._profiling_slot = -1
+    # Build the action space. The action space must be compatible with the
+    # robot configuration.
+
+    # The action list contains the name of all actions.
+    # TODO(b/144479707): Allow robots to set the action space automatically.
+
+    action_space = collections.OrderedDict()
+    for robot_name, action in gym_config.actions.items():
+      action_lower_bound = []
+      action_upper_bound = []
+      for action_scalar in action:
+        action_upper_bound.append(action_scalar.upper_bound)
+        action_lower_bound.append(action_scalar.lower_bound)
+      action_space[robot_name] = spaces.Box(
+          np.asarray(action_lower_bound),
+          np.asarray(action_upper_bound),
+          dtype=np.float32)
+    self.action_space = spaces.Dict(action_space)
+
+    # Set the default render options.
+    self._camera_dist = gym_config.simulation_parameters.camera_distance
+    self._camera_yaw = gym_config.simulation_parameters.camera_yaw
+    self._camera_pitch = gym_config.simulation_parameters.camera_pitch
+    self._render_width = gym_config.simulation_parameters.render_width
+    self._render_height = gym_config.simulation_parameters.render_height
+
+    self._hard_reset = True
+    self.reset()
+
+    self._hard_reset = gym_config.simulation_parameters.enable_hard_reset
+
+    # Construct the observation space from the list of sensors. Note that we
+    # will reconstruct the observation_space after the robot is created.
+    self.observation_space = (
+        space_utils.convert_sensors_to_gym_space_dictionary(self.all_sensors()))
+
+  def close(self):
+    if self._log_path is not None:
+      self._logging.save_episode(self._episode_proto)
+
+    for robot in self._robots:
+      robot.Terminate()
+
+  def all_sensors(self):
+    """Returns all robot and environmental sensors."""
+    robot_sensors = []
+    for robot in self._robots:
+      robot_sensors += robot.GetAllSensors()
+    return robot_sensors + self._sensors
+
+  @gin.configurable('multiagent_mobility_gym_env.MultiagentMobilityGymEnv.reset'
+                   )
+  def reset(self,
+            initial_motor_angles=None,
+            reset_duration=1.0,
+            reset_visualization_camera=True):
+    """Resets the robot's position in the world or rebuild the sim world.
+
+    The simulation world will be rebuilt if self._hard_reset is True.
+
+    Args:
+      initial_motor_angles: A list of Floats. The desired joint angles after
+        reset. If None, the robot will use its built-in value.
+      reset_duration: Float. The time (in seconds) needed to rotate all motors
+        to the desired initial values.
+      reset_visualization_camera: Whether to reset debug visualization camera on
+        reset.
+
+    Returns:
+      A numpy array contains the initial observation after reset.
+    """
+    if self._is_render:
+      self._pybullet_client.configureDebugVisualizer(
+          self._pybullet_client.COV_ENABLE_RENDERING, 0)
+
+    # Clear the simulation world and rebuild the robot interface.
+    if self._hard_reset:
+      self._pybullet_client.resetSimulation()
+      self._pybullet_client.setPhysicsEngineParameter(
+          numSolverIterations=self._num_bullet_solver_iterations)
+      self._pybullet_client.setTimeStep(self._sim_time_step)
+      self._pybullet_client.setGravity(0, 0, -10)
+
+      # Rebuild the world.
+      self._scene.build_scene(self._pybullet_client)
+
+      # Rebuild the robots
+      # TODO(b/144545080): Make this scale to more than two agents
+      # Have multiple robot classes as a list.
+      self._robots = []
+      for robot_class in self._robot_classes:
+
+        self._robots.append(
+            robot_class(
+                pybullet_client=self._pybullet_client,
+                # TODO(rosewang): Remove on rack in multiagent acase
+                on_rack=self._on_rack))
+
+    # Reset the pose of the robot.
+    for robot in self._robots:
+      robot.Reset(
+          reload_urdf=False,
+          default_motor_angles=initial_motor_angles,
+          reset_time=reset_duration)
+
+    self._env_step_counter = 0
+    self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist,
+                                                     self._camera_yaw,
+                                                     self._camera_pitch,
+                                                     [0, 0, 0])
+
+    # Flush the logs to disc and reinitialize the logging system.
+    if self._log_path is not None:
+      self._logging.save_episode(self._episode_proto)
+      self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
+      minitaur_logging.preallocate_episode_proto(self._episode_proto,
+                                                 _LOG_BUFFER_LENGTH,
+                                                 self._robots[0])
+    self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
+    self._env_step_counter = 0
+    if reset_visualization_camera:
+      self._pybullet_client.resetDebugVisualizerCamera(self._camera_dist,
+                                                       self._camera_yaw,
+                                                       self._camera_pitch,
+                                                       [0, 0, 0])
+
+    self._last_action = {
+        robot_name: np.zeros(space.shape)
+        for robot_name, space in self.action_space.spaces.items()
+    }
+
+    if self._is_render:
+      self._pybullet_client.configureDebugVisualizer(
+          self._pybullet_client.COV_ENABLE_RENDERING, 1)
+
+    for s in self.all_sensors():
+      # set name
+      if any([r.name in s.get_name() for r in self.robots]):
+        robot = [r for r in self.robots if r.name in s.get_name()][0]
+        s.set_robot(robot)
+
+    for task in self._tasks:
+      if hasattr(task, 'reset'):
+        task.reset(self)
+    if self._global_task and hasattr(self._global_task, 'reset'):
+      self._global_task.reset(self)
+
+    # Loop over all env randomizers.
+    for env_randomizer in self._env_randomizers:
+      env_randomizer.randomize_env(self)
+
+    for s in self.all_sensors():
+      s.on_reset(self)
+
+    return self._get_observation()
+
+  def get_robot(self, name):
+    for robot in self.robots:
+      if robot.name == name:
+        return robot
+
+  def _reward(self):
+    """Returns a list of rewards.
+
+    Returns:
+      A list of rewards corresponding to each robot and their task.
+    """
+    global_reward = 0
+    if self._global_task:
+      global_reward = self._global_task(self)
+    if self._single_reward:  # Needed for tfagents compatibility.
+      if self._tasks:
+        return min([task(self) + global_reward for task in self._tasks])
+      return 0
+    else:
+      if self._tasks:
+        return [task(self) + global_reward for task in self._tasks]
+      return [0 for _ in self.robots]
+
+  def step(self, actions):
+    """Step forward the simulation, given the actions.
+
+    Args:
+      actions: A dictionary of actions for all robots. The action for each robot
+        can be joint angles for legged platforms like Laikago, and base
+        velocity/steering for kinematic robots such like Fetch.
+
+    Returns:
+      observations: The observation dictionary. The keys are the sensor names
+        and the values are the sensor readings.
+      reward: The reward for the current state-action pair.
+      done: Whether the episode has ended.
+      info: A dictionary that stores diagnostic information.
+
+    Raises:
+      ValueError: The action dimension is not the same as the number of motors.
+      ValueError: The magnitude of actions is out of bounds.
+    """
+    self._last_base_position = [
+        robot.GetBasePosition() for robot in self._robots
+    ]
+    self._last_action = actions
+
+    if self._is_render:
+      # Sleep, otherwise the computation takes less time than real time,
+      # which will make the visualization like a fast-forward video.
+      time_spent = time.time() - self._last_frame_time
+      self._last_frame_time = time.time()
+      time_to_sleep = self._env_time_step - time_spent
+      if time_to_sleep > 0:
+        time.sleep(time_to_sleep)
+      camera_target = np.mean(
+          [robot.GetBasePosition() for robot in self._robots], axis=0)
+
+      # Also keep the previous orientation of the camera set by the user.
+      [yaw, pitch,
+       dist] = self._pybullet_client.getDebugVisualizerCamera()[8:11]
+      self._pybullet_client.resetDebugVisualizerCamera(dist, yaw, pitch,
+                                                       camera_target)
+
+    for env_randomizer in self._env_randomizers:
+      env_randomizer.randomize_step(self)
+
+    # Stepping broken down into their parts
+    for robot in self._robots:
+      robot.PreStepPerStep(actions)
+
+    for _ in range(self._num_action_repeat):
+      for robot in self._robots:
+        robot.PreStepPerActionRepeat(actions)
+
+      self._pybullet_client.stepSimulation()
+
+      for robot in self._robots:
+        robot.PostStepPerActionRepeat()
+
+    for robot in self._robots:
+      robot.PostStepPerStep()
+
+    if self._profiling_slot >= 0:
+      self._profiling_counter -= 1
+      if self._profiling_counter == 0:
+        self._pybullet_client.stopStateLogging(self._profiling_slot)
+    if self._log_path is not None:
+      minitaur_logging.update_episode_proto(self._episode_proto,
+                                            self._robots[0], actions,
+                                            self._env_step_counter)
+    reward = self._reward()
+
+    for s in self.all_sensors():
+      s.on_step(self)
+
+    for task in self._tasks:
+      if hasattr(task, 'update'):
+        task.update(self)
+    if self._global_task and hasattr(self._global_task, 'update'):
+      self._global_task.update(self)
+
+    done = self._termination()
+    self._env_step_counter += 1
+    if done:
+      for robot in self._robots:
+        robot.Terminate()
+    return self._get_observation(), reward, done, {}
+
+  def render(self, mode='rgb_array'):
+    if mode != 'rgb_array':
+      raise ValueError('Unsupported render mode:{}'.format(mode))
+    base_pos = np.mean([robot.GetBasePosition() for robot in self._robots],
+                       axis=0)
+    view_matrix = self._pybullet_client.computeViewMatrixFromYawPitchRoll(
+        cameraTargetPosition=base_pos,
+        distance=self._camera_dist,
+        yaw=self._camera_yaw,
+        pitch=self._camera_pitch,
+        roll=0,
+        upAxisIndex=2)
+    proj_matrix = self._pybullet_client.computeProjectionMatrixFOV(
+        fov=60,
+        aspect=float(self._render_width) / self._render_height,
+        nearVal=0.1,
+        farVal=100.0)
+    (_, _, px, _, _) = self._pybullet_client.getCameraImage(
+        width=self._render_width,
+        height=self._render_height,
+        renderer=self._pybullet_client.ER_BULLET_HARDWARE_OPENGL,
+        viewMatrix=view_matrix,
+        projectionMatrix=proj_matrix)
+    rgb_array = np.array(px)
+    rgb_array = rgb_array[:, :, :3]
+    return rgb_array
+
+  def _termination(self):
+    if not all([robot.is_safe for robot in self._robots]):
+      return True
+
+    if self._tasks:
+      return (self._global_task and self._global_task.done(self)) or any(
+          [task.done(self) for task in self._tasks])
+
+    for s in self.all_sensors():
+      s.on_terminate(self)
+
+    return False
+
+  def set_time_step(self, num_action_repeat, sim_step=0.001):
+    """Sets the time step of the environment.
+
+    Args:
+      num_action_repeat: The number of simulation steps/action repeats to be
+        executed when calling env.step().
+      sim_step: The simulation time step in PyBullet. By default, the simulation
+        step is 0.001s, which is a good trade-off between simulation speed and
+        accuracy.
+
+    Raises:
+      ValueError: If the num_action_repeat is less than 1.
+    """
+    if num_action_repeat < 1:
+      raise ValueError('number of action repeats should be at least 1.')
+    self._sim_time_step = sim_step
+    self._num_action_repeat = num_action_repeat
+    self._env_time_step = sim_step * num_action_repeat
+    self._num_bullet_solver_iterations = (
+        _NUM_SIMULATION_ITERATION_STEPS / self._num_action_repeat)
+    self._pybullet_client.setPhysicsEngineParameter(
+        numSolverIterations=self._num_bullet_solver_iterations)
+    self._pybullet_client.setTimeStep(self._sim_time_step)
+    for robot in self._robots:
+      robot.SetTimeSteps(self._num_action_repeat, self._sim_time_step)
+
+  def get_time_since_reset(self):
+    """Get the time passed (in seconds) since the last reset.
+
+    Returns:
+      List of time in seconds since the last reset for each robot.
+    """
+    return self._robots[0].GetTimeSinceReset()
+
+  @property
+  def tasks(self):
+    return self._tasks
+
+  @property
+  def robots(self):
+    return self._robots
+
+  @property
+  def num_robots(self):
+    return len(self._robots)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py
new file mode 100644
index 0000000000..a9895cfc73
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/random_stepstone_scene.py
@@ -0,0 +1,149 @@
+# Lint as: python3
+"""Scene with randomly spaced stepstones."""
+
+from typing import Optional, Sequence
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.scenes import scene_base
+from pybullet_envs.minitaur.envs_v2.scenes.terrain import stepstones
+
+
+@gin.configurable
+class RandomStepstoneScene(scene_base.SceneBase):
+  """Scene with randomly spaced stepstones."""
+
+  def __init__(
+      self,
+      num_stones: int = 50,
+      stone_height: float = 0.1,
+      stone_width_lower_bound: float = 10.0,
+      stone_width_upper_bound: float = 10.0,
+      stone_length_lower_bound: float = 0.1,
+      stone_length_upper_bound: float = 0.3,
+      gap_length_lower_bound: float = 0.1,
+      gap_length_upper_bound: float = 0.3,
+      height_offset_lower_bound: float = 0.0,
+      height_offset_upper_bound: float = 1e-6,
+      floor_height_lower_bound: float = -0.5,
+      floor_height_upper_bound: float = -0.55,
+      platform_length_lower_bound: float = 0.75,
+      platform_length_upper_bound: float = 1.0,
+      random_seed: Optional[int] = None,
+      color_sequence: Sequence[Sequence[float]] = stepstones.MULTICOLOR,
+      rebuild_scene_during_reset: bool = True):
+    """Initializes RandomStepstoneScene.
+
+    Args:
+      num_stones: The number of stepstones.
+      stone_height: The height in meters of each stepstone.
+      stone_width_lower_bound: The lower bound in meters of the randomly sampled
+        stepstone width.
+      stone_width_upper_bound: The upper bound in meters of the randomly sampled
+        stepstone width.
+      stone_length_lower_bound: The lower bound in meters of the randomly
+        sampled stepstone length.
+      stone_length_upper_bound: The upper bound in meters of the randomly
+        sampled stepstone length.
+      gap_length_lower_bound: The lower bound in meters of the random sampled
+        gap distance.
+      gap_length_upper_bound: The upper bound in meters of the random sampled
+        gap distance.
+      height_offset_lower_bound: The lower bound in meters of the randomly
+        sampled stepstone height.
+      height_offset_upper_bound: The upper bound in meters of the randomly
+        sampled stepstone height.
+      floor_height_lower_bound: The lower bound in meters of the randomly
+        sampled floor height.
+      floor_height_upper_bound: The upper bound in meters of the randomly
+        sampled floor height.
+      platform_length_lower_bound: The lower bound in meters of the first step
+        stone length.
+      platform_length_upper_bound: The upper bound in meters of the first step
+        stone length.
+      random_seed: The random seed to generate the random stepstones.
+      color_sequence: A list of (red, green, blue, alpha) colors where each
+        element is in [0, 1] and alpha is transparency. The stepstones will
+        cycle through these colors.
+      rebuild_scene_during_reset: Whether to rebuild the stepstones during
+        reset.
+    """
+    for color in color_sequence:
+      if len(color) != 4:
+        raise ValueError(
+            "Each color must be length 4; got <{}>".format(color_sequence))
+
+    super(RandomStepstoneScene, self).__init__(data_root=None)
+    self._num_stones = num_stones
+    self._stone_height = stone_height
+    self._stone_width_lower_bound = stone_width_lower_bound
+    self._stone_width_upper_bound = stone_width_upper_bound
+    self._stone_length_lower_bound = stone_length_lower_bound
+    self._stone_length_upper_bound = stone_length_upper_bound
+    self._gap_length_lower_bound = gap_length_lower_bound
+    self._gap_length_upper_bound = gap_length_upper_bound
+    self._height_offset_lower_bound = height_offset_lower_bound
+    self._height_offset_upper_bound = height_offset_upper_bound
+    self._floor_height_lower_bound = floor_height_lower_bound
+    self._floor_height_upper_bound = floor_height_upper_bound
+    self._platform_length_lower_bound = platform_length_lower_bound
+    self._platform_length_upper_bound = platform_length_upper_bound
+    self._random_seed = random_seed
+    self._color_sequence = color_sequence
+    self._rebuild_scene_during_reset = rebuild_scene_during_reset
+
+  def reset(self):
+    super().reset()
+
+    if self._rebuild_scene_during_reset:
+      for ground_id in self.ground_ids:
+        self._pybullet_client.removeBody(ground_id)
+      self.build_scene(self._pybullet_client)
+
+  def build_scene(self, pybullet_client):
+    super().build_scene(pybullet_client)
+    # The first stone is to let the robot stand at the initial position.
+
+    stone_width = np.random.uniform(self._stone_width_lower_bound,
+                                    self._stone_width_upper_bound)
+    platform_length = np.random.uniform(self._platform_length_lower_bound,
+                                        self._platform_length_upper_bound)
+
+    end_pos, first_stone_id = stepstones.build_one_stepstone(
+        pybullet_client=pybullet_client,
+        start_pos=(-platform_length / 2.0, 0, 0),
+        stone_length=platform_length,
+        stone_height=self._stone_height,
+        stone_width=stone_width,
+        gap_length=0.0,
+        height_offset=0.0,
+        rgba_color=stepstones.GRAY)
+
+    _, stepstone_ids = stepstones.build_random_stepstones(
+        pybullet_client=self.pybullet_client,
+        start_pos=end_pos,
+        num_stones=self._num_stones,
+        stone_height=self._stone_height,
+        stone_width=stone_width,
+        stone_length_lower_bound=self._stone_length_lower_bound,
+        stone_length_upper_bound=self._stone_length_upper_bound,
+        gap_length_lower_bound=self._gap_length_lower_bound,
+        gap_length_upper_bound=self._gap_length_upper_bound,
+        height_offset_lower_bound=self._height_offset_lower_bound,
+        height_offset_upper_bound=self._height_offset_upper_bound,
+        random_seed=self._random_seed,
+        color_sequence=self._color_sequence)
+    for pybullet_id in [first_stone_id] + stepstone_ids:
+      self.add_object(pybullet_id, scene_base.ObjectType.GROUND)
+
+    self._floor_height = np.random.uniform(self._floor_height_lower_bound,
+                                           self._floor_height_upper_bound)
+    # Add floor
+    floor_id = stepstones.load_box(pybullet_client,
+        half_extents=[100, 100, 1],
+        position=np.array([0.0, 0.0, self._floor_height - 1.0]),
+        orientation=(0.0, 0.0, 0.0, 1.0),
+        rgba_color=(1.0, 1.0, 1.0, 1.0),
+        mass=0)
+    self.add_object(floor_id, scene_base.ObjectType.GROUND)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py
new file mode 100644
index 0000000000..c52ce10f66
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/scene_base.py
@@ -0,0 +1,256 @@
+# Lint as: python3
+"""Class for loading and managing a scene in pybullet."""
+
+import enum
+from typing import Any, Dict, List, Optional, Sequence, Text
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.scenes import world_asset_pb2
+from pybullet_envs.minitaur.envs_v2 import base_client
+from pybullet_utils import bullet_client
+from pybullet_envs.minitaur.robots import autonomous_object
+
+
+
+# The 2D coordinates of the corners of a polygon. The corners are specified in
+# counterclock-wise direction.
+Polygon = Sequence[Sequence[float]]
+
+
+class ObjectType(enum.Enum):
+  """Categories of objects that may be found in a scene."""
+  OTHER = 0
+  GROUND = 1
+  OBSTACLE = 2
+  GOAL = 3
+  DYNAMIC_OBJECT = 4
+
+
+@gin.configurable
+class SceneBase(object):
+  """Class for loading and managing a scene."""
+
+  def __init__(
+      self,
+      data_root: Text = None,
+      dynamic_objects: Sequence[autonomous_object.AutonomousObject] = ()):
+    """Initializes SceneBase.
+
+    Args:
+      data_root: Root directory for finding object models.
+      dynamic_objects: Dynamic objects to be added into the scene.
+      crowd_builders: Builders of crowds formed by autonomous objects.
+    """
+    self._pybullet_client = None
+    self._data_root = data_root
+    temp_dynamic_objects = list(dynamic_objects)
+    
+    self._dynamic_objects = tuple(temp_dynamic_objects)
+    # Dictionaries and world_asset are declared outside init to make sure they
+    # are all reset in _reset_scene_tracking().
+    self._reset_scene_tracking()
+
+  def _reset_scene_tracking(self):
+    """Clears all scene dicts. Used when the simulation is reset."""
+    self._type_to_ids_dict = {object_type: [] for object_type in ObjectType}
+    self._type_to_objects_dict = {object_type: [] for object_type in ObjectType}
+    self._id_to_type_dict = {}
+    self._id_to_object_dict = {}
+    self._world_asset = None
+
+  def destroy_scene(self):
+    """Destroys contents of scene to get ready for another build_scene call."""
+    id_to_remove = list(self._id_to_object_dict.keys())
+    for object_id in id_to_remove:
+      self.remove_object(object_id)
+    self._reset_scene_tracking()
+
+  def build_scene(self, pybullet_client: bullet_client.BulletClient):
+    """Loads and positions all scene objects in pybullet.
+
+    Override this function in subclass to implement customized scene. The
+    overriding function must call base function first.
+
+    Args:
+      pybullet_client: A pybullet client in which the scene will be built.
+    """
+    self._reset_scene_tracking()
+    self._pybullet_client = pybullet_client
+    self._init_dynamic_objects()
+
+  def reset(self):
+    """The soft reset of scene.
+
+    Unlike "build_scene", this is called at each env.reset() before robot
+    resetting. Typically we use this API to do some soft resetting like putting
+    objects back to its place. Howevever, for special cases such as P2P multimap
+    training, we can reload a different mesh scene once a while.
+    """
+    pass
+    
+  def _init_dynamic_objects(self):
+    """Adds dynamic objects to scene."""
+    for an_object in self._dynamic_objects:
+      an_object.set_sim_client(self._pybullet_client)
+      self.add_object(an_object.sim_object_id, ObjectType.DYNAMIC_OBJECT,
+                      an_object)
+
+  @property
+  def pybullet_client(self) -> bullet_client.BulletClient:
+    if self._pybullet_client is None:
+      raise ValueError("pybullet_client is None; did you call build_scene()?")
+    return self._pybullet_client
+
+  @property
+  def ground_height(self) -> float:
+    """Returns ground height of the scene."""
+    return 0.0
+
+  @property
+  def ground_ids(self) -> List[int]:
+    """Returns the pybullet ids of the ground."""
+    return self._type_to_ids_dict[ObjectType.GROUND]
+
+  @property
+  def obstacle_ids(self) -> List[int]:
+    """Returns the pybullet ids of all obstacles in the scene."""
+    return self._type_to_ids_dict[ObjectType.OBSTACLE]
+
+  @property
+  def goal_ids(self) -> List[int]:
+    """Returns the pybullet ids of any goals in the scene."""
+    return self._type_to_ids_dict[ObjectType.GOAL]
+
+  @property
+  def dynamic_object_ids(self) -> List[int]:
+    """Returns the pybullet ids of dynamic objects."""
+    return self._type_to_ids_dict[ObjectType.DYNAMIC_OBJECT]
+
+  @property
+  def dynamic_objects(self) -> List[autonomous_object.AutonomousObject]:
+    """Returns the dynamic objects python object (AutonomousObject)."""
+    return self._type_to_objects_dict[ObjectType.DYNAMIC_OBJECT]
+
+  @property
+  def world_asset(self) -> world_asset_pb2.WorldAsset:
+    """Returns a proto describing the semantics of the scene.
+
+    If the scene keeps a WorldAsset, then mutating this proto will mutate it for
+    everyone. If the scene generates a WorldAsset from _type_to_ids_dict, then
+    this is not an issue.
+    """
+    if self._world_asset:
+      return self._world_asset
+    return self._dict_to_world_asset(self._type_to_ids_dict)
+
+  def add_object(self,
+                 object_id: int,
+                 class_label: ObjectType,
+                 python_object: Optional[Any] = None):
+    """Adds an object to be tracked.
+
+    Does not load anything into pybullet.
+
+    Args:
+      object_id: objectUniqueId from pybullet.
+      class_label: What type to consider the new object.
+      python_object: Associated python object for the pybullet object of
+        objectUniqueId == object_id. Environment uses the python object to
+        control object in pybullet in these cases. One example is python objects
+        of class label DYNAMIC_OBJECT: they are associated with python objects
+          of type AutonomousObject.
+    """
+    if python_object is not None:
+      if (isinstance(python_object, autonomous_object.AutonomousObject) and
+          python_object.sim_object_id != object_id):
+        raise ValueError(
+            f"Mismatch object ids, object_id = {object_id}, sim_object_id = "
+            f"{python_object.sim_object_id}")
+      self._type_to_objects_dict[class_label].append(python_object)
+    self._type_to_ids_dict[class_label].append(object_id)
+    self._id_to_type_dict[object_id] = class_label
+    self._id_to_object_dict[object_id] = python_object
+
+  def remove_object(self, object_id: int):
+    """Removes an object from tracking and from pybullet.
+
+    Args:
+      object_id: objectUniqueID from pybullet.
+
+    Raises:
+      KeyError: if object_id does not exist in the record.
+    """
+    if object_id not in self._id_to_type_dict.keys():
+      raise KeyError(
+          f"Object with object_id = {object_id} does not exist in the record.")
+
+    self.pybullet_client.removeBody(object_id)
+    object_type = self._id_to_type_dict[object_id]
+    self._type_to_ids_dict[object_type].remove(object_id)
+
+    object_to_remove = self.id_to_object(object_id)
+    if object_to_remove is not None:
+      # Removes item by identity comparison and avoid slow down due to objects
+      # with complex equality comparison function. list.remove() compares
+      # equality instead of identity.
+      for i, an_object in enumerate(self._type_to_objects_dict[object_type]):
+        if an_object is object_to_remove:
+          del self._type_to_objects_dict[object_type][i]
+          break
+    del self._id_to_type_dict[object_id]
+    del self._id_to_object_dict[object_id]
+
+  def id_to_object(self, object_id: int) -> Any:
+    """Returns underlying python object from sim object id.
+
+    Args:
+      object_id: objectUniqueID from pybullet.
+
+    Returns:
+      None is returned if the sim object does not have a corresponding python
+      object.
+    """
+    return self._id_to_object_dict[object_id]
+
+  def _dict_to_world_asset(
+      self, type_to_ids_dict: Dict[ObjectType,
+                                   List[int]]) -> world_asset_pb2.WorldAsset:
+    """Converts a dictionary to a WorldAsset.
+
+    Args:
+      type_to_ids_dict: Dictionary that describes the scene. Keys are
+        ObjectTypes and values are lists of integers, where each integer is a
+        pybullet id for an object of a given type.
+
+    Returns:
+      A WorldAsset proto with the types, locations and bounding boxes of all
+      objects in the scene.
+    """
+    world_asset = world_asset_pb2.WorldAsset()
+    for object_type in type_to_ids_dict.keys():
+      for obj_id in type_to_ids_dict[object_type]:
+        bbox = np.array(self.pybullet_client.getAABB(obj_id))
+        bbox_center = np.mean(bbox, axis=0)
+        bbox_dimensions = bbox[1] - bbox[0]
+
+        obj = world_asset_pb2.Object()
+        obj.id = str(obj_id)
+        obj.label = str(object_type)
+        obj.bounding_box.center.x = bbox_center[0]
+        obj.bounding_box.center.y = bbox_center[1]
+        obj.bounding_box.center.z = bbox_center[2]
+        obj.bounding_box.dimensions.x = bbox_dimensions[0]
+        obj.bounding_box.dimensions.y = bbox_dimensions[1]
+        obj.bounding_box.dimensions.z = bbox_dimensions[2]
+        world_asset.objects.append(obj)
+    return world_asset
+
+  def close(self):
+    """Closes the scene at the end of life cycle of the environment."""
+    pass
+
+  @property
+  def vectorized_map(self) -> Sequence[Polygon]:
+    """Returns vectorized map containing a list of polygon obstacles."""
+    raise NotImplementedError("vectorized_map is not implemented by default.")
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py
new file mode 100644
index 0000000000..0099e9e961
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/simple_scene.py
@@ -0,0 +1,35 @@
+# Lint as: python3
+"""A scene containing only a planar floor."""
+
+from typing import Sequence
+
+import gin
+from pybullet_envs.minitaur.envs_v2 import base_client
+from pybullet_envs.minitaur.envs_v2.scenes import scene_base
+
+_PLANE_URDF = (
+    "plane.urdf")
+
+
+@gin.configurable
+class SimpleScene(scene_base.SceneBase):
+  """A scene containing only a planar floor."""
+
+  def build_scene(self, pybullet_client):
+    super().build_scene(pybullet_client)
+
+    visual_shape_id = self._pybullet_client.createVisualShape(
+        shapeType=self._pybullet_client.GEOM_PLANE)
+    collision_shape_id = self._pybullet_client.createCollisionShape(
+        shapeType=self._pybullet_client.GEOM_PLANE)
+    ground_id = self._pybullet_client.createMultiBody(
+        baseMass=0,
+        baseCollisionShapeIndex=collision_shape_id,
+        baseVisualShapeIndex=visual_shape_id)
+    self._pybullet_client.changeDynamics(ground_id, -1, lateralFriction=1.0)
+    self.add_object(ground_id, scene_base.ObjectType.GROUND)
+
+  @property
+  def vectorized_map(self) -> Sequence[scene_base.Polygon]:
+    """Returns vectorized map containing a list of polygon obstacles."""
+    return []
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py
new file mode 100644
index 0000000000..63648dd8c5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/terrain/stepstones.py
@@ -0,0 +1,234 @@
+# Lint as: python3
+"""Generates stepstones in PyBullet simulation."""
+
+import itertools
+import random
+from typing import List, Optional, Sequence, Tuple
+import numpy as np
+import pybullet
+from pybullet_utils import bullet_client
+
+GRAY = (0.3, 0.3, 0.3, 1)
+# RGB values from the official Google logo colors.
+GREEN = [60/255, 186/255, 84/255, 1]
+YELLOW = [244/255, 194/255, 13/255, 1]
+RED = [219/255, 50/255, 54/255, 1]
+BLUE = [72/255, 133/255, 237/255, 1]
+
+MULTICOLOR = (GREEN, YELLOW, RED, BLUE)
+
+def load_box(pybullet_client: bullet_client.BulletClient,
+               half_extents: Sequence[float] = (1, 1, 1),
+               position: Sequence[float] = (0, 0, 0),
+               orientation: Sequence[float] = (0, 0, 0, 1),
+               rgba_color: Sequence[float] = (0.3, 0.3, 0.3, 1),
+               mass: float = 0) -> int:
+    """Loads a visible and tangible box.
+
+    Args:
+      half_extents: Half the dimension of the box in meters in each direction.
+      position: Global coordinates of the center of the box.
+      orientation: As a quaternion.
+      rgba_color: The color and transparency of the box, each in the range
+        [0,1]. Defaults to opaque gray.
+      mass: Mass in kg. Mass 0 fixes the box in place.
+
+    Returns:
+      Unique integer referring to the loaded box.
+    """
+    col_box_id = pybullet_client.createCollisionShape(
+        pybullet.GEOM_BOX, halfExtents=half_extents)
+    visual_box_id = pybullet_client.createVisualShape(
+        pybullet.GEOM_BOX, halfExtents=half_extents, rgbaColor=rgba_color)
+    return pybullet_client.createMultiBody(
+        baseMass=mass,
+        baseCollisionShapeIndex=col_box_id,
+        baseVisualShapeIndex=visual_box_id,
+        basePosition=position,
+        baseOrientation=orientation)
+
+
+def build_one_stepstone(
+    pybullet_client: bullet_client.BulletClient,
+    start_pos: Sequence[float] = (0, 0, 0),
+    stone_length: float = 1,
+    stone_height: float = 0.15,
+    stone_width: float = 5.0,
+    gap_length: float = 0.3,
+    height_offset: float = 0,
+    rgba_color: Sequence[float] = GRAY) -> Tuple[np.ndarray, int]:
+  """Generates one stepstone.
+
+  Args:
+    pybullet_client: The pybullet client instance.
+    start_pos: The starting position (the midpoint of top-left edge) of the
+      stepstone.
+    stone_length: The length of the stepstone in meters.
+    stone_height: The height of the stepstone in meters.
+    stone_width: The width of the stepstone in meters.
+    gap_length: The distance in meters between two adjacent stepstones.
+    height_offset: The height difference in meters between two adjacent
+      stepstones.
+    rgba_color: The color and transparency of the object, each in the range
+      [0,1]. Defaults to opaque gray.
+
+  Returns:
+    The position of the mid point of the right-top edge of the stepstone.
+    The pybullet id of the stepstone.
+  """
+  half_length = stone_length / 2.0
+  half_width = stone_width / 2.0
+  half_height = stone_height / 2.0
+  start_pos = np.asarray(start_pos) + np.array([gap_length, 0, height_offset])
+  step_stone_id = load_box(pybullet_client,
+      half_extents=[half_length, half_width, half_height],
+      position=start_pos + np.array([half_length, 0, -half_height]),
+      orientation=(0, 0, 0, 1),
+      rgba_color=rgba_color,
+      mass=0)
+  end_pos = start_pos + np.array([stone_length, 0, 0])
+  return end_pos, step_stone_id
+
+
+def build_stepstones(
+    pybullet_client: bullet_client.BulletClient,
+    start_pos: Sequence[float] = (0, 0, 0),
+    num_stones: int = 5,
+    stone_length: float = 1,
+    stone_height: float = 0.15,
+    stone_width: float = 5.0,
+    gap_length: float = 0.3,
+    color_sequence: Sequence[Sequence[float]] = MULTICOLOR
+) -> Tuple[np.ndarray, List[int]]:
+  """Generates a series of stepstones.
+
+  All the stepstones share the same parameters, such as length, height, width
+  and gap distance.
+
+  Args:
+    pybullet_client: The pybullet client instance.
+    start_pos: The starting position (the mid point of top-left edge) of the
+      first stepstone.
+    num_stones: The number of stepstones in this creation.
+    stone_length: The length of the stepstones in meters.
+    stone_height: The height of the stepstones in meters.
+    stone_width: The width of the stepstones in meters.
+    gap_length: The distance in meters between two adjacent stepstones.
+    color_sequence: A list of (red, green, blue, alpha) colors where each
+      element is in [0, 1] and alpha is transparency. The stepstones will cycle
+      through these colors.
+
+  Returns:
+    The position of the midpoint of the right-top edge of the last stepstone.
+    The pybullet ids of the stepstones.
+  """
+  end_pos = start_pos
+  ids = []
+  for _, color in zip(range(num_stones), itertools.cycle(color_sequence)):
+    end_pos, step_stone_id = build_one_stepstone(
+        pybullet_client=pybullet_client,
+        start_pos=end_pos,
+        stone_length=stone_length,
+        stone_height=stone_height,
+        stone_width=stone_width,
+        gap_length=gap_length,
+        height_offset=0,
+        rgba_color=color)
+    ids.append(step_stone_id)
+  return end_pos, ids
+
+
+def build_random_stepstones(
+    pybullet_client: bullet_client.BulletClient,
+    start_pos: Sequence[float] = (0, 0, 0),
+    num_stones: int = 5,
+    stone_height: float = 0.15,
+    stone_width: float = 5.0,
+    stone_length_lower_bound: float = 0.5,
+    stone_length_upper_bound: float = 1.5,
+    gap_length_lower_bound: float = 0,
+    gap_length_upper_bound: float = 0.3,
+    height_offset_lower_bound: float = -0.1,
+    height_offset_upper_bound: float = 0.1,
+    random_seed: Optional[int] = None,
+    color_sequence: Sequence[Sequence[float]] = MULTICOLOR
+) -> Tuple[np.ndarray, List[int]]:
+  """Generates a series of stepstones with randomly chosen parameters.
+
+  Each stepstone in this series might have different randomly chosen
+  parameters.
+
+  Args:
+    pybullet_client: The pybullet client instance.
+    start_pos: The starting position (the midpoint of top-left edge) of the
+      stepstone.
+    num_stones: The number of stepstones in this creation.
+    stone_height: The height of the stepstones in meters.
+    stone_width: The width of the stepstones in meters.
+    stone_length_lower_bound: The lower bound of the stone lengths in meters
+      when sampled randomly.
+    stone_length_upper_bound: The upper bound of the stone lengths in meters
+      when sampled randomly.
+    gap_length_lower_bound: The lower bound of the gap distances in meters when
+      sampled randomly.
+    gap_length_upper_bound: The upper bound of the gap distances in meters when
+      sampled randomly.
+    height_offset_lower_bound: The lower bound of the stone height offsets in
+      meters when sampled randomly.
+    height_offset_upper_bound: The upper bound of the stone height offsets in
+      meters when sampled randomly.
+    random_seed: The random seed of the random number generator.
+    color_sequence: A list of (red, green, blue, alpha) colors where each
+      element is in [0, 1] and alpha is transparency. The stepstones will cycle
+      through these colors.
+
+  Returns:
+    The position of the mid point of the right-top edge of the stepstone.
+    The pybullet ids of the stepstones.
+  """
+  end_pos = start_pos
+  ids = []
+  random_generator = random.Random()
+  random_generator.seed(random_seed)
+  for _, color in zip(range(num_stones), itertools.cycle(color_sequence)):
+    stone_length = random_generator.uniform(stone_length_lower_bound,
+                                            stone_length_upper_bound)
+    gap_length = random_generator.uniform(gap_length_lower_bound,
+                                          gap_length_upper_bound)
+    height_offset = random_generator.uniform(height_offset_lower_bound,
+                                             height_offset_upper_bound)
+    end_pos, step_stone_id = build_one_stepstone(
+        pybullet_client=pybullet_client,
+        start_pos=end_pos,
+        stone_length=stone_length,
+        stone_height=stone_height,
+        stone_width=stone_width,
+        gap_length=gap_length,
+        height_offset=height_offset,
+        rgba_color=color)
+    ids.append(step_stone_id)
+  return end_pos, ids
+
+
+def build_platform_at_origin(
+    pybullet_client: bullet_client.BulletClient
+) -> Tuple[np.ndarray, int]:
+  """Builds a platform for the robot to start standing on.
+
+  Args:
+    pybullet_client: The pybullet client instance.
+
+  Returns:
+    The position of the mid point of the right-top edge of the platform.
+    The pybullet id of the platform.
+  """
+  end_pos, platform_id = build_one_stepstone(
+      pybullet_client=pybullet_client,
+      start_pos=(-0.5, 0, 0),
+      stone_length=1.0,
+      stone_height=0.1,
+      stone_width=10.0,
+      gap_length=0.0,
+      height_offset=0.0,
+      rgba_color=GRAY)
+  return end_pos, platform_id
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto
new file mode 100644
index 0000000000..0e0b97cc4c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset.proto
@@ -0,0 +1,86 @@
+// A set of protocol buffer definitions for representing 'Worlds' for
+// used by simulation engines.
+syntax = "proto3";
+
+package robotics.messages;
+option cc_enable_arenas = true;
+
+
+// A single precision quaternion.
+message QQuaternionf {
+  // The x-component.
+  float x = 1;
+  // The y-component.
+  float y = 2;
+  // The z-component.
+  float z = 3;
+  // The w-component.
+  float w = 4;
+}
+
+
+
+
+// A three-dimensional single precision vector.
+message VVector3f {
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+
+
+message Labels {
+  map<string, string> label = 1;
+}
+
+// A general bounding box is specified by its center, dimensions and
+// orientation. If the orientation field is not specified, then the bounding box
+// is aligned with the axes of the world coordinate system.
+message GeneralBox3f {
+  VVector3f center = 1;
+  VVector3f dimensions = 2;
+  QQuaternionf orientation = 3;
+}
+
+// An object is specified by its label, bounding box, and a path to an obj
+// file containing its mesh. Not all to be specified.
+message Object {
+  string id = 1;
+  string label = 2;
+  GeneralBox3f bounding_box = 3;
+  string mesh_path = 4;
+}
+
+message Polygon3f {
+  repeated VVector3f vertex = 1;
+}
+
+// A region is specified by its label, spatial extent, and a path to an obj
+// file containing its mesh. Not all to be specified.
+message Region {
+  string id = 1;
+  string label = 2;
+  oneof spatial_extent {
+    GeneralBox3f bounding_box = 3;
+    Polygon3f polygon = 5;
+  }
+  string mesh_path = 6;
+}
+
+// A world consist of a mesh, and potentially a set of object and regions.
+message WorldAsset {
+  // A set of labels for objects. This the space of all object labels.
+  Labels object_labels = 1;
+  repeated Object objects = 2;
+
+  // A set of labels for regions. This the space of all region labels.
+  Labels region_labels = 3;
+  repeated Region regions = 4;
+
+  // A path to a mesh (as obj file) containing the geometry of the world.
+  string mesh_path = 5;
+
+  // A path to a mesh (as obj file) containing the semantic labels of the world.
+  string segmentation_mesh_path = 6;
+}
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py
new file mode 100644
index 0000000000..a7d99baea8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/scenes/world_asset_pb2.py
@@ -0,0 +1,555 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: world_asset.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='world_asset.proto',
+  package='robotics.messages',
+  syntax='proto3',
+  serialized_options=b'\370\001\001',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x11world_asset.proto\x12\x11robotics.messages\":\n\x0cQQuaternionf\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\x12\t\n\x01w\x18\x04 \x01(\x02\",\n\tVVector3f\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"k\n\x06Labels\x12\x33\n\x05label\x18\x01 \x03(\x0b\x32$.robotics.messages.Labels.LabelEntry\x1a,\n\nLabelEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\t:\x02\x38\x01\"\xa4\x01\n\x0cGeneralBox3f\x12,\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x1c.robotics.messages.VVector3f\x12\x30\n\ndimensions\x18\x02 \x01(\x0b\x32\x1c.robotics.messages.VVector3f\x12\x34\n\x0borientation\x18\x03 \x01(\x0b\x32\x1f.robotics.messages.QQuaternionf\"m\n\x06Object\x12\n\n\x02id\x18\x01 \x01(\t\x12\r\n\x05label\x18\x02 \x01(\t\x12\x35\n\x0c\x62ounding_box\x18\x03 \x01(\x0b\x32\x1f.robotics.messages.GeneralBox3f\x12\x11\n\tmesh_path\x18\x04 \x01(\t\"9\n\tPolygon3f\x12,\n\x06vertex\x18\x01 \x03(\x0b\x32\x1c.robotics.messages.VVector3f\"\xb2\x01\n\x06Region\x12\n\n\x02id\x18\x01 \x01(\t\x12\r\n\x05label\x18\x02 \x01(\t\x12\x37\n\x0c\x62ounding_box\x18\x03 \x01(\x0b\x32\x1f.robotics.messages.GeneralBox3fH\x00\x12/\n\x07polygon\x18\x05 \x01(\x0b\x32\x1c.robotics.messages.Polygon3fH\x00\x12\x11\n\tmesh_path\x18\x06 \x01(\tB\x10\n\x0espatial_extent\"\xfb\x01\n\nWorldAsset\x12\x30\n\robject_labels\x18\x01 \x01(\x0b\x32\x19.robotics.messages.Labels\x12*\n\x07objects\x18\x02 \x03(\x0b\x32\x19.robotics.messages.Object\x12\x30\n\rregion_labels\x18\x03 \x01(\x0b\x32\x19.robotics.messages.Labels\x12*\n\x07regions\x18\x04 \x03(\x0b\x32\x19.robotics.messages.Region\x12\x11\n\tmesh_path\x18\x05 \x01(\t\x12\x1e\n\x16segmentation_mesh_path\x18\x06 \x01(\tB\x03\xf8\x01\x01\x62\x06proto3'
+)
+
+
+
+
+_QQUATERNIONF = _descriptor.Descriptor(
+  name='QQuaternionf',
+  full_name='robotics.messages.QQuaternionf',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.QQuaternionf.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.QQuaternionf.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.QQuaternionf.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='w', full_name='robotics.messages.QQuaternionf.w', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=40,
+  serialized_end=98,
+)
+
+
+_VVECTOR3F = _descriptor.Descriptor(
+  name='VVector3f',
+  full_name='robotics.messages.VVector3f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.VVector3f.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.VVector3f.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.VVector3f.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=100,
+  serialized_end=144,
+)
+
+
+_LABELS_LABELENTRY = _descriptor.Descriptor(
+  name='LabelEntry',
+  full_name='robotics.messages.Labels.LabelEntry',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='key', full_name='robotics.messages.Labels.LabelEntry.key', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='value', full_name='robotics.messages.Labels.LabelEntry.value', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=b'8\001',
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=209,
+  serialized_end=253,
+)
+
+_LABELS = _descriptor.Descriptor(
+  name='Labels',
+  full_name='robotics.messages.Labels',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='label', full_name='robotics.messages.Labels.label', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[_LABELS_LABELENTRY, ],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=146,
+  serialized_end=253,
+)
+
+
+_GENERALBOX3F = _descriptor.Descriptor(
+  name='GeneralBox3f',
+  full_name='robotics.messages.GeneralBox3f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='center', full_name='robotics.messages.GeneralBox3f.center', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='dimensions', full_name='robotics.messages.GeneralBox3f.dimensions', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='orientation', full_name='robotics.messages.GeneralBox3f.orientation', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=256,
+  serialized_end=420,
+)
+
+
+_OBJECT = _descriptor.Descriptor(
+  name='Object',
+  full_name='robotics.messages.Object',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robotics.messages.Object.id', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='label', full_name='robotics.messages.Object.label', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='bounding_box', full_name='robotics.messages.Object.bounding_box', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mesh_path', full_name='robotics.messages.Object.mesh_path', index=3,
+      number=4, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=422,
+  serialized_end=531,
+)
+
+
+_POLYGON3F = _descriptor.Descriptor(
+  name='Polygon3f',
+  full_name='robotics.messages.Polygon3f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='vertex', full_name='robotics.messages.Polygon3f.vertex', index=0,
+      number=1, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=533,
+  serialized_end=590,
+)
+
+
+_REGION = _descriptor.Descriptor(
+  name='Region',
+  full_name='robotics.messages.Region',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='id', full_name='robotics.messages.Region.id', index=0,
+      number=1, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='label', full_name='robotics.messages.Region.label', index=1,
+      number=2, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='bounding_box', full_name='robotics.messages.Region.bounding_box', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='polygon', full_name='robotics.messages.Region.polygon', index=3,
+      number=5, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mesh_path', full_name='robotics.messages.Region.mesh_path', index=4,
+      number=6, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+    _descriptor.OneofDescriptor(
+      name='spatial_extent', full_name='robotics.messages.Region.spatial_extent',
+      index=0, containing_type=None,
+      create_key=_descriptor._internal_create_key,
+    fields=[]),
+  ],
+  serialized_start=593,
+  serialized_end=771,
+)
+
+
+_WORLDASSET = _descriptor.Descriptor(
+  name='WorldAsset',
+  full_name='robotics.messages.WorldAsset',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='object_labels', full_name='robotics.messages.WorldAsset.object_labels', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='objects', full_name='robotics.messages.WorldAsset.objects', index=1,
+      number=2, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='region_labels', full_name='robotics.messages.WorldAsset.region_labels', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='regions', full_name='robotics.messages.WorldAsset.regions', index=3,
+      number=4, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mesh_path', full_name='robotics.messages.WorldAsset.mesh_path', index=4,
+      number=5, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='segmentation_mesh_path', full_name='robotics.messages.WorldAsset.segmentation_mesh_path', index=5,
+      number=6, type=9, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"".decode('utf-8'),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=774,
+  serialized_end=1025,
+)
+
+_LABELS_LABELENTRY.containing_type = _LABELS
+_LABELS.fields_by_name['label'].message_type = _LABELS_LABELENTRY
+_GENERALBOX3F.fields_by_name['center'].message_type = _VVECTOR3F
+_GENERALBOX3F.fields_by_name['dimensions'].message_type = _VVECTOR3F
+_GENERALBOX3F.fields_by_name['orientation'].message_type = _QQUATERNIONF
+_OBJECT.fields_by_name['bounding_box'].message_type = _GENERALBOX3F
+_POLYGON3F.fields_by_name['vertex'].message_type = _VVECTOR3F
+_REGION.fields_by_name['bounding_box'].message_type = _GENERALBOX3F
+_REGION.fields_by_name['polygon'].message_type = _POLYGON3F
+_REGION.oneofs_by_name['spatial_extent'].fields.append(
+  _REGION.fields_by_name['bounding_box'])
+_REGION.fields_by_name['bounding_box'].containing_oneof = _REGION.oneofs_by_name['spatial_extent']
+_REGION.oneofs_by_name['spatial_extent'].fields.append(
+  _REGION.fields_by_name['polygon'])
+_REGION.fields_by_name['polygon'].containing_oneof = _REGION.oneofs_by_name['spatial_extent']
+_WORLDASSET.fields_by_name['object_labels'].message_type = _LABELS
+_WORLDASSET.fields_by_name['objects'].message_type = _OBJECT
+_WORLDASSET.fields_by_name['region_labels'].message_type = _LABELS
+_WORLDASSET.fields_by_name['regions'].message_type = _REGION
+DESCRIPTOR.message_types_by_name['QQuaternionf'] = _QQUATERNIONF
+DESCRIPTOR.message_types_by_name['VVector3f'] = _VVECTOR3F
+DESCRIPTOR.message_types_by_name['Labels'] = _LABELS
+DESCRIPTOR.message_types_by_name['GeneralBox3f'] = _GENERALBOX3F
+DESCRIPTOR.message_types_by_name['Object'] = _OBJECT
+DESCRIPTOR.message_types_by_name['Polygon3f'] = _POLYGON3F
+DESCRIPTOR.message_types_by_name['Region'] = _REGION
+DESCRIPTOR.message_types_by_name['WorldAsset'] = _WORLDASSET
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+QQuaternionf = _reflection.GeneratedProtocolMessageType('QQuaternionf', (_message.Message,), {
+  'DESCRIPTOR' : _QQUATERNIONF,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.QQuaternionf)
+  })
+_sym_db.RegisterMessage(QQuaternionf)
+
+VVector3f = _reflection.GeneratedProtocolMessageType('VVector3f', (_message.Message,), {
+  'DESCRIPTOR' : _VVECTOR3F,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.VVector3f)
+  })
+_sym_db.RegisterMessage(VVector3f)
+
+Labels = _reflection.GeneratedProtocolMessageType('Labels', (_message.Message,), {
+
+  'LabelEntry' : _reflection.GeneratedProtocolMessageType('LabelEntry', (_message.Message,), {
+    'DESCRIPTOR' : _LABELS_LABELENTRY,
+    '__module__' : 'world_asset_pb2'
+    # @@protoc_insertion_point(class_scope:robotics.messages.Labels.LabelEntry)
+    })
+  ,
+  'DESCRIPTOR' : _LABELS,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Labels)
+  })
+_sym_db.RegisterMessage(Labels)
+_sym_db.RegisterMessage(Labels.LabelEntry)
+
+GeneralBox3f = _reflection.GeneratedProtocolMessageType('GeneralBox3f', (_message.Message,), {
+  'DESCRIPTOR' : _GENERALBOX3F,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.GeneralBox3f)
+  })
+_sym_db.RegisterMessage(GeneralBox3f)
+
+Object = _reflection.GeneratedProtocolMessageType('Object', (_message.Message,), {
+  'DESCRIPTOR' : _OBJECT,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Object)
+  })
+_sym_db.RegisterMessage(Object)
+
+Polygon3f = _reflection.GeneratedProtocolMessageType('Polygon3f', (_message.Message,), {
+  'DESCRIPTOR' : _POLYGON3F,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Polygon3f)
+  })
+_sym_db.RegisterMessage(Polygon3f)
+
+Region = _reflection.GeneratedProtocolMessageType('Region', (_message.Message,), {
+  'DESCRIPTOR' : _REGION,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Region)
+  })
+_sym_db.RegisterMessage(Region)
+
+WorldAsset = _reflection.GeneratedProtocolMessageType('WorldAsset', (_message.Message,), {
+  'DESCRIPTOR' : _WORLDASSET,
+  '__module__' : 'world_asset_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.WorldAsset)
+  })
+_sym_db.RegisterMessage(WorldAsset)
+
+
+DESCRIPTOR._options = None
+_LABELS_LABELENTRY._options = None
+# @@protoc_insertion_point(module_scope)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py
new file mode 100644
index 0000000000..954e8ecb38
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/accelerometer_sensor.py
@@ -0,0 +1,86 @@
+# Lint as: python3
+"""A sensor that measures the acceleration of the robot base."""
+
+from typing import Any, Callable, Sequence, Type, Text, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.utilities import noise_generators
+
+_ACCELEROMETER_DIM = 3
+_DEFAULT_ACCELEROMETER_LOWER_BOUND = (-1, -1, -1)
+_DEFAULT_ACCELEROMETER_UPPER_BOUND = (1, 1, 1)
+
+
+@gin.configurable
+class AccelerometerSensor(sensor.Sensor):
+  """An Accelerometer sensor."""
+
+  def __init__(
+      self,
+      name: Text = "Accelerometer",
+      dtype: Type[Any] = np.float64,
+      lower_bound: Sequence[float] = _DEFAULT_ACCELEROMETER_LOWER_BOUND,
+      upper_bound: Sequence[float] = _DEFAULT_ACCELEROMETER_UPPER_BOUND,
+      noise_generator: Union[Callable[..., Any],
+                             noise_generators.NoiseGenerator] = None,
+      sensor_latency: Union[float, Sequence[float]] = 0.0,
+  ):
+    """Constructs AccelerometerSensor.
+
+    Generates separate IMU value channels as per configuration.
+
+    Args:
+      name: the name of the sensor.
+      dtype: data type of sensor value.
+      lower_bound: The lower bounds of the sensor reading.
+      upper_bound: The upper bounds of the sensor reading.
+      noise_generator: Used to add noise to the readings.
+      sensor_latency: There are two ways to use this expected sensor latency.
+        For both methods, the latency should be in the same unit as the sensor
+        data timestamp. 1. As a single float number, the observation will be a
+        1D array. For real robots, this should be set to 0.0. 2. As a array of
+        floats, the observation will be a 2D array based on how long the history
+        need to be. Thus, [0.0, 0.1, 0.2] is a history length of 3.
+
+    """
+    super().__init__(
+        name=name,
+        sensor_latency=sensor_latency,
+        interpolator_fn=sensor.linear_obs_blender)
+
+    self._noise_generator = noise_generator
+    self._dtype = dtype
+
+    if lower_bound is None or upper_bound is None:
+      raise ValueError("Must provides bounds for the Accelerometer readings.")
+
+    if len(lower_bound) != _ACCELEROMETER_DIM or len(
+        upper_bound) != _ACCELEROMETER_DIM:
+      raise ValueError(
+          "Bounds must be {} dimensions.".format(_ACCELEROMETER_DIM))
+
+    lower_bound = np.array(lower_bound, dtype=dtype)
+    upper_bound = np.array(upper_bound, dtype=dtype)
+
+    self._observation_space = self._stack_space(
+        gym.spaces.Box(
+            low=np.array(lower_bound, dtype=self._dtype),
+            high=np.array(upper_bound, dtype=self._dtype),
+            dtype=self._dtype))
+
+  def _get_original_observation(self):
+    return self._robot.timestamp, np.array(
+        self._robot.base_acceleration_accelerometer, dtype=self._dtype)
+
+  def get_observation(self) -> np.ndarray:
+    delayed_observation = super().get_observation()
+    if self._noise_generator:
+      if callable(self._noise_generator):
+        return self._noise_generator(delayed_observation)
+      else:
+        return self._noise_generator.add_noise(delayed_observation)
+    return delayed_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py
new file mode 100644
index 0000000000..d1c6bde8c0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/camera_sensor.py
@@ -0,0 +1,184 @@
+# Lint as: python3
+"""A sensor for robot-mounted 1D lidar (laser scan)."""
+
+from typing import Any, Iterable, Sequence, Type, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.vision import point_cloud_utils
+from pybullet_envs.minitaur.vision import sim_camera
+
+_MODE_TO_NUM_CHANNELS_DICT = {
+    sim_camera.CameraMode.DEPTH: 1,
+    sim_camera.CameraMode.RGB: 3,
+    sim_camera.CameraMode.RGBD: 4,
+    sim_camera.CameraMode.POINTCLOUD_WORLD_FRAME: 3,
+    sim_camera.CameraMode.POINTCLOUD_ROBOT_FRAME: 3,
+}
+
+
+@gin.configurable
+class CameraSensor(sensor.Sensor):
+  """A robot-mounted sensor that returns RGBD images.
+
+  Attributes:
+    resolution: A 2-tuple (width, height) that represents the resolution of the
+      camera.
+    fov_degree: A floating point value that represents the field of view of the
+      camera in the vertical direction. The unit is degree.
+  """
+
+  def __init__(self,
+               camera_translation_from_base,
+               camera_rotation_from_base,
+               parent_link_id=-1,
+               camera_mode=sim_camera.CameraMode.DEPTH,
+               camera_update_frequency_hz=10,
+               camera_stabilized=False,
+               fov_degree=60,
+               resolution=(32, 32),
+               lower_bound: Union[float, Iterable[float]] = 0.0,
+               upper_bound: Union[float, Iterable[float]] = 255.0,
+               sensor_latency: Union[float, Sequence[float]] = 0.0,
+               dtype: Type[Any] = np.float64,
+               name="vision"):
+    """Initializes the CameraSensor.
+
+    Args:
+      camera_translation_from_base: A 3-vector translation from the center of
+        the specified link.
+      camera_rotation_from_base: A 4-vector quaternion represents the rotation
+        of the camera relative to the specified link.
+      parent_link_id: The pybullet link id, where the camera is mounted on.
+      camera_mode: An enum that specifies the mode that the camera operates. See
+        sim_camera.CameraMode for more details.
+      camera_update_frequency_hz: The frequency at which the camera will capture
+        a frame.
+      camera_stabilized: Whether the camera is stabilized. See
+        sim_camera.MountedCamera for more details.
+      fov_degree: The vertical field of view of the camera (in degree).
+      resolution: A 2-tuple that represents the width and the height of the
+        camera image.
+      lower_bound: The lower bound of values of the camera output. It could be a
+        single float or an array of floats with shape (height, width, channels).
+      upper_bound: The upper bound of values of the camera output. It could be a
+        single float or an array of floats with shape (height, width,
+        channels)..
+      sensor_latency: See base class.
+      dtype: See base class.
+      name: The name of the sensor.
+    """
+    super().__init__(
+        name=name,
+        sensor_latency=sensor_latency,
+        interpolator_fn=sensor.closest_obs_blender)
+    self._parent_link_id = parent_link_id
+    self._camera_mode = camera_mode
+    self._camera_translation_from_base = camera_translation_from_base
+    self._camera_rotation_from_base = camera_rotation_from_base
+    self.camera_update_frequency_hz = camera_update_frequency_hz
+    self._time_interval_every_camera_update = (1.0 /
+                                               self.camera_update_frequency_hz)
+    self._camera_stabilized = camera_stabilized
+    self._fov_degree = fov_degree
+    self._resolution = resolution
+    num_channels = _MODE_TO_NUM_CHANNELS_DICT[self._camera_mode]
+    self._camera = None
+    self._camera_image = None
+    self._dtype = dtype
+    if isinstance(lower_bound, list):
+      lower_bound = np.array(lower_bound, dtype=self._dtype)
+    else:
+      lower_bound = lower_bound * np.ones(
+          shape=(resolution[1], resolution[0], num_channels), dtype=self._dtype)
+    if isinstance(upper_bound, list):
+      upper_bound = np.array(upper_bound, dtype=self._dtype)
+    else:
+      upper_bound = upper_bound * np.ones(
+          shape=(resolution[1], resolution[0], num_channels), dtype=self._dtype)
+    self._observation_space = gym.spaces.Box(
+        low=lower_bound, high=upper_bound, dtype=self._dtype)
+    self._last_camera_image_timestamp = None
+
+  def change_mounting_point(
+      self,
+      camera_translation_from_link: Sequence[float] = (0, 0, 0),
+      camera_rotation_from_link: Sequence[float] = (0, 0, 0, 1),
+      parent_link_id: int = -1):
+    """Changes mounting point. Must be called before calls to set_robot().
+
+    Args:
+      camera_translation_from_link: A 3-vector translation from the center of
+        the specified link.
+      camera_rotation_from_link: A 4-vector quaternion represents the rotation
+        of the camera relative to the specified link.
+      parent_link_id: The pybullet link id, where the camera is mounted on.
+    """
+    self._parent_link_id = parent_link_id
+    self._camera_translation_from_base = camera_translation_from_link
+    self._camera_rotation_from_base = camera_rotation_from_link
+
+  def set_robot(self, robot):
+    super().set_robot(robot)
+
+    self._camera = sim_camera.MountedCamera(
+        pybullet_client=robot.pybullet_client,
+        body_id=robot.robot_id,
+        parent_link_id=self._parent_link_id,
+        relative_translation=self._camera_translation_from_base,
+        relative_rotation=self._camera_rotation_from_base,
+        stabilized=self._camera_stabilized,
+        camera_mode=self._camera_mode,
+        fov_degree=self._fov_degree,
+        resolution=self._resolution)
+
+  def on_reset(self, env):
+    self._env = env
+    self._last_camera_image_timestamp = None
+    super().on_reset(env)
+
+  def _get_original_observation(self):
+    if self._last_camera_image_timestamp is None or (
+        self._robot.timestamp >= self._last_camera_image_timestamp +
+        self._time_interval_every_camera_update):
+      self._camera_image = self._camera.render_image().astype(self._dtype)
+      self._last_camera_image_timestamp = self._robot.timestamp
+    return self._robot.timestamp, self._camera_image
+
+  def project_depth_map_to_point_cloud(self, depth_map, use_world_frame=True):
+    """Convert the depth map into a 3D point cloud.
+
+    Args:
+      depth_map: A 2D numpy array with shape (height, width) which represents
+        the depth map.
+      use_world_frame: Whether converts the depth map into a point cloud in the
+        world frame. If False, the point cloud is in the robot's local frame. If
+        True, the point cloud is in the world frame if the robot's base
+        position/orientation can be measured (e.g. in sim, using SLAM or mocap).
+
+    Returns:
+      A point cloud represented by a numpy array of shape (height, width, 3).
+    """
+    point_cloud = point_cloud_utils.distance_map_to_point_cloud(
+        np.squeeze(depth_map), self.fov_degree / 180.0 * np.pi,
+        depth_map.shape[1], depth_map.shape[0])
+    if use_world_frame:
+      point_cloud = (
+          self._camera.transform_point_cloud_from_camera_to_world_frame(
+              point_cloud))
+    else:
+      point_cloud = (
+          self._camera.transform_point_cloud_from_camera_to_robot_frame(
+              point_cloud))
+    return point_cloud
+
+  @property
+  def resolution(self):
+    return self._camera.resolution
+
+  @property
+  def fov_degree(self):
+    return self._camera.fov_degree
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py
new file mode 100644
index 0000000000..a26cf491d8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/imu_sensor.py
@@ -0,0 +1,133 @@
+# Lint as: python3
+"""The on robot sensor classes."""
+
+import enum
+from typing import Any, Callable, Iterable, Sequence, Type, Text, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.utilities import noise_generators
+
+
+@gin.constants_from_enum
+class IMUChannel(enum.Enum):
+  ROLL = 1,
+  PITCH = 2,
+  YAW = 3,
+  ROLL_RATE = 4,
+  PITCH_RATE = 5,
+  YAW_RATE = 6,
+
+
+@gin.configurable
+class IMUSensor(sensor.Sensor):
+  """An IMU sensor."""
+
+  def __init__(
+      self,
+      name: Text = "IMU",
+      dtype: Type[Any] = np.float64,
+      channels: Sequence[IMUChannel] = None,
+      lower_bound: Union[float, Iterable[float]] = None,
+      upper_bound: Union[float, Iterable[float]] = None,
+      noise_generator: Union[Callable[..., Any],
+                             noise_generators.NoiseGenerator] = None,
+      sensor_latency: Union[float, Sequence[float]] = 0.0,
+  ):
+    """Constructs IMUSensor.
+
+    Generates separate IMU value channels as per configuration.
+
+    Args:
+      name: the name of the sensor.
+      dtype: data type of sensor value.
+      channels: value channels wants to subscribe. Must be members of the
+        IMUChannel class.
+      lower_bound: The lower bounds of the sensor reading.
+      upper_bound: The upper bounds of the sensor reading.
+      noise_generator: Used to add noise to the readings.
+      sensor_latency: There are two ways to use this expected sensor latency.
+        For both methods, the latency should be in the same unit as the sensor
+        data timestamp. 1. As a single float number, the observation will be a
+        1D array. For real robots, this should be set to 0.0. 2. As a array of
+        floats, the observation will be a 2D array based on how long the history
+        need to be. Thus, [0.0, 0.1, 0.2] is a history length of 3.
+
+    Raises:
+      ValueError: If no IMU channel is provided and no bounds for the channels.
+    """
+    super().__init__(
+        name=name,
+        sensor_latency=sensor_latency,
+        interpolator_fn=sensor.linear_obs_blender)
+    if channels is None:
+      raise ValueError("IMU channels are not provided.")
+    self._channels = channels
+    self._num_channels = len(self._channels)
+    self._noise_generator = noise_generator
+    self._dtype = dtype
+
+    if lower_bound is None or upper_bound is None:
+      raise ValueError("Must provides bounds for the IMU readings.")
+
+    if isinstance(lower_bound, (float, int)):
+      lower_bound = np.full(self._num_channels, lower_bound, dtype=dtype)
+    else:
+      lower_bound = np.array(lower_bound, dtype=dtype)
+
+    if len(lower_bound) != self._num_channels:
+      raise ValueError("length of sensor lower bound {lower_bound} does not"
+                       " match the number of channels.")
+
+    if isinstance(upper_bound, (float, int)):
+      upper_bound = np.full(self._num_channels, upper_bound, dtype=dtype)
+    else:
+      upper_bound = np.array(upper_bound, dtype=dtype)
+
+    if len(upper_bound) != self._num_channels:
+      raise ValueError("length of sensor upper bound {upper_bound} does not"
+                       " match the number of channels.")
+
+    self._observation_space = self._stack_space(
+        gym.spaces.Box(
+            low=np.array(lower_bound, dtype=self._dtype),
+            high=np.array(upper_bound, dtype=self._dtype),
+            dtype=self._dtype))
+
+  def get_channels(self) -> Sequence[IMUChannel]:
+    return self._channels
+
+  def get_num_channels(self) -> int:
+    return self._num_channels
+
+  def _get_original_observation(self):
+    rpy = self._robot.base_roll_pitch_yaw
+    observations = np.zeros(self._num_channels)
+    for i, channel in enumerate(self._channels):
+      if channel == IMUChannel.ROLL:
+        observations[i] = rpy[0]
+      elif channel == IMUChannel.PITCH:
+        observations[i] = rpy[1]
+      elif channel == IMUChannel.YAW:
+        observations[i] = rpy[2]
+      elif channel == IMUChannel.ROLL_RATE:
+        observations[i] = self._robot.base_roll_pitch_yaw_rate[0]
+      elif channel == IMUChannel.PITCH_RATE:
+        observations[i] = self._robot.base_roll_pitch_yaw_rate[1]
+      elif channel == IMUChannel.YAW_RATE:
+        observations[i] = self._robot.base_roll_pitch_yaw_rate[2]
+
+    return self._robot.timestamp, np.array(observations, dtype=self._dtype)
+
+  def get_observation(self) -> np.ndarray:
+    delayed_observation = super().get_observation()
+    if self._noise_generator:
+      if callable(self._noise_generator):
+        return self._noise_generator(delayed_observation)
+      else:
+        return self._noise_generator.add_noise(delayed_observation)
+
+    return delayed_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py
new file mode 100644
index 0000000000..e61299f029
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/last_action_sensor.py
@@ -0,0 +1,60 @@
+# Lint as: python3
+"""A sensor that returns the last action(s) sent to the environment."""
+
+from typing import Any, Dict, Sequence, Text, Type, Tuple, Union
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.sensors import space_utils
+
+
+@gin.configurable
+class LastActionSensor(sensor.Sensor):
+  """A sensor that reports the last action taken."""
+
+  def __init__(self,
+               name: Text = "LastAction",
+               dtype: Type[Any] = np.float64,
+               sensor_latency: Union[float, Sequence[float]] = 0):
+    """Constructs LastActionSensor.
+
+    We do not provide a robot instance during __init__, as robot instances may
+    be reloaded/recreated during the simulation.
+
+    Args:
+      name: the name of the sensor
+      dtype: data type of sensor value.
+      sensor_latency: There are two ways to use this expected sensor latency.
+        For both methods, the latency should be in the same unit as the sensor
+        data timestamp. 1. As a single float number, the observation will be a
+        1D array. For real robots, this should be set to 0.0. 2. As a array of
+        floats, the observation will be a 2D array based on how long the history
+        need to be. Thus, [0.0, 0.1, 0.2] is a history length of 3.
+    """
+    super().__init__(name=name,
+                     sensor_latency=sensor_latency,
+                     # We generally don't interpolate actions.
+                     interpolator_fn=sensor.older_obs_blender)
+
+    self._dtype = dtype
+    self._env = None
+
+  def on_reset(self, env: gym.Env):
+    """From the callback, the sensor remembers the environment.
+
+    Args:
+      env: the environment who invokes this callback function.
+    """
+    # Constructs the observation space using the env's action space.
+    self._observation_space = self._stack_space(
+        env.action_space, dtype=self._dtype)
+
+    # Call the super class methods to initialize the buffers
+    super().on_reset(env)
+
+  def _get_original_observation(
+      self) -> Tuple[float, Union[Dict[Text, np.ndarray], np.ndarray]]:
+    return self._env.get_time(), space_utils.action_astype(
+        self._env.last_action, self._dtype)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py
new file mode 100644
index 0000000000..ce1754547e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/motor_angle_sensor.py
@@ -0,0 +1,122 @@
+# Lint as: python3
+"""The on robot sensor classes."""
+
+from typing import Any, Callable, Iterable, Optional, Sequence, Type, Text, Tuple, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+
+from pybullet_envs.minitaur.envs_v2.utilities import noise_generators
+
+
+def _convert_to_np_array(inputs: Union[float, Tuple[float], np.ndarray], dim):
+  """Converts the inputs to a numpy array.
+
+  Args:
+    inputs: The input scalar or array.
+    dim: The dimension of the converted numpy array.
+
+  Returns:
+    The converted numpy array.
+
+  Raises:
+    ValueError: If the inputs is an array whose dimension does not match the
+    provided dimension.
+  """
+  outputs = None
+  if isinstance(inputs, (tuple, np.ndarray)):
+    outputs = np.array(inputs)
+  else:
+    outputs = np.full(dim, inputs)
+
+  if len(outputs) != dim:
+    raise ValueError("The inputs array has a different dimension {}"
+                     " than provided, which is {}.".format(len(outputs), dim))
+
+  return outputs
+
+
+@gin.configurable
+class MotorAngleSensor(sensor.Sensor):
+  """A sensor that reads motor angles from the robot."""
+
+  def __init__(self,
+               name: Text = "MotorAngle",
+               dtype: Type[Any] = np.float64,
+               lower_bound: Optional[Union[float, Iterable[float]]] = None,
+               upper_bound: Optional[Union[float, Iterable[float]]] = None,
+               noise_generator: Union[Callable[..., Any],
+                                      noise_generators.NoiseGenerator] = None,
+               sensor_latency: Union[float, Sequence[float]] = 0.0,
+               observe_sine_cosine: bool = False):
+    """Initializes the class.
+
+    Args:
+      name: The name of the sensor.
+      dtype: The datatype of this sensor.
+      lower_bound: The optional lower bounds of the sensor reading. If not
+        provided, will extract from the motor limits of the robot class.
+      upper_bound: The optional upper bounds of the sensor reading. If not
+        provided, will extract from the motor limits of the robot class.
+      noise_generator: Adds noise to the sensor readings.
+      sensor_latency: There are two ways to use this expected sensor latency.
+        For both methods, the latency should be in the same unit as the sensor
+        data timestamp. 1. As a single float number, the observation will be a
+        1D array. For real robots, this should be set to 0.0. 2. As a array of
+        floats, the observation will be a 2D array based on how long the history
+        need to be. Thus, [0.0, 0.1, 0.2] is a history length of 3.
+       observe_sine_cosine: whether to observe motor angles as sine and cosine
+         values.
+    """
+    super().__init__(
+        name=name,
+        sensor_latency=sensor_latency,
+        interpolator_fn=sensor.linear_obs_blender)
+    self._noise_generator = noise_generator
+    self._dtype = dtype
+    self._lower_bound = lower_bound
+    self._upper_bound = upper_bound
+    self._observe_sine_cosine = observe_sine_cosine
+
+  def set_robot(self, robot):
+    self._robot = robot
+    # Creates the observation space based on the robot motor limitations.
+    if self._observe_sine_cosine:
+      lower_bound = _convert_to_np_array(-1, 2 * self._robot.num_motors)
+    elif self._lower_bound:
+      lower_bound = _convert_to_np_array(self._lower_bound,
+                                         self._robot.num_motors)
+    else:
+      lower_bound = _convert_to_np_array(
+          self._robot.motor_limits.angle_lower_limits, self._robot.num_motors)
+    if self._observe_sine_cosine:
+      upper_bound = _convert_to_np_array(1, 2 * self._robot.num_motors)
+    elif self._upper_bound:
+      upper_bound = _convert_to_np_array(self._upper_bound,
+                                         self._robot.num_motors)
+    else:
+      upper_bound = _convert_to_np_array(
+          self._robot.motor_limits.angle_upper_limits, self._robot.num_motors)
+
+    self._observation_space = self._stack_space(
+        gym.spaces.Box(low=lower_bound, high=upper_bound, dtype=self._dtype))
+
+  def _get_original_observation(self):
+    if self._observe_sine_cosine:
+      return self._robot.timestamp, np.hstack(
+          (np.cos(self._robot.motor_angles), np.sin(self._robot.motor_angles)))
+    else:
+      return self._robot.timestamp, self._robot.motor_angles
+
+  def get_observation(self) -> np.ndarray:
+    delayed_observation = super().get_observation()
+    if self._noise_generator:
+      if callable(self._noise_generator):
+        return self._noise_generator(delayed_observation)
+      else:
+        return self._noise_generator.add_noise(delayed_observation)
+
+    return delayed_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py
new file mode 100644
index 0000000000..e3208cdc38
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/sensor.py
@@ -0,0 +1,451 @@
+# Lint as: python3
+"""A sensor prototype class.
+
+The concept is explained in: go/minitaur-gym-redesign-1.1
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import Any, Iterable, Optional, Sequence, Text, Tuple, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.robots import robot_base
+from pybullet_envs.minitaur.robots import time_ordered_buffer
+
+_ARRAY = Sequence[float]
+_FloatOrArray = Union[float, _ARRAY]
+_DataTypeList = Iterable[Any]
+
+# For sensor with multiput outputs, key of the main observation in output dict.
+MAIN_OBS_KEY = ""
+
+# This allows referencing np.float32 in gin config files. For example:
+# lidar_sensor.LidarSensor.dtype = @np.float32
+gin.external_configurable(np.float32, module="np")
+gin.external_configurable(np.float64, module="np")
+gin.external_configurable(np.uint8, module="np")
+
+
+# Observation blenders take a pair of low/high values. The low/high is measured
+# by the latency of the observation. So the low value is actually newer in time
+# and high value older. The coeff [0, 1] can be thinked as the distance between
+# the low and high value value, with 0 being 100% low value and 1 as 100% high
+# value.
+def linear_obs_blender(low_value: Any, high_value: Any, coeff: float):
+  """Linear interpolation of low/high values based on coefficient value."""
+  return low_value * (1 - coeff) + high_value * coeff
+
+
+def closest_obs_blender(low_value: Any, high_value: Any, coeff: float):
+  """Choosing the high or low value based on coefficient value."""
+  return low_value if coeff < 0.5 else high_value
+
+
+def newer_obs_blender(low_value: Any, unused_high_value: Any,
+                      unused_coeff: float):
+  """Always choosing low value, which is the newer value between low/high."""
+  return low_value
+
+
+def older_obs_blender(unused_low_value: Any, high_value: Any,
+                      unused_coeff: float):
+  """Always choosing the high value, which is the older value between low/high."""
+  return high_value
+
+
+@gin.configurable
+class Sensor(object):
+  """A prototype class of sensors."""
+
+  def __init__(
+      self,
+      name: Text,
+      sensor_latency: _FloatOrArray,
+      interpolator_fn: Any,
+      enable_debug_visualization: bool = False,
+  ):
+    """A basic constructor of the sensor.
+
+    We do not provide a robot instance during __init__, as robot instances may
+    be reloaded/recreated during the simulation.
+
+    Args:
+      name: the name of the sensor
+      sensor_latency: There are two ways to use this expected sensor latency.
+        For both methods, the latency should be in the same unit as the sensor
+        data timestamp. 1. As a single float number, the observation will be a
+        1D array. For real robots, this should be set to 0.0. 2. As an array of
+        floats, the observation will be a 2D array based on how long the history
+        need to be. Thus, [0.0, 0.1, 0.2] is a history length of 3. Observations
+        are stacked on a new axis appended after existing axes.
+      interpolator_fn: Function that controls how to interpolate the two values
+        that is returned from the time ordered buffer.
+      enable_debug_visualization: Whether to draw debugging visualization.
+    """
+    self._robot = None
+    self._name = name
+    # Observation space will be implemented by derived classes.
+    self._observation_space = None
+    self._sensor_latency = sensor_latency
+    self._single_latency = True if isinstance(sensor_latency,
+                                              (float, int)) else False
+    self._enable_debug_visualization = enable_debug_visualization
+    if not self._is_valid_latency():
+      raise ValueError("sensor_latency is expected to be a non-negative number "
+                       "or a non-empty list of non-negative numbers.")
+    self._interpolator_fn = interpolator_fn or newer_obs_blender
+    self._axis = -1
+    timespan = sensor_latency if self._single_latency else max(sensor_latency)
+    self._observation_buffer = time_ordered_buffer.TimeOrderedBuffer(
+        max_buffer_timespan=timespan)
+
+  def _is_valid_latency(self):
+    if self._single_latency:
+      return self._sensor_latency >= 0
+    if self._sensor_latency:
+      return all(value >= 0 for value in self._sensor_latency)
+    return False
+
+  def get_name(self) -> Text:
+    return self._name
+
+  @property
+  def is_single_latency(self) -> bool:
+    return self._single_latency
+
+  @property
+  def observation_space(self) -> gym.spaces.Space:
+    return self._observation_space
+
+  @property
+  def enable_debug_visualization(self):
+    return self._enable_debug_visualization
+
+  @enable_debug_visualization.setter
+  def enable_debug_visualization(self, enable):
+    self._enable_debug_visualization = enable
+
+  def get_observation_datatype(self):
+    """Returns the data type for the numpy structured array.
+
+    It is recommended to define a list of tuples: (name, datatype, shape)
+    Reference: https://docs.scipy.org/doc/numpy-1.15.0/user/basics.rec.html
+    Ex:
+      return [('motor_angles', np.float64, (8, ))]  # motor angle sensor
+      return [('IMU_x', np.float64), ('IMU_z', np.float64), ] # IMU
+    Will be deprecated (b/150818246) in favor of observation_space.
+
+    Returns:
+      datatype: a list of data types.
+    """
+    raise NotImplementedError("Deprecated. Are you using the old robot class?")
+
+  def get_lower_bound(self):
+    """Returns the lower bound of the observation.
+
+    Will be deprecated (b/150818246) in favor of observation_space.
+
+    Returns:
+      lower_bound: the lower bound of sensor values in np.array format
+    """
+    raise NotImplementedError("Deprecated. Are you using the old robot class?")
+
+  def get_upper_bound(self):
+    """Returns the upper bound of the observation.
+
+    Will be deprecated (b/150818246) in favor of observation_space.
+
+    Returns:
+      upper_bound: the upper bound of sensor values in np.array format
+    """
+    raise NotImplementedError("Deprecated. Are you using the old robot class?")
+
+  def _get_original_observation(self) -> Tuple[float, Any]:
+    """Gets the non-modified observation.
+
+    Different from the get_observation, which can pollute and sensor data with
+    noise and latency, this method shall return the best effort measurements of
+    the sensor. For simulated robots, this will return the clean data. For reals
+    robots, just return the measurements as is. All inherited class shall
+    implement this method.
+
+    Returns:
+      The timestamp and the original sensor measurements.
+
+    Raises:
+      NotImplementedError for the base class.
+
+    """
+    raise NotImplementedError("Not implemented for base class." "")
+
+  def get_observation(self):
+    """Returns the observation data.
+
+    Returns:
+      observation: the observed sensor values in np.array format
+    """
+    obs = self._observation_buffer.get_delayed_value(self._sensor_latency)
+
+    if self._single_latency:
+      if isinstance(self._observation_space, gym.spaces.Dict):
+        return self._interpolator_fn(obs.value_0, obs.value_1, obs.coeff)
+      else:
+        return np.asarray(
+            self._interpolator_fn(obs.value_0, obs.value_1, obs.coeff))
+    else:
+      if isinstance(self._observation_space, gym.spaces.Dict):
+        # interpolate individual sub observation
+        interpolated = [
+            self._interpolator_fn(data.value_0, data.value_1, data.coeff)
+            for data in obs
+        ]
+
+        stacked_per_sub_obs = {}
+        for k in interpolated[0]:
+          stacked_per_sub_obs[k] = np.stack(
+              np.asarray([d[k] for d in interpolated]), axis=self._axis)
+        return stacked_per_sub_obs
+      else:
+        obs = np.asarray([
+            self._interpolator_fn(data.value_0, data.value_1, data.coeff)
+            for data in obs
+        ])
+        return np.stack(obs, axis=self._axis)
+
+  def set_robot(self, robot: robot_base.RobotBase):
+    """Set a robot instance."""
+    self._robot = robot
+
+  def get_robot(self):
+    """Returns the robot instance."""
+    return self._robot
+
+  def on_reset(self, env):
+    """A callback function for the reset event.
+
+    Args:
+      env: the environment who invokes this callback function.
+    """
+    self._env = env
+    self._observation_buffer.reset()
+    self.on_new_observation()
+
+  def on_step(self, env):
+    """A callback function for the control step event.
+
+    Args:
+      env: the environment who invokes this callback function.
+    """
+    pass
+
+  def visualize(self):
+    """Visualizes the sensor information."""
+    pass
+
+  def on_new_observation(self):
+    """A callback for each observation received.
+
+    To be differentiated from on_step, which will be called only once per
+    control step (i.e. env.step), this API will be called everytime in the
+    substep/action repeat loop, when new observations are expected. Each derived
+    sensor class should implement this API by implementing:
+
+    my_obs  = call env/robot api to get the observation
+    self._observation_buffer.add(my_obs)
+    """
+    timestamp, obs = self._get_original_observation()
+    if self._enable_debug_visualization:
+      self.visualize()
+    self._observation_buffer.add(timestamp, obs)
+
+  def on_terminate(self, env):
+    """A callback function for the terminate event.
+
+    Args:
+      env: the environment who invokes this callback function.
+    """
+    pass
+
+  def _stack_space(self,
+                   space: Union[gym.spaces.Box, gym.spaces.Dict],
+                   dtype: np.dtype = None) -> Any:
+    """Returns stacked version of observation space.
+
+    This stacks a gym.spaces.Box or gym.spaces.Dict action space based on the
+    length of the sensor latency and the axis for stacking specified in the
+    sensor. A gym.spaces.Box is just stacked, but a gym.spaces.Dict is
+    recursively stacked, preserving its dictionary structure while stacking
+    any gym.spaces.Box contained within. For example, the input action space:
+
+        gym.spaces.Dict({
+            'space_1': gym.spaces.Box(low=0, high=10, shape=(1,)),
+            'space_2': gym.spaces.Dict({
+                'space_3': gym.spaces.Box(low=0, high=10, shape=(2,)),
+                }),
+        }))
+
+    would be converted to the following if sensor latency was [0, 1]:
+
+        gym.spaces.Dict({
+            'space_1': gym.spaces.Box(low=0, high=10, shape=(1, 2)),
+            'space_2': gym.spaces.Dict({
+                'space_3': gym.spaces.Box(low=0, high=10, shape=(2, 2)),
+                }),
+        }))
+
+    Args:
+      space: A gym.spaces.Dict or gym.spaces.Box to be stacked.
+      dtype: Datatype for the stacking.
+
+    Returns:
+      stacked_space: A stacked version of the action space.
+    """
+    if self._single_latency:
+      return space
+
+    # Allow sensors such as last_action_sensor to override the dtype.
+    dtype = dtype or space.dtype
+
+    if isinstance(space, gym.spaces.Box):
+      return self._stack_space_box(space, dtype)
+    elif isinstance(space, gym.spaces.Dict):
+      return self._stack_space_dict(space, dtype)
+    else:
+      raise ValueError(f"Space {space} is an unsupported type.")
+
+  def _stack_space_box(self, space: gym.spaces.Box,
+                       dtype: np.dtype) -> gym.spaces.Box:
+    """Returns stacked version of a box observation space.
+
+    This stacks a gym.spaces.Box action space based on the length of the sensor
+    latency and the axis for stacking specified in the sensor.
+
+    Args:
+      space: A gym.spaces.Box to be stacked.
+      dtype: Datatype for the stacking
+
+    Returns:
+      stacked_space: A stacked version of the gym.spaces.Box action space.
+    """
+    length = len(self._sensor_latency)
+    stacked_space = gym.spaces.Box(
+        low=np.repeat(
+            np.expand_dims(space.low, axis=self._axis), length,
+            axis=self._axis),
+        high=np.repeat(
+            np.expand_dims(space.high, axis=self._axis),
+            length,
+            axis=self._axis),
+        dtype=dtype)
+
+    return stacked_space
+
+  def _stack_space_dict(self, space: gym.spaces.Dict,
+                        dtype: np.dtype) -> gym.spaces.Dict:
+    """Returns stacked version of a dict observation space.
+
+    This stacks a gym.spaces.Dict action space based on the length of the sensor
+    latency and the recursive structure of the gym.spaces.Dict itself.
+
+    Args:
+      space: A gym.spaces.Dict to be stacked.
+      dtype: Datatype for the stacking.
+
+    Returns:
+      stacked_space: A stacked version of the dictionary action space.
+    """
+    return gym.spaces.Dict([
+        (k, self._stack_space(v, dtype)) for k, v in space.spaces.items()
+    ])
+
+  def _encode_obs_dict_keys(self, obs_dict):
+    """Encodes sub obs keys of observation dict or observsation space dict."""
+    return {encode_sub_obs_key(self, k): v for k, v in obs_dict.items()}
+
+
+class BoxSpaceSensor(Sensor):
+  """A prototype class of sensors with Box shapes."""
+
+  def __init__(self,
+               name: Text,
+               shape: Tuple[int, ...],
+               lower_bound: _FloatOrArray = -np.pi,
+               upper_bound: _FloatOrArray = np.pi,
+               dtype=np.float64) -> None:
+    """Constructs a box type sensor.
+
+    Will be deprecated (b/150818246) once we switch to gym spaces.
+    Args:
+      name: the name of the sensor
+      shape: the shape of the sensor values
+      lower_bound: the lower_bound of sensor value, in float or np.array.
+      upper_bound: the upper_bound of sensor value, in float or np.array.
+      dtype: data type of sensor value
+    """
+    super(BoxSpaceSensor, self).__init__(
+        name=name, sensor_latency=0.0, interpolator_fn=newer_obs_blender)
+    self._shape = shape
+    self._dtype = dtype
+
+    if isinstance(lower_bound, float):
+      self._lower_bound = np.full(shape, lower_bound, dtype=dtype)
+    else:
+      self._lower_bound = np.array(lower_bound)
+
+    if isinstance(upper_bound, float):
+      self._upper_bound = np.full(shape, upper_bound, dtype=dtype)
+    else:
+      self._upper_bound = np.array(upper_bound)
+
+  def set_robot(self, robot):
+    # Since all old robot class do not inherit from RobotBase, we can enforce
+    # the checking here.
+    if isinstance(robot, robot_base.RobotBase):
+      raise ValueError(
+          "Cannot use new robot interface RobotBase with old sensor calss.")
+    self._robot = robot
+
+  def get_shape(self) -> Tuple[int, ...]:
+    return self._shape
+
+  def get_dimension(self) -> int:
+    return len(self._shape)
+
+  def get_dtype(self):
+    return self._dtype
+
+  def get_observation_datatype(self) -> _DataTypeList:
+    """Returns box-shape data type."""
+    return [(self._name, self._dtype, self._shape)]
+
+  def get_lower_bound(self) -> _ARRAY:
+    """Returns the computed lower bound."""
+    return self._lower_bound
+
+  def get_upper_bound(self) -> _ARRAY:
+    """Returns the computed upper bound."""
+    return self._upper_bound
+
+  def get_observation(self) -> np.ndarray:
+    return np.asarray(self._get_observation(), dtype=self._dtype)
+
+  def _get_original_observation(self) -> Tuple[float, Any]:
+    # Maintains compatibility with the new sensor classes."""
+    raise NotImplementedError("Not implemented for this class.")
+
+  def on_new_observation(self):
+    # Maintains compatibility with the new sensor classes."""
+    pass
+
+
+def encode_sub_obs_key(s: Sensor, sub_obs_name: Optional[Text]):
+  """Returns a sub observation key for use in observation dictionary."""
+  if sub_obs_name == MAIN_OBS_KEY:
+    return s.get_name()
+  else:
+    return f"{s.get_name()}/{sub_obs_name}"
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py
new file mode 100644
index 0000000000..270bee2f1a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/space_utils.py
@@ -0,0 +1,137 @@
+# Lint as: python3
+"""Converts a list of sensors to gym space."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+from typing import List
+import gin
+import gym
+from gym import spaces
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+
+
+class UnsupportedConversionError(NotImplementedError):
+  """An exception when the function cannot convert sensors to the gym space."""
+
+
+class AmbiguousDataTypeError(TypeError):
+  """An exception when the function cannot determine the data type."""
+
+
+@gin.configurable
+def convert_sensors_to_gym_space(sensors: List[sensor.Sensor]) -> gym.Space:
+  """Convert a list of sensors to the corresponding gym space.
+
+  Args:
+    sensors: a list of the current sensors
+
+  Returns:
+    space: the converted gym space
+
+  Raises:
+    UnsupportedConversionError: raises when the function cannot convert the
+      given list of sensors.
+  """
+
+  if all([
+      isinstance(s, sensor.BoxSpaceSensor) and s.get_dimension() == 1
+      for s in sensors
+  ]):
+    return convert_1d_box_sensors_to_gym_space(sensors)
+  raise UnsupportedConversionError('sensors = ' + str(sensors))
+
+
+@gin.configurable
+def convert_1d_box_sensors_to_gym_space(
+    sensors: List[sensor.Sensor]) -> gym.Space:
+  """Convert a list of 1D BoxSpaceSensors to the corresponding gym space.
+
+  Args:
+    sensors: a list of the current sensors
+
+  Returns:
+    space: the converted gym space
+
+  Raises:
+    UnsupportedConversionError: raises when the function cannot convert the
+      given list of sensors.
+    AmbiguousDataTypeError: raises when the function cannot determine the
+      data types because they are not uniform.
+  """
+  # Check if all sensors are 1D BoxSpaceSensors
+  if not all([
+      isinstance(s, sensor.BoxSpaceSensor) and s.get_dimension() == 1
+      for s in sensors
+  ]):
+    raise UnsupportedConversionError('sensors = ' + str(sensors))
+
+  # Check if all sensors have the same data type
+  sensor_dtypes = [s.get_dtype() for s in sensors]
+  if sensor_dtypes.count(sensor_dtypes[0]) != len(sensor_dtypes):
+    raise AmbiguousDataTypeError('sensor datatypes are inhomogeneous')
+
+  lower_bound = np.concatenate([s.get_lower_bound() for s in sensors])
+  upper_bound = np.concatenate([s.get_upper_bound() for s in sensors])
+  observation_space = spaces.Box(
+      np.array(lower_bound), np.array(upper_bound), dtype=np.float32)
+  return observation_space
+
+
+@gin.configurable
+def convert_sensors_to_gym_space_dictionary(
+    sensors: List[sensor.Sensor]) -> gym.Space:
+  """Convert a list of sensors to the corresponding gym space dictionary.
+
+  Args:
+    sensors: a list of the current sensors
+
+  Returns:
+    space: the converted gym space dictionary
+
+  Raises:
+    UnsupportedConversionError: raises when the function cannot convert the
+      given list of sensors.
+  """
+  gym_space_dict = {}
+  for s in sensors:
+    if isinstance(s, sensor.BoxSpaceSensor):
+      gym_space_dict[s.get_name()] = spaces.Box(
+          np.array(s.get_lower_bound()),
+          np.array(s.get_upper_bound()),
+          dtype=np.float32)
+    elif isinstance(s, sensor.Sensor):
+      if isinstance(s.observation_space, spaces.Box):
+        gym_space_dict[s.get_name()] = s.observation_space
+      elif isinstance(s.observation_space, spaces.Dict):
+        gym_space_dict.update(s.observation_space.spaces)
+      else:
+        raise UnsupportedConversionError(
+            f'Unsupported space type {type(s.observation_space)}, '
+            f'must be Box or Dict. sensor = {s}')
+    else:
+      raise UnsupportedConversionError('sensors = ' + str(sensors))
+  return spaces.Dict(gym_space_dict)
+
+
+def create_constant_action(action_space, action_value=0):
+  """Create an uniform value action based on the type of action space."""
+  if isinstance(action_space, gym.spaces.Dict):
+    # gym.spaces.Dict has a shape of None, so construct action over subspaces.
+    return {
+        sub_name: create_constant_action(sub_space, action_value)
+        for sub_name, sub_space in action_space.spaces.items()
+    }
+  else:  # Presumably gym.spaces.Box, but in case it is not ...
+    return np.full(action_space.shape, action_value)
+
+
+def action_astype(action, dtype):
+  """Transform an action to a different datatype."""
+  if isinstance(action, dict):
+    return {key: action_astype(value, dtype) for key, value in action.items()}
+  else:
+    return np.array(action, dtype=dtype)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py
new file mode 100644
index 0000000000..5e875045a6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/sensors/toe_position_sensor.py
@@ -0,0 +1,100 @@
+# Lint as: python3
+"""Quadruped toe position sensor."""
+
+from typing import Any, Callable, Sequence, Text, Tuple, Type, Union
+
+import gin
+import gym
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.envs_v2.utilities import noise_generators
+
+
+def _convert_to_np_array(inputs: Union[float, Tuple[float], np.ndarray], dim):
+  """Converts the inputs to a numpy array.
+
+  Args:
+    inputs: The input scalar or array.
+    dim: The dimension of the converted numpy array.
+
+  Returns:
+    The converted numpy array.
+
+  Raises:
+    ValueError: If the inputs is an array whose dimension does not match the
+    provided dimension.
+  """
+  outputs = None
+  if isinstance(inputs, (tuple, np.ndarray)):
+    outputs = np.array(inputs)
+  else:
+    outputs = np.full(dim, inputs)
+
+  if len(outputs) != dim:
+    raise ValueError("The inputs array has a different dimension {}"
+                     " than provided, which is {}.".format(len(outputs), dim))
+
+  return outputs
+
+
+@gin.configurable
+class ToePositionSensor(sensor.Sensor):
+  """A sensor that outputs the toe positions of attached robots or objects."""
+
+  def __init__(
+      self,
+      name: Text = "toe_position",
+      dtype: Type[Any] = np.float64,
+      lower_bound: Union[float, Sequence[float]] = -1.0,
+      upper_bound: Union[float, Sequence[float]] = 1.0,
+      noise_generator: Union[Callable[..., Any],
+                             noise_generators.NoiseGenerator] = None,
+      sensor_latency: Union[float, Sequence[float]] = 0.0,
+  ):
+    """Constructor.
+
+    Args:
+      name: Name of the sensor.
+      dtype: Data type of sensor value.
+      lower_bound: The optional lower bounds of the sensor reading.
+      upper_bound: The optional upper bounds of the sensor reading.
+      noise_generator: Used to add noise to the readings.
+      sensor_latency: Single or multiple latency in seconds. See sensor.Sensor
+        docstring for details.
+    """
+    super().__init__(
+        name=name,
+        sensor_latency=sensor_latency,
+        interpolator_fn=sensor.linear_obs_blender)
+    self._dtype = dtype
+    self._lower_bound = lower_bound
+    self._upper_bound = upper_bound
+    self._noise_generator = noise_generator
+
+  def set_robot(self, robot):
+    self._robot = robot
+    num_legs = len(robot.urdf_loader.get_end_effector_id_dict().values())
+    lower_bound = _convert_to_np_array(self._lower_bound, num_legs * 3)
+
+    upper_bound = _convert_to_np_array(self._upper_bound, num_legs * 3)
+
+    self._observation_space = self._stack_space(
+        gym.spaces.Box(low=lower_bound, high=upper_bound, dtype=self._dtype))
+
+  def _get_original_observation(self) -> Tuple[float, np.ndarray]:
+    """Returns raw observation with timestamp."""
+    toe_position = np.array(
+        self._robot.foot_positions(), dtype=self._dtype).flatten()
+
+    return self._robot.timestamp, toe_position
+
+  def get_observation(self) -> np.ndarray:
+    delayed_observation = super().get_observation()
+    if self._noise_generator:
+      if callable(self._noise_generator):
+        return self._noise_generator(delayed_observation)
+      else:
+        return self._noise_generator.add_noise(delayed_observation)
+
+    return delayed_observation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py
new file mode 100644
index 0000000000..9046f9d8d6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/simple_locomotion_task.py
@@ -0,0 +1,125 @@
+"""A simple locomotion taskand termination condition."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import numpy as np
+
+import gin
+from pybullet_envs.minitaur.envs_v2.tasks import task_interface
+from pybullet_envs.minitaur.envs_v2.tasks import task_utils
+from pybullet_envs.minitaur.envs_v2.tasks import terminal_conditions
+from pybullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils
+
+
+@gin.configurable
+class SimpleForwardTask(task_interface.Task):
+  """A basic "move forward" task."""
+
+  def __init__(self,
+               weight=1.0,
+               terminal_condition=terminal_conditions
+               .default_terminal_condition_for_minitaur,
+               divide_with_dt=False,
+               clip_velocity=None,
+               energy_penalty_coef=0.0,
+               min_com_height=None,
+               weight_action_accel=None):
+    """Initializes the task.
+
+    Args:
+      weight: Float. The scaling factor for the reward.
+      terminal_condition: Callable object or function. Determines if the task is
+        done.
+      divide_with_dt: if True, we divide the velocity reward with dt.
+      clip_velocity: if not None, we will clip the velocity with this value.
+      energy_penalty_coef: Coefficient for the energy penalty that will be added
+        to the reward. 0 by default.
+      min_com_height: Minimum height for the center of mass of the robot that
+        will be used to terminate the task. This is used to obtain task specific
+        gaits and set by the config or gin files based on the task and robot.
+      weight_action_accel: if not None, penalize the action acceleration.
+
+    Raises:
+      ValueError: The energey coefficient is smaller than zero.
+    """
+    self._weight = weight
+    self._terminal_condition = terminal_condition
+    self._last_base_position = None
+    self._divide_with_dt = divide_with_dt
+    self._clip_velocity = clip_velocity
+    self._weight_action_accel = weight_action_accel
+    self._action_history_sensor = None
+    self._min_com_height = min_com_height
+    self._energy_penalty_coef = energy_penalty_coef
+    self._env = None
+    self._step_count = 0
+    if energy_penalty_coef < 0:
+      raise ValueError("Energy Penalty Coefficient should be >= 0")
+
+  def __call__(self, env):
+    return self.reward(env)
+
+  def reset(self, env):
+    self._env = env
+    self._last_base_position = env_utils.get_robot_base_position(
+        self._env.robot)
+
+    if self._weight_action_accel is not None:
+      sensor_name = "LastAction"
+      self._action_history_sensor = env.sensor_by_name(sensor_name)
+
+  @property
+  def step_count(self):
+    return self._step_count
+
+  def update(self, env):
+    """Updates the internal state of the task."""
+    del env
+    self._last_base_position = env_utils.get_robot_base_position(
+        self._env.robot)
+
+  def reward(self, env):
+    """Get the reward without side effects."""
+    del env
+
+    self._step_count += 1
+    env = self._env
+    current_base_position = env_utils.get_robot_base_position(self._env.robot)
+    velocity = current_base_position[0] - self._last_base_position[0]
+    if self._divide_with_dt:
+      velocity /= env.env_time_step
+    if self._clip_velocity is not None:
+      limit = float(self._clip_velocity)
+      velocity = np.clip(velocity, -limit, limit)
+
+    if self._weight_action_accel is None:
+      action_acceleration_penalty = 0.0
+    else:
+      past_actions = self._action_history_sensor.get_observation().T
+      action = past_actions[0]
+      prev_action = past_actions[1]
+      prev_prev_action = past_actions[2]
+      acc = action - 2 * prev_action + prev_prev_action
+      action_acceleration_penalty = (
+          float(self._weight_action_accel) * np.mean(np.abs(acc)))
+
+    reward = velocity
+    reward -= action_acceleration_penalty
+
+    # Energy
+    if self._energy_penalty_coef > 0:
+      energy_reward = -task_utils.calculate_estimated_energy_consumption(
+          self._env.robot.motor_torques, self._env.robot.motor_velocities,
+          self._env.sim_time_step, self._env.num_action_repeat)
+      reward += energy_reward * self._energy_penalty_coef
+
+    return reward * self._weight
+
+  def done(self, env):
+    del env
+    position = env_utils.get_robot_base_position(self._env.robot)
+    if self._min_com_height and position[2] < self._min_com_height:
+      return True
+    return self._terminal_condition(self._env)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py
new file mode 100644
index 0000000000..720d450107
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_interface.py
@@ -0,0 +1,37 @@
+# Lint as: python3
+"""Interface that specifies tasks."""
+# TODO(tingnan): Def. proper task interface - see TODO(b/154635313) in comments.
+
+import abc
+from typing import Sequence
+
+import gym
+
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+
+
+class Task(metaclass=abc.ABCMeta):
+  """Base class for tasks."""
+
+  # TODO(b/154635313): Deprecate this method. Consolidate it into update().
+  @abc.abstractmethod
+  def reward(self, env: gym.Env) -> float:
+    """Returns the reward for the current state of the environment."""
+
+  @abc.abstractmethod
+  def reset(self, env: gym.Env) -> None:
+    """Resets the task."""
+
+  @abc.abstractmethod
+  def update(self, env: gym.Env) -> None:
+    """Updates the internal state of the task."""
+
+  # TODO(b/154635313): Deprecate this method. Consolidate it into update().
+  @abc.abstractmethod
+  def done(self, env: gym.Env) -> bool:
+    """Determines whether the task is done."""
+
+  @property
+  def sensors(self) -> Sequence[sensor.Sensor]:
+    """Returns sensors used by task."""
+    return []
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py
new file mode 100644
index 0000000000..90ac2814a3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/task_utils.py
@@ -0,0 +1,108 @@
+"""Common tools and functionalities used in different tasks."""
+import numpy as np
+
+
+def calculate_target_speed_at_timestep(speed_stages):
+  """Interpolates the speed based on a speed profile and simulation steps.
+
+  Args:
+    speed_stages: The list of timesteps (in increasing order) and speed (float
+      or a list of floats for x and y components) at that specific timestep.
+      Example formats can be found on task_utils_test.py and at the header of
+      the speed_reward_task.py.
+
+  Returns:
+    Target speed for the specific step (meters per simulation step).
+  Raises:
+    ValueError if the input is not in the expected format.
+  """
+  if len(speed_stages) != 2 or len(speed_stages[0]) != len(speed_stages[1]):
+    raise ValueError('Speed stages for the task is not in correct format!')
+  steps = np.array(speed_stages[0])
+  speeds = np.array(speed_stages[1])
+  num_steps = steps[-1]
+  if len(speeds.shape) == 1:
+    return np.interp(range(num_steps), steps, speeds)
+  speed_at_timestep = np.interp(range(num_steps), steps, speeds[:, 0]).reshape(
+      (num_steps, 1))
+  speed_at_timestep = speed_at_timestep.reshape((num_steps, 1))
+  if speeds.shape[1] == 2:
+    speed_y = np.interp(range(num_steps), steps, speeds[:, 1]).reshape(
+        (num_steps, 1))
+    speed_at_timestep = np.concatenate((speed_at_timestep, speed_y), axis=1)
+  else:
+    speed_at_timestep = np.concatenate(
+        (speed_at_timestep, np.zeros((num_steps, 1))), axis=1)
+  return speed_at_timestep
+
+
+def calculate_distance(vector_1, vector_2):
+  """Calculates the distance between 2 vectors.
+
+  This is used to calculate distance between 2 points in 3D space as well as
+  distances between two orientation vectors.
+
+  Args:
+    vector_1: First vector that will be used for comparison with the other.
+    vector_2: Second vector used for comparison.
+
+  Returns:
+    Distance between the two vectors represented by a float.
+  """
+  return np.linalg.norm(np.array(vector_1) - np.array(vector_2))
+
+
+def turn_angle(new_vector, reference_vector):
+  """Calculates the change in orientation of the two vectors.
+
+    This is used to calculate the relative angle perception for the
+    robot.
+
+  Args:
+    new_vector: The front vector of the robot at current timestep.
+    reference_vector: The front vector of the robot at previous timestep.
+
+  Returns:
+    Angle representing the change in orientation of the robot projected to
+    x-y plane.
+  """
+  # Project the vectors to x-y plane
+  v1 = np.resize(new_vector, 3)
+  v2 = np.resize(reference_vector, 3)
+  v1[2] = 0
+  v2[2] = 0
+  # Calculate the right hand rotation between two vectors using z vector
+  # (0,0,-1) as reference cross product vector.
+  # Compatible with the yaw rotation of pyBullet.
+  return np.arctan2(np.dot(np.cross(v2, v1), (0, 0, -1)), np.dot(v1, v2))
+
+
+def front_vector(pybullet_client, orientation):
+  """Calculates the front vector of the robot on x-y plane.
+
+  Args:
+    pybullet_client: Pybullet client instantiation.
+    orientation: Orientation of the robot in quaternion form.
+
+  Returns:
+    3D vector where z component is set to 0.
+  """
+  rot_matrix = pybullet_client.getMatrixFromQuaternion(orientation)
+  return [rot_matrix[0], -rot_matrix[1], 0]
+
+
+def calculate_estimated_energy_consumption(motor_torques, motor_velocities,
+                                           sim_time_step, num_action_repeat):
+  """Calculates energy consumption based on the args listed.
+
+  Args:
+    motor_torques: Torques of all the motors
+    motor_velocities: Velocities of all the motors.
+    sim_time_step: Simulation time step length (seconds).
+    num_action_repeat: How many steps the simulation repeats the same action.
+
+  Returns:
+    Total energy consumption of all the motors (watts).
+  """
+  return np.abs(np.dot(motor_torques,
+                       motor_velocities)) * sim_time_step * num_action_repeat
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py
new file mode 100644
index 0000000000..9fe5120573
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/tasks/terminal_conditions.py
@@ -0,0 +1,301 @@
+"""Contains the terminal conditions for locomotion tasks."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils
+from pybullet_envs.minitaur.envs_v2.utilities import env_utils_v2 as env_utils
+from pybullet_envs.minitaur.envs_v2.utilities import termination_reason as tr
+
+
+@gin.configurable
+def default_terminal_condition_for_minitaur(env):
+  """A default terminal condition for Minitaur.
+
+  Minitaur is considered as fallen if the base position is too low or the base
+  tilts/rolls too much.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+
+  Returns:
+    A boolean indicating if Minitaur is fallen.
+  """
+  orientation = env_utils.get_robot_base_orientation(env.robot)
+  rot_mat = env.pybullet_client.getMatrixFromQuaternion(orientation)
+  local_up = rot_mat[6:]
+  pos = env_utils.get_robot_base_position(env.robot)
+  return (np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85 or
+          pos[2] < 0.13)
+
+
+@gin.configurable
+def terminal_condition_for_minitaur_extended_env(env):
+  """Returns a bool indicating that the extended env is terminated.
+
+  This predicate checks whether 1) the legs are bent inward too much or
+  2) the body is tilted too much.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+  """
+  motor_angles = env.robot.motor_angles
+  leg_pose = minitaur_pose_utils.motor_angles_to_leg_pose(motor_angles)
+
+  swing_threshold = np.radians(35.0)
+  if (leg_pose[0] > swing_threshold or leg_pose[2] > swing_threshold or  # Front
+      leg_pose[1] < -swing_threshold or leg_pose[3] < -swing_threshold):  # Rear
+    return True
+  roll, _, _ = env.robot.base_roll_pitch_yaw
+  if abs(roll) > np.radians(30.0):
+    return True
+
+  return False
+
+
+@gin.configurable
+def default_terminal_condition_for_laikago(env):
+  """A default terminal condition for Laikago.
+
+  Minitaur is considered as fallen if the base position is too low or the base
+  tilts/rolls too much.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+
+  Returns:
+    A boolean indicating if Minitaur is fallen.
+  """
+  roll, pitch, _ = env.robot.base_roll_pitch_yaw
+  pos = env_utils.get_robot_base_position(env.robot)
+  return abs(roll) > 0.2 or abs(pitch) > 0.2 or pos[2] < 0.35
+
+
+@gin.configurable
+def default_terminal_condition_for_laikago_v2(
+    env,
+    max_roll: float = 1.2,
+    max_pitch: float = 1.2,
+    min_height: float = 0.15,
+    enforce_foot_contacts: bool = False):
+  """A default terminal condition for Laikago_v2.
+
+  Laikago is considered as fallen if the base position is too low or the base
+  tilts/rolls too much.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+    max_roll:  Max roll before the episode terminates.
+    max_pitch:  Max pitch before the episode terminates.
+    min_height:  Min height before the episode terminates.
+    enforce_foot_contacts: Ensure that contacts are established with the feet.
+
+  Returns:
+    A boolean indicating if Minitaur is fallen.
+  """
+  # Make sure that contacts are only made with the robot's feet.
+  unwanted_collision = False
+  if enforce_foot_contacts:
+    # Get list of foot and knee link ids. Sometimes, the simulation will
+    # register a contact as having been made with the knee link, even though it
+    # was actually the foot that made the contact. Checking both the foot and
+    # knee links for contact accounts for that.
+    foot_link_ids = list(
+        env.robot.urdf_loader.get_end_effector_id_dict().values())
+    knee_link_ids = [foot_link_id - 1 for foot_link_id in foot_link_ids]
+    contacts = env.pybullet_client.getContactPoints(bodyA=env.robot.robot_id)
+    for contact in contacts:
+      # Two different bodies made contact (i.e. not a self-collision).
+      if contact[1] != contact[2]:
+        foot_contact = (contact[3] in foot_link_ids) or (
+            contact[3] in knee_link_ids)
+        unwanted_collision = unwanted_collision or not foot_contact
+
+  roll, pitch, _ = env.robot.base_roll_pitch_yaw
+  pos = env.robot.base_position
+  return (abs(roll) > max_roll or abs(pitch) > max_pitch or
+          pos[2] < min_height or unwanted_collision)
+
+
+@gin.configurable
+def default_terminal_condition_for_agility(env,
+                                           max_roll: float = 1.8,
+                                           max_pitch: float = 1.8,
+                                           min_height: float = 0.0,
+                                           enforce_foot_contacts: bool = False):
+  """A default terminal condition for more agile tasks (i.e. jumping).
+
+  The robot is considered as fallen if the base position is too low, the base
+  tilts/rolls too much or parts of the body other than the feet touch the
+  ground.
+
+  Args:
+    env: An instance of the gym env.
+    max_roll:  Max roll before the episode terminates.
+    max_pitch:  Max pitch before the episode terminates.
+    min_height:  Min height before the episode terminates.
+    enforce_foot_contacts: Ensure that contacts are established with the feet.
+
+  Returns:
+    A boolean indicating if the episode should be terminated.
+  """
+
+  # Make sure that contacts are only made with the robot's feet.
+  unwanted_collision = False
+  if enforce_foot_contacts:
+    knee_link_ids = [2, 5, 8, 11]
+    contacts = env.pybullet_client.getContactPoints(bodyA=env.robot.robot_id)
+    for contact in contacts:
+      if contact[1] != contact[2]:
+        foot_contact = contact[3] in knee_link_ids
+        unwanted_collision = unwanted_collision or not foot_contact
+
+  roll, pitch, _ = env.robot.base_roll_pitch_yaw
+  pos = env.robot.base_position
+  return (abs(roll) > max_roll or abs(pitch) > max_pitch or
+          pos[2] < min_height or unwanted_collision)
+
+
+@gin.configurable
+def get_terminal_reason(collisions, task):
+  termination_reason = None
+  # Checking collision termination
+  if collisions:
+    termination_reason = tr.TerminationReason.AGENT_COLLISION
+  if task.is_task_success():
+    termination_reason = tr.TerminationReason.GOAL_REACHED
+  return termination_reason
+
+
+@gin.configurable
+def maxstep_terminal_condition(env, max_step=500):
+  """A terminal condition based on the time step.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+    max_step: The maximum time step allowed for the environment
+
+  Returns:
+    A boolean indicating if the env.step exceeds the given limit
+  """
+  return env.env_step_counter > max_step
+
+
+@gin.configurable
+class MaxTimeTerminalCondition(object):
+  """Terminal condition based on time, independent of step length."""
+
+  def __init__(self, max_time_s: float):
+    """Initializes the MaxTimeTerminalCondition.
+
+    Args:
+      max_time_s: Time limit in seconds. In sim, this is the simulation time,
+        not wall time.
+    """
+    if max_time_s <= 0:
+      raise ValueError("Max time for MaxTimeTerminalCondition cannot be zero "
+                       "or less. Input value: %s" % max_time_s)
+    self._max_time_s = max_time_s
+
+  def __call__(self, env):
+    if self._max_time_s is None:
+      return False, None
+    is_done = env.get_time_since_reset() >= self._max_time_s
+    term_reason = tr.TerminationReason.RUN_TIME_LIMIT if is_done else None
+    return is_done, term_reason
+
+
+@gin.configurable
+class MovementDetectorTerminalCondition(object):
+  """Terminal condition for not moving past a distance in specified time."""
+
+  def __init__(self,
+               max_time_s: float = None,
+               min_travel_distance_m: float = 1.0):
+    """Initializes the MovementDetectorTerminalCondition.
+
+    Args:
+      max_time_s: Time limit in seconds. In sim, this is the simulation time,
+        not wall time.
+      min_travel_distance_m: Minimum distance in meters to travel in time limit.
+    """
+    if max_time_s is not None and max_time_s <= 0:
+      raise ValueError("Max time for MovementDetectorTerminalCondition cannot "
+                       "be zero or less. Input value: %s" % max_time_s)
+    if min_travel_distance_m is not None and min_travel_distance_m < 0:
+      raise ValueError(
+          "Minimum travel distance for MovementDetectorTerminalCondition "
+          "cannot be less than zero. Input value: %s" % min_travel_distance_m)
+    self._max_time_s = max_time_s
+    self._min_travel_distance_m = min_travel_distance_m
+    self._not_advancing_limit = None
+    self._reference_position = None
+
+  def _update_limit_time(self, env):
+    self._not_advancing_limit = env.get_time_since_reset() + self._max_time_s
+
+  def _current_position(self, env):
+    return np.asarray(env.robot.base_position[:2])
+
+  def _exceed_time_limit(self, env):
+    return self._not_advancing_limit < env.get_time_since_reset()
+
+  def __call__(self, env):
+    is_done = False
+    term_reason = None
+
+    if self._max_time_s is None:
+      return is_done, term_reason
+
+    if self._not_advancing_limit is None or self._reference_position is None:
+      self._update_limit_time(env)
+      self._reference_position = self._current_position(env)
+
+    distance_shifted = np.linalg.norm(
+        self._current_position(env) - self._reference_position)
+    if distance_shifted >= self._min_travel_distance_m:
+      self._update_limit_time(env)
+      self._reference_position = self._current_position(env)
+
+    if self._exceed_time_limit(env):
+      is_done = True
+      term_reason = tr.TerminationReason.NOT_ADVANCING_LIMIT
+
+    return is_done, term_reason
+
+
+
+@gin.configurable
+def bad_front_leg_terminal_condition(env, max_angle=0.8):
+  """A terminal condition for checking whether front legs are bent backward.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+    max_angle: The maximum angle allowed for front legs
+
+  Returns:
+    A boolean indicating if front legs are bent backward or not
+  """
+  motor_angles = env.robot.motor_angles
+  leg_pose = minitaur_pose_utils.motor_angles_to_leg_pose(motor_angles)
+  swing0 = leg_pose[0]
+  swing1 = leg_pose[2]
+  return swing0 > max_angle or swing1 > max_angle
+
+
+@gin.configurable
+def logical_any_terminal_condition(env, conditions):
+  """A logical "Any" operator for terminal conditions.
+
+  Args:
+    env: An instance of MinitaurGymEnv
+    conditions: a list of terminal conditions
+
+  Returns:
+    A boolean indicating if any of terminal conditions is satisfied
+  """
+  return any([cond(env) for cond in conditions])
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py
new file mode 100644
index 0000000000..5ae427a431
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils.py
@@ -0,0 +1,180 @@
+"""Utility functions to manipulate environment."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import collections
+import gin
+from gym import spaces
+import numpy as np
+import traceback
+import logging
+
+try:
+  import tensorflow.compat.v1 as tf
+except Exception as e:
+  pass # logging.warning(traceback.format_exc())
+
+
+
+
+def flatten_observations(observation_dict, observation_excluded=()):
+  """Flattens the observation dictionary to an array.
+
+  If observation_excluded is passed in, it will still return a dictionary,
+  which includes all the (key, observation_dict[key]) in observation_excluded,
+  and ('other': the flattened array).
+
+  Args:
+    observation_dict: A dictionary of all the observations.
+    observation_excluded: A list/tuple of all the keys of the observations to be
+      ignored during flattening.
+
+  Returns:
+    An array or a dictionary of observations based on whether
+      observation_excluded is empty.
+  """
+  if not isinstance(observation_excluded, (list, tuple)):
+    observation_excluded = [observation_excluded]
+  observations = []
+  for key, value in observation_dict.items():
+    if key not in observation_excluded:
+      observations.append(np.asarray(value).flatten())
+  flat_observations = np.float32(np.concatenate(observations))
+  if not observation_excluded:
+    return flat_observations
+  else:
+    observation_dict_after_flatten = {"other": flat_observations}
+    for key in observation_excluded:
+      if key in observation_dict:
+        observation_dict_after_flatten[key] = observation_dict[key]
+    return collections.OrderedDict(
+        sorted(list(observation_dict_after_flatten.items())))
+
+
+def flatten_observation_dim(observation_dim, observation_excluded=()):
+  """Flattens the observation dimensions to an array.
+
+  If observation_excluded is passed in, it will still return a dictionary,
+  which includes all the (key, observation_dict[key]) in observation_excluded,
+  and ('other': the flattened array).
+
+  Args:
+    observation_dim: A dictionary of all the observation dimensions.
+    observation_excluded: A list/tuple of all the keys of the observations to be
+      ignored during flattening.
+
+  Returns:
+    An array or a dictionary of observation dimensions based on whether
+      observation_excluded is empty.
+  """
+  if not isinstance(observation_excluded, (list, tuple)):
+    observation_excluded = [observation_excluded]
+  observation_dims = 0
+  for key, value in observation_dim.items():
+    if key not in observation_excluded:
+      observation_dims += value
+  if not observation_excluded:
+    return observation_dims
+  else:
+    dim_dict_after_flatten = {"other": observation_dims}
+    for key in observation_excluded:
+      if key in observation_dim:
+        dim_dict_after_flatten[key] = observation_dim[key]
+    return collections.OrderedDict(sorted(list(dim_dict_after_flatten.items())))
+
+
+def flatten_observation_spaces(observation_spaces, observation_excluded=()):
+  """Flattens the dictionary observation spaces to gym.spaces.Box.
+
+  If observation_excluded is passed in, it will still return a dictionary,
+  which includes all the (key, observation_spaces[key]) in observation_excluded,
+  and ('other': the flattened Box space).
+
+  Args:
+    observation_spaces: A dictionary of all the observation spaces.
+    observation_excluded: A list/tuple of all the keys of the observations to be
+      ignored during flattening.
+
+  Returns:
+    A box space or a dictionary of observation spaces based on whether
+      observation_excluded is empty.
+  """
+  if not isinstance(observation_excluded, (list, tuple)):
+    observation_excluded = [observation_excluded]
+  lower_bound = []
+  upper_bound = []
+  for key, value in observation_spaces.spaces.items():
+    if key not in observation_excluded:
+      lower_bound.append(np.asarray(value.low).flatten())
+      upper_bound.append(np.asarray(value.high).flatten())
+  lower_bound = np.concatenate(lower_bound)
+  upper_bound = np.concatenate(upper_bound)
+  observation_space = spaces.Box(
+      np.array(lower_bound), np.array(upper_bound), dtype=np.float32)
+  if not observation_excluded:
+    return observation_space
+  else:
+    observation_spaces_after_flatten = {"other": observation_space}
+    for key in observation_excluded:
+      if key in observation_spaces.spaces:
+        observation_spaces_after_flatten[key] = observation_spaces[key]
+    return spaces.Dict(observation_spaces_after_flatten)
+
+
+
+@gin.configurable
+def get_action_spec(action_spec):
+  """Get action spec for one agent from the environment specs."""
+  return list(action_spec.values())[0]
+
+
+
+@gin.configurable
+def get_get_actions_fn(agent_name_to_index):
+  """Get function which returns other agents' actions."""
+
+  def get_actions(action):
+    """Returns a list of actions.
+
+    Args:
+      action: A dictionary of action tensors with keys matching agent names
+
+    Returns:
+      critic_actions: A list of action tensors for (N-1) other agents.
+        Shape: (B x N, N-1, D)
+    """
+    critic_actions = []
+    for agent_name in sorted(agent_name_to_index.keys()):
+      other_agent_actions = []
+      for other_agent_name in sorted(agent_name_to_index.keys()):
+        if other_agent_name != agent_name:
+          other_agent_actions.append(action[other_agent_name])
+      critic_actions.append(other_agent_actions)
+    print([tf.shape(critic_action) for critic_action in critic_actions])
+    # Shape goes from (N, N-1, B, D) to (B x N, N-1, D)
+    critic_actions = tf.transpose(tf.concat(critic_actions, axis=1), (1, 0, 2))
+    return critic_actions
+
+  return get_actions
+
+
+
+
+def get_robot_base_position(robot):
+  """Gets the base position of robot."""
+  # TODO(b/151975607): Clean this after robot interface migration.
+  if hasattr(robot, "GetBasePosition"):
+    return robot.GetBasePosition()
+  else:
+    return robot.base_position
+
+
+def get_robot_base_orientation(robot):
+  """Gets the base orientation of robot."""
+  # TODO(b/151975607): Clean this after robot interface migration.
+  if hasattr(robot, "GetBaseOrientation"):
+    return robot.GetBaseOrientation()
+  else:
+    return robot.base_orientation_quaternion
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py
new file mode 100644
index 0000000000..02d2eeaef2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/env_utils_v2.py
@@ -0,0 +1,22 @@
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+
+def get_robot_base_position(robot):
+  """Gets the base position of robot."""
+  # TODO(b/151975607): Clean this after robot interface migration.
+  if hasattr(robot, "GetBasePosition"):
+    return robot.GetBasePosition()
+  else:
+    return robot.base_position
+
+
+def get_robot_base_orientation(robot):
+  """Gets the base orientation of robot."""
+  # TODO(b/151975607): Clean this after robot interface migration.
+  if hasattr(robot, "GetBaseOrientation"):
+    return robot.GetBaseOrientation()
+  else:
+    return robot.base_orientation_quaternion
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py
new file mode 100644
index 0000000000..f328c3418c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/laikago_pose_utils.py
@@ -0,0 +1,50 @@
+# coding=utf-8
+# Copyright 2020 The Google Research Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Utility functions to calculate Laikago's pose and motor angles."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import attr
+
+LAIKAGO_DEFAULT_ABDUCTION_ANGLE = 0
+LAIKAGO_DEFAULT_HIP_ANGLE = 0.67
+LAIKAGO_DEFAULT_KNEE_ANGLE = -1.25
+
+
+@attr.s
+class LaikagoPose(object):
+  """Default pose of the Laikago.
+
+    Leg order:
+    0 -> Front Right.
+    1 -> Front Left.
+    2 -> Rear Right.
+    3 -> Rear Left.
+  """
+  abduction_angle_0 = attr.ib(type=float, default=0)
+  hip_angle_0 = attr.ib(type=float, default=0)
+  knee_angle_0 = attr.ib(type=float, default=0)
+  abduction_angle_1 = attr.ib(type=float, default=0)
+  hip_angle_1 = attr.ib(type=float, default=0)
+  knee_angle_1 = attr.ib(type=float, default=0)
+  abduction_angle_2 = attr.ib(type=float, default=0)
+  hip_angle_2 = attr.ib(type=float, default=0)
+  knee_angle_2 = attr.ib(type=float, default=0)
+  abduction_angle_3 = attr.ib(type=float, default=0)
+  hip_angle_3 = attr.ib(type=float, default=0)
+  knee_angle_3 = attr.ib(type=float, default=0)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py
new file mode 100644
index 0000000000..37d12fe95d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/mini_cheetah_pose_utils.py
@@ -0,0 +1,35 @@
+"""Utility functions to calculate Mini Cheetah's pose and motor angles."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import attr
+
+MINI_CHEETAH_DEFAULT_ABDUCTION_ANGLE = 0
+MINI_CHEETAH_DEFAULT_HIP_ANGLE = -1.2
+MINI_CHEETAH_DEFAULT_KNEE_ANGLE = 2.1
+
+
+@attr.s
+class MiniCheetahPose(object):
+  """Default pose of the Laikago.
+
+    Leg order:
+    0 -> Front Right.
+    1 -> Front Left.
+    2 -> Rear Right.
+    3 -> Rear Left.
+  """
+  abduction_angle_0 = attr.ib(type=float, default=0)
+  hip_angle_0 = attr.ib(type=float, default=0)
+  knee_angle_0 = attr.ib(type=float, default=0)
+  abduction_angle_1 = attr.ib(type=float, default=0)
+  hip_angle_1 = attr.ib(type=float, default=0)
+  knee_angle_1 = attr.ib(type=float, default=0)
+  abduction_angle_2 = attr.ib(type=float, default=0)
+  hip_angle_2 = attr.ib(type=float, default=0)
+  knee_angle_2 = attr.ib(type=float, default=0)
+  abduction_angle_3 = attr.ib(type=float, default=0)
+  hip_angle_3 = attr.ib(type=float, default=0)
+  knee_angle_3 = attr.ib(type=float, default=0)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py
new file mode 100644
index 0000000000..34ad9da014
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/minitaur_pose_utils.py
@@ -0,0 +1,187 @@
+# coding=utf-8
+# Copyright 2020 The Google Research Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Utility functions to calculate Minitaur's pose and motor angles."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import attr
+import numpy as np
+
+NUM_MOTORS = 8
+NUM_LEGS = 4
+MOTOR_SIGNS = (1, 1, -1, -1)
+# Constants for the function swing_extend_to_motor_angles
+EPS = 0.1
+# Range of motion for the legs (does not allow pointing towards the body).
+LEG_SWING_LIMIT_LOW = -math.pi / 2 + EPS
+LEG_SWING_LIMIT_HIGH = 3 * math.pi / 2 - EPS
+# Range of gap between motors for feasibility.
+MOTORS_GAP_LIMIT_HIGH = 2 * math.pi - EPS
+MOTORS_GAP_LIMIT_LOW = EPS
+
+
+@attr.s
+class MinitaurPose(object):
+  """Default pose of the Minitaur."""
+  swing_angle_0 = attr.ib(type=float, default=0)
+  swing_angle_1 = attr.ib(type=float, default=0)
+  swing_angle_2 = attr.ib(type=float, default=0)
+  swing_angle_3 = attr.ib(type=float, default=0)
+  extension_angle_0 = attr.ib(type=float, default=0)
+  extension_angle_1 = attr.ib(type=float, default=0)
+  extension_angle_2 = attr.ib(type=float, default=0)
+  extension_angle_3 = attr.ib(type=float, default=0)
+
+
+def motor_angles_to_leg_pose(motor_angles):
+  """Convert motor angles to the leg pose.
+
+  A single leg pose is a tuple (swing, extension). The definition can be find
+  in:
+    Sim-to-Real: Learning Agile Locomotion For Quadruped Robot
+
+  Args:
+    motor_angles: A numpy array. Contains all eight motor angles for Minitaur.
+
+  Returns:
+    A numpy array. Contains the leg pose for all four legs: [swing_0, swing_1,
+    swing_2, swing_3, extension_0, extension_1, extension_2, extension_3]
+
+  """
+  motor_angles = np.array(motor_angles)
+
+  swings = 0.5 * np.multiply(
+      np.array(MOTOR_SIGNS), (motor_angles[1::2] - motor_angles[::2]))
+  extensions = 0.5 * (motor_angles[::2] + motor_angles[1::2])
+
+  return np.concatenate((swings, extensions), axis=None)
+
+
+def leg_pose_to_motor_angles(leg_pose):
+  """Converts the leg pose to the motor angles.
+
+  Args:
+    leg_pose: A numpy array. Contains the leg pose for all four legs: [swing_0,
+      swing_1, swing_2, swing_3, extension_0, extension_1, extension_2,
+      extension_3]
+
+  Returns:
+    A numpy array. All eight motor angles.
+  """
+  leg_pose = np.array(leg_pose)
+
+  # swings multiplied with the sign array.
+  signed_swings = np.multiply(np.array(MOTOR_SIGNS), leg_pose[0:NUM_LEGS])
+  extensions = leg_pose[NUM_LEGS:]
+
+  motor_angles = np.zeros(NUM_MOTORS)
+  motor_angles[1::2] = signed_swings + extensions
+  motor_angles[::2] = extensions - signed_swings
+  return motor_angles
+
+
+# This method also does the same conversion, but 0 swing and 0 extension maps
+# to a neutral standing still motor positions with motors at + or - pi. It also
+# contains a safety layer so that the legs don't swing or extend too much to hit
+# the body of the robot.
+def leg_pose_to_motor_angles_with_half_pi_offset_and_safety(leg_pose):
+  """Converts the swing extension poses to the motor angles with safety limits.
+
+  Args:
+    leg_pose: A numpy array. Contains the leg pose for all four legs: [swing_0,
+      extension_0, swing_1, extension_1, swing_2, extension_2, swing_3,
+      extension_3]
+
+  Returns:
+    A numpy array. All eight motor angles.
+  """
+
+  motor_angles = []
+  for idx in range(4):
+    swing = leg_pose[idx * 2]
+    extend = leg_pose[idx * 2 + 1]
+    motor_angles.extend(swing_extend_to_motor_angles(idx, swing, extend))
+  return motor_angles
+
+
+def swing_extend_to_motor_angles(leg_id, swing, extension, noise_stdev=0):
+  """Swing - extension based leg model for minitaur.
+
+  Swing extension leg model calculates motor positions using 2 separate motions:
+  swing and extension. Swing rotates the whole leg by rotating both motors
+  equally towards same direction. Extension increases or decreases the length
+  of the leg by turning both motors equally in opposite direction.
+
+  This method also does the same conversion as leg_pose_to_motor_angles, but 0
+  swing and 0 extension maps to a neutral standing still motor positions with
+  motors at + or - pi.
+  Args:
+      leg_id: The id of the leg that the conversion is made for (0, 1, 2, 3).
+      swing: Swing degree for the leg (in radians). 0 means perpendicular to the
+        body).
+      extension: Extension level (length) of the leg, limited to [-1, 1].
+      noise_stdev: Standard deviation of the introduced noise at the motor
+        position level. Noise is turned off by default.
+
+  Returns:
+    motor0: Position for the first motor for that leg.
+    motor1: Position for the second motor for that leg.
+  Raises:
+    ValueError: In case calculated positions are outside the allowed boundaries.
+  """
+  # Check if the leg_id is in valid range
+  if not 0 <= leg_id <= 3:
+    raise ValueError('leg {} does not exist for a quadruped.'.format(leg_id))
+
+  # Front legs can not swing too much towards the body.
+  if leg_id % 2 == 0:
+    swing = np.clip(swing, LEG_SWING_LIMIT_LOW, LEG_SWING_LIMIT_HIGH)
+  # Back legs can not swing too much towards the body (opposite direction).
+  else:
+    swing = np.clip(swing, -LEG_SWING_LIMIT_HIGH, -LEG_SWING_LIMIT_LOW)
+
+  # Check if the motors are too close or too far away to make it impossible
+  # for the physical robot.
+  gap = math.pi - 2 * extension
+  if gap < MOTORS_GAP_LIMIT_LOW or gap > MOTORS_GAP_LIMIT_HIGH:
+    top_extension = (math.pi - MOTORS_GAP_LIMIT_LOW) / 2.0
+    least_extension = (math.pi - MOTORS_GAP_LIMIT_HIGH) / 2.0
+    extension = np.clip(extension, least_extension, top_extension)
+
+  # Initialization to neutral standing position where both motors point to
+  # opposite directions
+  motor0 = math.pi / 2
+  motor1 = math.pi / 2
+  # Rotational move
+  if leg_id in (0, 1):
+    motor0 += swing
+    motor1 -= swing
+  elif leg_id in (2, 3):
+    motor0 -= swing
+    motor1 += swing
+  # Extension
+  motor0 += extension
+  motor1 += extension
+
+  # Add noise if requested.
+  if noise_stdev > 0:
+    motor0 += np.random.normal(0, noise_stdev)
+    motor1 += np.random.normal(0, noise_stdev)
+
+  return motor0, motor1
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py
new file mode 100644
index 0000000000..012a93421a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/noise_generators.py
@@ -0,0 +1,255 @@
+"""Noise generators to simulate noise in sensor / actuator classes."""
+
+import abc
+import gin
+import numpy as np
+
+
+class NoiseGenerator(metaclass=abc.ABCMeta):
+  """Base class for noise generators."""
+
+  @abc.abstractmethod
+  def _get_noise(self, shape, dtype=None):
+    """Gets noise as a numpy array in the specified shape and dtype.
+
+    Tensorflow requires the shape and dtype of noise to be correctly specified,
+    so the generator needs to know this to produce data of the correct type.
+
+    Args:
+      shape: Shape of the returned array.
+      dtype: Datatype of returned array (None for default).
+    """
+
+  @abc.abstractmethod
+  def add_noise(self, data):
+    """Adds noise generated by _get_noise to the given data with clipping.
+
+    Args:
+      data: Numpy array of data to be modified with noise.
+    """
+
+
+@gin.configurable
+class BiasNoise(NoiseGenerator):
+  """Adds bias to the data, possibly with clipping."""
+
+  def __init__(self,
+               bias=0.0,
+               clipping_lower_bound=-np.inf,
+               clipping_upper_bound=np.inf):
+    """Create a bias noise generator.
+
+    Args:
+      bias: Absolute magnitude of bias applied to input.
+      clipping_lower_bound: lower bound of add_noise (use -np.inf to ignore).
+      clipping_upper_bound: Upper bound of add_noise (use np.inf to ignore).
+    """
+    self._bias = bias
+    self._clipping_lower_bound = clipping_lower_bound
+    self._clipping_upper_bound = clipping_upper_bound
+
+  def _get_noise(self, shape, dtype=None):
+    """Create bias noise of the given direction and datatype."""
+    return np.full(shape, self._bias, dtype)
+
+  def add_noise(self, data):
+    """Add bias noise to the given data, clipping to the given range."""
+    noise = self._get_noise(data.shape, data.dtype)
+    return np.clip(data + noise, self._clipping_lower_bound,
+                   self._clipping_upper_bound)
+
+
+@gin.configurable
+class NormalNoise(BiasNoise):
+  """Adds Gaussian noise to the data, possibly with clipping."""
+
+  def __init__(self, scale, **kwargs):
+    """Create a normal noise generator.
+
+    Args:
+      scale: Absolute magnitude of standard deviation of Gaussian noise. Note
+        numpy will throw an error if scale < 0.
+      **kwargs: Arguments passed to BiasNoise (e.g. bias and clipping).
+    """
+    super(NormalNoise, self).__init__(**kwargs)
+    self._scale = scale
+
+  def _get_noise(self, shape, dtype=None):
+    """Create normal noise of the given direction and datatype."""
+    return np.random.normal(self._bias, self._scale, shape).astype(dtype)
+
+
+@gin.configurable
+class UniformNoise(NoiseGenerator):
+  """Generates uniform noise in the given range."""
+
+  def __init__(self,
+               low,
+               high,
+               clipping_lower_bound=-np.inf,
+               clipping_upper_bound=np.inf):
+    """Creates a uniform noise generator.
+
+    Args:
+      low: the lower bound of the noise.
+      high: the higher bound of the noise.
+      clipping_lower_bound: lower bound of add_noise (use -np.inf to ignore).
+      clipping_upper_bound: Upper bound of add_noise (use np.inf to ignore).
+    """
+    super().__init__()
+    self._low = low
+    self._high = high
+    self._clipping_lower_bound = clipping_lower_bound
+    self._clipping_upper_bound = clipping_upper_bound
+
+  def _get_noise(self, shape, dtype=None):
+    """Generates a noise using the given shape and data type."""
+    return np.random.uniform(self._low, self._high, shape).astype(dtype)
+
+  def add_noise(self, data):
+    """Adds noise to the given data, clipping to the given bound."""
+    noise = self._get_noise(data.shape, data.dtype)
+    return np.clip(data + noise, self._clipping_lower_bound,
+                   self._clipping_upper_bound)
+
+
+@gin.configurable
+class RangeNoise(NormalNoise):
+  """Add normally distributed noise in m, applied to hit fractions in (0, 1).
+
+  This enables us to specify range noise in terms of meters of Gaussian noise
+  between a maximum and minimum range, but the add_noise is applied as above
+  to values expected to be in a hit fraction range of (0, 1) as needed for the
+  SimLidarSensor API. Separate methods return noise or noisify data in meters.
+  """
+
+  def __init__(self, range_noise_m, max_range_m, min_range_m=0.0, **kwargs):
+    """Create a normal noise generator suitable for use in a range scanner.
+
+    Args:
+      range_noise_m: Absolute magnitude of standard deviation of Gaussian noise,
+        applied to range observation readngs, measured in meters.
+      max_range_m: Maximum range in meters of the data, used for clipping.
+      min_range_m: Minimum range in meters of the data, used for clipping.
+      **kwargs: Other arguments passed to NormalNoise (principally bias).
+    """
+    # Validate range values.
+    if range_noise_m < 0.0:
+      raise ValueError("Range noise should not be negative: %r" % range_noise_m)
+    if min_range_m >= max_range_m:
+      raise ValueError("min_range_m %s must be less than max_range_m %s" %
+                       (min_range_m, max_range_m))
+
+    self._range_noise_m = range_noise_m
+    self._max_range_m = max_range_m
+    self._min_range_m = min_range_m
+    self._total_range = max_range_m - min_range_m
+    super(RangeNoise, self).__init__(
+        scale=range_noise_m / self._total_range,
+        clipping_lower_bound=0.0,
+        clipping_upper_bound=1.0,
+        **kwargs)
+
+  def _get_noise_m(self, shape, dtype=None):
+    """Create normal noise of the given direction and datatype, in meters."""
+    return self.range_to_m(self._get_noise(shape=shape, dtype=dtype))
+
+  def add_noise_m(self, data):
+    """Add normal noise to the given data, scaled in meters."""
+    return self.range_to_m(self.add_noise(self.m_to_range(data)))
+
+  def m_to_range(self, data):
+    """Scale data in meters to a range of (0, 1)."""
+    return (data - self._min_range_m) / self._total_range
+
+  def range_to_m(self, data):
+    """Scale data in range of (0, 1) to meters."""
+    return data * self._total_range + self._min_range_m
+
+
+@gin.configurable
+class TwistNoise(object):
+  """Add normally distributed noise to twist actions.
+
+    Note this is a simplified noise model in action space designed for parity
+    with DriveWorld's  r/s/e/drive_models/twist_drive.py;rcl=307540784;l=161.
+    This assumes that the TwistNoise will be applied to a twist action which is
+    then clipped, as currently done in wheeled_robot_base.py:
+
+    robotics/reinforcement_learning/minitaur/robots/wheeled_robot_base.py;l=533
+    # We assume that the velocity clipping would be absorbed in this API.
+    if self._action_filter:
+      action = self._action_filter.filter(action)
+
+    where action is a linear_velocity, angular_velocity pair, which is clipped
+    to limits subsequently by the _compute_kinematic_base_velocity method.
+  """
+
+  def __init__(self,
+               linear_velocity_noise_stdev_mps: float,
+               linear_velocity_noise_max_stdevs: float,
+               angular_velocity_noise_stdev_rps: float,
+               angular_velocity_noise_max_stdevs: float,
+               noise_scaling_cutoff_mps: float = 0.0):
+    """Create a normal noise generator suitable for use in a range scanner.
+
+    Supports the API specified in the DriveWorld TwistDrive class:
+    robotics/simulation/environments/drive_models/twist_drive.py;l=54
+
+    Args:
+      linear_velocity_noise_stdev_mps: One standard deviation of normal noise
+        for linear velocity in meters per second.
+      linear_velocity_noise_max_stdevs: Max stdevs for linear velocity noise.
+        This ensures that the noise values do not spike too crazy.
+      angular_velocity_noise_stdev_rps: One standard deviation of normal noise
+        for angular velocity in radians per second.
+      angular_velocity_noise_max_stdevs: Max stdevs for angular velocity noise.
+      noise_scaling_cutoff_mps: If linear velocity is less than this cutoff,
+        linear and angular noise are scaled so that zero velocity produces zero
+        noise. This enables a robot at rest to remain at rest, while still
+        applying reasonable noise values to finite velocities. Angular velocity
+        does not contribute to this computation to keep the model simple.
+    """
+    # Validate range values.
+    if linear_velocity_noise_stdev_mps < 0.0:
+      raise ValueError("Linear action noise should not be negative: %r" %
+                       linear_velocity_noise_stdev_mps)
+    if linear_velocity_noise_max_stdevs < 0.0:
+      raise ValueError("Maximum linear noise should not be negative: %r" %
+                       linear_velocity_noise_max_stdevs)
+    if angular_velocity_noise_stdev_rps < 0.0:
+      raise ValueError("Angular action noise should not be negative: %r" %
+                       angular_velocity_noise_stdev_rps)
+    if angular_velocity_noise_max_stdevs < 0.0:
+      raise ValueError("Maximum action noise should not be negative: %r" %
+                       angular_velocity_noise_max_stdevs)
+    if noise_scaling_cutoff_mps < 0.0:
+      raise ValueError("Noise scaling cutoff should not be negative: %r" %
+                       noise_scaling_cutoff_mps)
+
+    # Save the values to create our noise later.
+    self._noise_shape = [
+        linear_velocity_noise_stdev_mps, angular_velocity_noise_stdev_rps
+    ]
+    # The noise clipping is performed using one standard deviation as the unit.
+    self._noise_lower_bound = np.array([
+        -linear_velocity_noise_max_stdevs * linear_velocity_noise_stdev_mps,
+        -angular_velocity_noise_max_stdevs * angular_velocity_noise_stdev_rps
+    ])
+    self._noise_upper_bound = -self._noise_lower_bound
+    self._noise_scaling_cutoff_mps = noise_scaling_cutoff_mps
+
+  def filter(self, action):
+    """Filter the linear and angular velocity by adding noise."""
+    linear_velocity, angular_velocity = action
+    linear_noise, angular_noise = np.clip(
+        np.random.normal(0, self._noise_shape, 2), self._noise_lower_bound,
+        self._noise_upper_bound)
+    if self._noise_scaling_cutoff_mps:
+      clipped_velocity = min(abs(linear_velocity),
+                             self._noise_scaling_cutoff_mps)
+      scaling_factor = clipped_velocity / self._noise_scaling_cutoff_mps
+      linear_noise *= scaling_factor
+      angular_noise *= scaling_factor
+
+    return (linear_velocity + linear_noise, angular_velocity + angular_noise)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py
new file mode 100644
index 0000000000..99568108b5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/rendering_utils.py
@@ -0,0 +1,272 @@
+"""Rendering utilities."""
+
+import enum
+import math
+import os
+from typing import Any, Callable, Dict, Iterable, Optional, Text
+from absl import logging
+import gin
+import numpy as np
+
+
+# These matrices will change by any call to render() and should be saved
+# immediately to the local object.
+last_used_view_matrix = None
+last_used_proj_matrix = None
+last_rendered_image_size = None
+
+# Bounds of plane loaded with GEOM_PLANE.
+_INFINITY = 1.0e30
+# In case of infinite plane, use this scene bounding box.
+_DEFAULT_BOUNDING_BOX = ((-15, -15, -10), (15, 15, 0))
+
+
+def render_image(pybullet_client, width, height, view_matrix, proj_matrix):
+  """Renders image as numpy array given view and projection matrices."""
+  global last_used_view_matrix, last_used_proj_matrix, last_rendered_image_size
+  last_used_view_matrix = view_matrix
+  last_used_proj_matrix = proj_matrix
+
+  (_, _, px, _, _) = pybullet_client.getCameraImage(
+      width=width,
+      height=height,
+      renderer=pybullet_client.ER_BULLET_HARDWARE_OPENGL,
+      viewMatrix=view_matrix,
+      projectionMatrix=proj_matrix)
+  rgb_array = np.array(px)
+  image = rgb_array[:, :, :3]
+  last_rendered_image_size = (image.shape[1], image.shape[0])
+  return image
+
+
+def project_world_to_image(points,
+                           view_matrix=None,
+                           proj_matrix=None,
+                           image_size=None,
+                           include_z_coord=False):
+  """Projects 3D world-space points to 2D or 3D image-space points.
+
+  If no projection matrices or image_size are given, the last ones are used.
+  This means that you can render an image with `render_image` function (or other
+  functions that use this one) and then project points to that image immediately
+  after that call. Otherwise, you can save `last_used_view_matrix` and
+  `last_used_proj_matrix` variables and pass them in later.
+
+  Args:
+    points: Sequence of 3D points.
+    view_matrix: Optional view matrix (column-major).
+    proj_matrix: Optional projection matrix (column-major).
+    image_size: Optional image size for resulting coords.
+    include_z_coord: Whether to include Z coordinate in the resulting
+      projection. Z coordinate goes from 0 (far plane) to 1 (near plane).
+
+  Returns:
+    A Numpy array of shape (points_count, 2) or (points_count, 3) when
+    `include_z_coord` is True, with dtype of np.float32.
+  """
+  # Note that these matrices are column-major.
+  view_matrix = np.array(
+      view_matrix or last_used_view_matrix, dtype=np.float32).reshape((4, 4))
+  proj_matrix = np.array(
+      proj_matrix or last_used_proj_matrix, dtype=np.float32).reshape((4, 4))
+  mvp_matrix = np.matmul(view_matrix, proj_matrix)
+
+  # Add w component equal to 1 (for perspective projection).
+  points = np.asarray(points, dtype=np.float32)
+  points_4d = np.concatenate(
+      [points, np.ones((points.shape[0], 1), dtype=np.float32)], axis=-1)
+  points_proj = np.matmul(points_4d, mvp_matrix)
+
+  if include_z_coord:
+    # Perspective divide (only keep X, Y, and Z, discard W).
+    points_proj_3d = points_proj[:, 0:3] / np.expand_dims(points_proj[:, 3], -1)
+    # Shift origin to bottom left and rescale range to [0,1]. This assumes
+    # OpenGL projection space.
+    points_proj_3d = (points_proj_3d + 1) * 0.5
+    # Invert y-axis to have a coordinate with (0,0) on the top left.
+    points_proj_3d[:, 1] = 1 - points_proj_3d[:, 1]
+    # Scale projection to image size, ignore Z.
+    image_size = np.asarray(
+        image_size or last_rendered_image_size, dtype=np.float32)
+    image_size = np.append(image_size, 1)
+    return points_proj_3d * image_size
+  else:
+    # Perspective divide (only keep X and Y, discard Z and W).
+    points_proj_2d = points_proj[:, 0:2] / np.expand_dims(points_proj[:, 3], -1)
+    # Shift origin to bottom left and rescale range to [0,1]. This assumes
+    # OpenGL projection space.
+    points_proj_2d = (points_proj_2d + 1) * 0.5
+    # Invert y-axis to have a coordinate with (0,0) on the top left.
+    points_proj_2d[:, 1] = 1 - points_proj_2d[:, 1]
+    # Scale projection to image size.
+    image_size = np.asarray(
+        image_size or last_rendered_image_size, dtype=np.float32)
+    return points_proj_2d * image_size
+
+
+def get_scene_bounding_box(pybullet_client, scene=None):
+  """Computes scene axis-aligned bounding box.
+
+  Args:
+    pybullet_client: PyBullet client.
+    scene: Scene instance for filtering the bounding box of camera.
+
+  Returns:
+    A tuple of min and max 3D coordinates. Returns (None, None) if the scene
+    is empty.
+  """
+  aabb_min = None
+  aabb_max = None
+
+  for i in range(pybullet_client.getNumBodies()):
+    body_id = pybullet_client.getBodyUniqueId(i)
+
+    # If a scene has been provided, only count bodes which are in
+    # either the ground or obstacle id lists.
+    if scene is not None:
+      if body_id not in scene.ground_ids and body_id not in scene.obstacle_ids:
+        continue
+
+    aabb = pybullet_client.getAABB(body_id)
+    if np.any(np.abs(aabb) >= _INFINITY):
+      aabb = _DEFAULT_BOUNDING_BOX
+    if aabb_min is None:
+      aabb_min = aabb[0]
+      aabb_max = aabb[1]
+    else:
+      aabb_min = np.minimum(aabb_min, aabb[0])
+      aabb_max = np.maximum(aabb_max, aabb[1])
+
+  return aabb_min, aabb_max
+
+
+@gin.configurable
+def render_topdown(
+    pybullet_client,
+    result_size=(1280, 720),
+    scale_px_per_meter=None,
+    camera_height=50,
+    ground_height=None,
+    low_render_height_from_ground=None,
+    high_render_height_from_ground=None,
+    scene=None,
+    use_y_as_up_axis=False,
+    rendered_origin_and_size=None,
+):
+  """Renders top-down image of the environment.
+
+  Args:
+    pybullet_client: PyBullet client.
+    result_size: Resulting image size.
+    scale_px_per_meter: Resulting image scale in pixels per meter. This
+      overrides `result_size`.
+    camera_height: Height of the camera above the environment. This is not very
+      significant, the lower the height, the larger perspective distortion.
+    ground_height: Ground height for following two parameters.
+    low_render_height_from_ground: If set, rendering is cut below this distance
+      from ground.
+    high_render_height_from_ground:  If set, rendering is cut above this
+      distance from ground.
+    scene: Scene instance for filtering the bounding box of camera.
+    use_y_as_up_axis: Whether to consider Y axis as world's "up" instead of Z.
+    rendered_origin_and_size: If set, sets rendered origin (bounding box min)
+      and size (bounding box size) instead of computing that from the scene.
+      Expected format: two tuples of [x, y z] coords containing origin and size
+        of rendered bounding box.
+
+  Returns:
+    RGB image as 3D numpy array.
+  """
+  # Get bounds of the current environment.
+  if rendered_origin_and_size is not None:
+    aabb_min, aabb_size = rendered_origin_and_size
+    if len(aabb_min) != 3:
+      raise ValueError(
+          "Invalid render origin, expected [x, y, z]: {}".format(aabb_min))
+    if len(aabb_size) != 3:
+      raise ValueError(
+          "Invalid render size, expected [x, y, z]: {}".format(aabb_size))
+    aabb_max = tuple(m + s for m, s in zip(aabb_min, aabb_size))
+  else:
+    aabb_min, aabb_max = get_scene_bounding_box(pybullet_client, scene)
+
+  if use_y_as_up_axis:
+    width = aabb_max[0] - aabb_min[0]
+    height = aabb_max[2] - aabb_min[2]
+    z_size = aabb_max[1] - aabb_min[1]
+    z_max = aabb_max[1]
+  else:
+    width = aabb_max[0] - aabb_min[0]
+    height = aabb_max[1] - aabb_min[1]
+    z_size = aabb_max[2] - aabb_min[2]
+    z_max = aabb_max[2]
+
+  if scale_px_per_meter is not None:
+    result_size = (int(width * scale_px_per_meter),
+                   int(height * scale_px_per_meter))
+  else:
+    # Adjust scene size to fit inside of the given result size.
+    if len(result_size) != 2 or result_size[0] <= 0 or result_size[1] <= 0:
+      raise ValueError("Invalid result size: {}".format(result_size))
+    img_width, img_height = result_size
+    if img_width / width < img_height / height:
+      # Width is limiting. Adjust height to match.
+      adjusted_height = img_height * width / img_width
+      assert adjusted_height >= height, (adjusted_height, height)
+      height = adjusted_height
+    else:
+      # Height is limiting. Adjust width to match.
+      adjusted_width = img_width * height / img_height
+      assert adjusted_width >= width, (adjusted_width, width)
+      width = adjusted_width
+
+  # Compute view and projection matrices.
+  if use_y_as_up_axis:
+    center_x = (aabb_min[0] + aabb_max[0]) / 2.0
+    center_z = (aabb_min[2] + aabb_max[2]) / 2.0
+    view_matrix = pybullet_client.computeViewMatrix(
+        cameraEyePosition=(center_x, aabb_max[1] + camera_height, center_z),
+        cameraTargetPosition=(center_x, aabb_max[1], center_z),
+        cameraUpVector=(0, 0, 1))
+  else:
+    center_x = (aabb_min[0] + aabb_max[0]) / 2.0
+    center_y = (aabb_min[1] + aabb_max[1]) / 2.0
+    view_matrix = pybullet_client.computeViewMatrix(
+        cameraEyePosition=(center_x, center_y, aabb_max[2] + camera_height),
+        cameraTargetPosition=(center_x, center_y, aabb_max[2]),
+        cameraUpVector=(0, 1, 0))
+
+  near_plane = camera_height
+  far_plane = camera_height + z_size
+  if ground_height is not None:
+    if low_render_height_from_ground is not None:
+      far_plane = (
+          camera_height + z_max - ground_height - low_render_height_from_ground)
+    if high_render_height_from_ground is not None:
+      near_plane = (
+          camera_height + z_max - ground_height -
+          high_render_height_from_ground)
+  else:
+    if (low_render_height_from_ground is not None or
+        high_render_height_from_ground is not None):
+      raise ValueError(
+          "The `low_render_height_from_ground` or "
+          "`high_render_height_from_ground` were specified but no reference "
+          "ground height was given.")
+  vertical_fov = 2 * math.atan2(height / 2, camera_height)
+  proj_matrix = pybullet_client.computeProjectionMatrixFOV(
+      fov=math.degrees(vertical_fov),
+      aspect=width / height,
+      nearVal=near_plane,
+      farVal=far_plane)
+
+  # Render and return image.
+  return render_image(
+      pybullet_client,
+      result_size[0],
+      result_size[1],
+      view_matrix,
+      proj_matrix,
+  )
+
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py
new file mode 100644
index 0000000000..6e0e922435
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/robot_pose_utils.py
@@ -0,0 +1,189 @@
+"""This file implements the robot specific pose tools."""
+import math
+
+import attr
+import numpy as np
+
+from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils
+from pybullet_envs.minitaur.envs_v2.utilities import mini_cheetah_pose_utils
+from pybullet_envs.minitaur.envs_v2.utilities import minitaur_pose_utils
+from pybullet_envs.minitaur.robots import laikago
+from pybullet_envs.minitaur.robots import laikago_v2
+from pybullet_envs.minitaur.robots import mini_cheetah
+from pybullet_envs.minitaur.robots import minitaur_v2
+
+_ABDUCTION_ACTION_INDEXES = [0, 3, 6, 9]
+
+# The default values used to give a neutral pose for minitaur.
+_MINITAUR_DEFAULT_EXTENSION_POS = math.pi / 2
+_MINITAUR_DEFAULT_SWING_POS = 0
+
+_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE = math.pi / 4
+_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE = -math.pi / 2
+_LAIKAGO_EXTENSION_CONVERSION_MULTIPLIER = 1.0
+_LAIKAGO_SWING_CONVERSION_MULTIPLIER = -1.0
+
+_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE = -math.pi / 4
+_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE = math.pi / 2
+_MINI_CHEETAH_EXTENSION_CONVERSION_MULTIPLIER = -1.0
+_MINI_CHEETAH_SWING_CONVERSION_MULTIPLIER = 1.0
+
+
+def get_neutral_motor_angles(robot_class):
+  """Return a neutral (standing) pose for a given robot type.
+
+  Args:
+    robot_class: This returns the class (not the instance) for the robot.
+      Currently it supports minitaur, laikago and mini-cheetah.
+
+  Returns:
+    Pose object for the given robot. It's either MinitaurPose, LaikagoPose or
+    MiniCheetahPose.
+
+  Raises:
+    ValueError: If the given robot_class is different than the supported robots.
+  """
+  if str(robot_class) in [
+      str(minitaur_v2.Minitaur)
+  ]:
+    init_pose = minitaur_pose_utils.leg_pose_to_motor_angles(
+        np.array(
+            attr.astuple(
+                minitaur_pose_utils.MinitaurPose(
+                    swing_angle_0=_MINITAUR_DEFAULT_SWING_POS,
+                    swing_angle_1=_MINITAUR_DEFAULT_SWING_POS,
+                    swing_angle_2=_MINITAUR_DEFAULT_SWING_POS,
+                    swing_angle_3=_MINITAUR_DEFAULT_SWING_POS,
+                    extension_angle_0=_MINITAUR_DEFAULT_EXTENSION_POS,
+                    extension_angle_1=_MINITAUR_DEFAULT_EXTENSION_POS,
+                    extension_angle_2=_MINITAUR_DEFAULT_EXTENSION_POS,
+                    extension_angle_3=_MINITAUR_DEFAULT_EXTENSION_POS))))
+  elif str(robot_class) in [
+      str(laikago.Laikago),
+      str(laikago_v2.Laikago),
+  ]:
+    init_pose = np.array(
+        attr.astuple(
+            laikago_pose_utils.LaikagoPose(
+                abduction_angle_0=0,
+                hip_angle_0=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_0=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_1=0,
+                hip_angle_1=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_1=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_2=0,
+                hip_angle_2=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_2=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_3=0,
+                hip_angle_3=_LAIKAGO_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_3=_LAIKAGO_NEUTRAL_POSE_KNEE_ANGLE)))
+  elif str(robot_class) == str(mini_cheetah.MiniCheetah):
+    init_pose = np.array(
+        attr.astuple(
+            mini_cheetah_pose_utils.MiniCheetahPose(
+                abduction_angle_0=0,
+                hip_angle_0=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_0=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_1=0,
+                hip_angle_1=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_1=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_2=0,
+                hip_angle_2=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_2=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE,
+                abduction_angle_3=0,
+                hip_angle_3=_MINI_CHEETAH_NEUTRAL_POSE_HIP_ANGLE,
+                knee_angle_3=_MINI_CHEETAH_NEUTRAL_POSE_KNEE_ANGLE)))
+  else:
+    init_pose = robot_class.get_neutral_motor_angles()
+  return init_pose
+
+
+def convert_leg_pose_to_motor_angles(robot_class, leg_poses):
+  """Convert swing-extend coordinate space to motor angles for a robot type.
+
+  Args:
+    robot_class: This returns the class (not the instance) for the robot.
+      Currently it supports minitaur, laikago and mini-cheetah.
+    leg_poses: A list of leg poses in [swing,extend] or [abduction, swing,
+      extend] space for all 4 legs. The order is [abd_0, swing_0, extend_0,
+      abd_1, swing_1, extend_1, ...] or [swing_0, extend_0, swing_1, extend_1,
+      ...]. Zero swing and zero extend gives a neutral standing pose for all the
+      robots. For minitaur, the conversion is fully accurate, for laikago and
+      mini-cheetah the conversion is approximate where swing is reflected to hip
+      and extend is reflected to both knee and the hip.
+
+  Returns:
+    List of motor positions for the selected robot. The list include 8 or 12
+    motor angles depending on the given robot type as an argument. Currently
+    laikago and mini-cheetah has motors for abduction which does not exist for
+    minitaur robot.
+
+  Raises:
+    ValueError: Conversion fails due to wrong inputs.
+  """
+  default_leg_order = ["front_left", "back_left", "front_right", "back_right"]
+  leg_order = default_leg_order
+  if len(leg_poses) not in [8, 12]:
+    raise ValueError("Dimension of the leg pose provided is not 8 or 12.")
+  neutral_motor_angles = get_neutral_motor_angles(robot_class)
+  motor_angles = leg_poses
+  # If it is a robot with 12 motors but the provided leg pose does not contain
+  # abduction, extend the pose to include abduction.
+  if len(neutral_motor_angles) == 12 and len(leg_poses) == 8:
+    for i in _ABDUCTION_ACTION_INDEXES:
+      motor_angles.insert(i, 0)
+  # If the robot does not have abduction (minitaur) but the input contains them,
+  # ignore the abduction angles for the conversion.
+  elif len(neutral_motor_angles) == 8 and len(leg_poses) == 12:
+    del leg_poses[::3]
+  # Minitaur specific conversion calculations using minitaur-specific safety
+  # limits.
+  if str(robot_class) in [
+            
+      str(minitaur_v2.Minitaur)
+  ]:
+    motor_angles = minitaur_pose_utils.leg_pose_to_motor_angles_with_half_pi_offset_and_safety(
+        leg_poses)
+  # Laikago and mini-cheetah specific conversion calculations.
+  elif str(robot_class) in [
+      str(mini_cheetah.MiniCheetah),
+      str(laikago.Laikago),
+      str(laikago_v2.Laikago),
+      
+  ]:
+    swing_scale = 1.0
+    extension_scale = 1.0
+    # Laikago specific conversion multipliers.
+    if str(robot_class) in [
+        str(laikago.Laikago),
+        str(laikago_v2.Laikago),
+        
+    ]:
+      swing_scale = _LAIKAGO_SWING_CONVERSION_MULTIPLIER
+      extension_scale = _LAIKAGO_EXTENSION_CONVERSION_MULTIPLIER
+      leg_order = ["front_right", "front_left", "back_right", "back_left"]
+    # Mini-cheetah specific multipliers.
+    elif str(robot_class) in [str(mini_cheetah.MiniCheetah)]:
+      swing_scale = _MINI_CHEETAH_SWING_CONVERSION_MULTIPLIER
+      extension_scale = _MINI_CHEETAH_EXTENSION_CONVERSION_MULTIPLIER
+    # In this approximate conversion for mini-cheetah and laikago we set hip
+    # angle swing + half of the extend and knee angle to extend as rotation.
+    # We also scale swing and extend based on some hand-tuned constants.
+    multipliers = np.array([1.0, swing_scale, extension_scale] * 4)
+    swing_extend_scaled = leg_poses * multipliers
+    # Swing is (swing - half of the extension) due to the geometry of the leg.
+    extra_swing = swing_extend_scaled * ([0, 0, -0.5] * 4)
+    swing_extend_scaled += np.roll(extra_swing, -1)
+    motor_angles = list(swing_extend_scaled)
+    motor_angles = neutral_motor_angles + motor_angles
+    # Change the order of the legs if it is different for the specific robot.
+    if leg_order != default_leg_order:
+      leg_order = [default_leg_order.index(leg) for leg in leg_order]
+      ordered_motor_angles = []
+      for i in leg_order:
+        ordered_motor_angles.extend(motor_angles[3 * i:3 * i + 3])
+      motor_angles = ordered_motor_angles
+  else:
+    motor_angles = robot_class.convert_leg_pose_to_motor_angles(leg_poses)
+
+  return motor_angles
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py
new file mode 100644
index 0000000000..5a943d9e4d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/utilities/termination_reason.py
@@ -0,0 +1,40 @@
+"""Enum for classifying the termination reason of an episode."""
+
+import enum
+import gin
+
+
+@gin.constants_from_enum
+class TerminationReason(enum.IntEnum):
+  """Enum that identifies termination reasons of an episode.
+
+  For any new termination reason added here, please update the corresponding
+  termination reward files to make sure it is used properly.
+  """
+  UNKNOWN = 0
+  STEP_LIMIT = 1
+  WALL_COLLISION = 2
+  BAD_LOCATION = 3
+  AGENT_COLLISION = 4
+  GOAL_REACHED = 5
+  INVALID_STEP_REVERT_AND_CONTINUE = 6
+  INVALID_EPISODE = 7
+  RUN_TIME_LIMIT = 8
+  NOT_ADVANCING_LIMIT = 9
+  NOT_LOCALIZED = 10
+
+
+COLORMAP = {
+    TerminationReason.UNKNOWN: (64, 64, 64),  # Dark gray.
+    TerminationReason.STEP_LIMIT: (128, 64, 192),  # Purple.
+    TerminationReason.WALL_COLLISION: (255, 64, 128),  # Bright red.
+    TerminationReason.BAD_LOCATION: (255, 0, 192),  # Magenta.
+    TerminationReason.AGENT_COLLISION: (255, 128, 0),  # Orange.
+    TerminationReason.GOAL_REACHED: (96, 255, 96),  # Bright green.
+    TerminationReason.INVALID_STEP_REVERT_AND_CONTINUE: (255, 255,
+                                                         255),  # White.
+    TerminationReason.INVALID_EPISODE: (0, 0, 0),  # Black.
+    TerminationReason.RUN_TIME_LIMIT: (128, 64, 192),  # Purple.
+    TerminationReason.NOT_ADVANCING_LIMIT: (128, 64, 192),  # Purple.
+    TerminationReason.NOT_LOCALIZED: (255, 0, 192),  # Magenta.
+}
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py
new file mode 100644
index 0000000000..44c9d65ecd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/autonomous_object.py
@@ -0,0 +1,286 @@
+# Lint as: python3
+"""A module that defines autonomous object class and related functions."""
+from typing import Any, Callable, Dict, Optional, Sequence, Text, Union
+
+from absl import logging
+import gin
+import numpy as np
+
+from pybullet_utils import bullet_client
+from pybullet_envs.minitaur.envs_v2 import base_client
+from pybullet_envs.minitaur.envs_v2.sensors import sensor
+from pybullet_envs.minitaur.robots import object_controller
+from pybullet_envs.minitaur.robots import robot_base
+
+# The action value to pass into AutonomousObject pre_control_step() and
+# apply_action().
+AUTONOMOUS_ACTION = None
+
+# Maximum force used in constraint based actuation.
+_MAX_FORCE = 1000
+
+
+# TODO(b/155124699): find a better way actuate object than using constraint or
+# modifying URDF.
+@gin.configurable
+class AutonomousObject(robot_base.RobotBase):
+  """Autonomous object that moves/acts in simulation guided by a controller."""
+
+  def __init__(self,
+               urdf_file: Text,
+               sensors: Sequence[sensor.Sensor] = (),
+               controller: object_controller.ControllerBase = None,
+               actuate_by_reset: bool = False):
+    """Constructor.
+
+    Args:
+      urdf_file: The path to urdf file of the object.
+      sensors: A list of sensor objects to attach to autonomous object.
+      controller: A controller object that governs autonomous object's motion.
+        If not specified, StationaryController is used.
+      actuate_by_reset: Use pybullet resetBasePositionAndOrientation to actuate
+        the object. Default is False, which means actuate by constraint. In the
+        actuate by constrained mode, be extra cautious when the position or
+        orientation control is based on position or orientation sensor reading
+        of the same object. This loop-back condition is known to be problematic
+        and causes slower than expected motion.
+    """
+    self._urdf_file = urdf_file
+    self._controller = controller or object_controller.StationaryController()
+    self._actuate_by_reset = actuate_by_reset
+    self._actuate_function = (
+        self._actuate_base_pose
+        if not actuate_by_reset else self._reset_base_pose)
+
+    self._sensors = list(sensors)
+    self._object_id = -1
+    self._constraint_id = -1
+
+    self._pybullet_client = None  # will be initialized in set_sim_client()
+    self._clock = None  # will be initialized in set_clock()
+    self._init_internal_states()
+
+  def _init_internal_states(self) -> None:
+    self._observations_time_since_reset = 0
+    self._observations = {}
+    self._position = np.zeros(3)
+    self._orientation = np.array([0, 0, 0, 1])
+
+  def set_sim_client(self, pybullet_client: bullet_client.BulletClient) -> None:
+    """Sets new simulation client and reload assets."""
+    self._pybullet_client = pybullet_client
+    self._init_internal_states()
+    self.load()
+
+  def set_clock(self, clock: Callable[[], float]) -> None:
+    """Sets monotonic clock when adding into simulation environment."""
+    self._clock = clock
+
+  @property
+  def sim_object_id(self):
+    return self._object_id
+
+  def update(self, time_since_reset_sec: float,
+             observations: Dict[Text, Any]) -> None:
+    """Updates simulation time and observations.
+
+    This function should be called before apply_action in each simulation step.
+
+    Args:
+      time_since_reset_sec: Time from start of simulation reset in seconds.
+      observations: A dict of observations.
+    """
+    if time_since_reset_sec < self._observations_time_since_reset:
+      raise ValueError(
+          "Time cannot go backwards. Current t = %f, new t = %f." %
+          (self._observations_time_since_reset, time_since_reset_sec))
+    self._observations_time_since_reset = time_since_reset_sec
+    self._observations = observations
+
+  def _load_urdf(self):
+    """Loads object URDF file."""
+    try:
+      print("loading: ", self._urdf_file)
+      self._object_id = self._pybullet_client.loadURDF(self._urdf_file)
+    except:
+      print("Error: cannot load ", self._urdf_file)
+      import sys
+      sys.exit(0)
+
+  def load(self) -> None:
+    """Reconstructs the robot and resets its states."""
+    self._load_urdf()
+    if not self._actuate_by_reset:
+      self._constraint_id = self._pybullet_client.createConstraint(
+          parentBodyUniqueId=self._object_id,
+          parentLinkIndex=-1,
+          childBodyUniqueId=-1,
+          childLinkIndex=-1,
+          jointType=self._pybullet_client.JOINT_FIXED,
+          jointAxis=(0, 0, 0),
+          parentFramePosition=(0, 0, 0),
+          childFramePosition=(0, 0, 0),
+          childFrameOrientation=(0, 0, 0, 1))
+
+    for s in self._sensors:
+      s.set_robot(self)
+
+    # Resets the pose and updates the initial observations.
+    self.reset()
+
+  def reset(
+      self,
+      base_position: Optional[Sequence[float]] = None,
+      base_orientation_quaternion: Optional[Sequence[float]] = None,
+      controller: Optional[object_controller.ControllerBase] = None) -> None:
+    """Resets the states (e.g.
+
+    pose and sensor readings) of the robot.
+
+    This is called at the start of each episode by the environment.
+
+    Args:
+      base_position: Robot base position after reset. Must be None.
+      base_orientation_quaternion: Robot base orientation after reset. Must be
+        None.
+      controller: A new controller to replace original controller.
+    """
+    if base_position is not None or base_orientation_quaternion is not None:
+      raise ValueError("Reset position and orientation of AutonomousObject is "
+                       "specified in controller.")
+
+    if controller is not None:
+      self._controller = controller
+
+    self._init_internal_states()
+    self._position, self._orientation, _ = self._controller.get_action(
+        object_controller.INIT_TIME, self._observations)
+
+    self._reset_base_pose(self._position, self._orientation)
+    self.receive_observation()
+
+  def terminate(self) -> None:
+    """Shuts down the robot, no-op in simulation."""
+
+  def pre_control_step(self, action: Any) -> Any:
+    """Processes the input action before the action repeat loop.
+
+    Args:
+      action: expect it to be `AUTONOMOUS_ACTION` at present.
+
+    Returns:
+      the action as is.
+    """
+    # Environment should not pass action other than AUTONOMOUS_ACTION.
+    if action is not AUTONOMOUS_ACTION:
+      raise ValueError("AutonomousObject only accept AUTONOMOUS_ACTION as "
+                       "action value input.")
+    return action
+
+  def apply_action(self, action: Any) -> None:
+    """Applies the action to the robot."""
+    # Environment should not pass action other than AUTONOMOUS_ACTION.
+    if action is not AUTONOMOUS_ACTION:
+      raise ValueError("AutonomousObject only accept AUTONOMOUS_ACTION as "
+                       "action value input.")
+    position, orientation, _ = self._controller.get_action(
+        self._observations_time_since_reset, self._observations)
+
+    self._actuate_function(position, orientation)
+
+  def receive_observation(self) -> None:
+    """Updates the robot sensor readings."""
+    position, orientation = (
+        self._pybullet_client.getBasePositionAndOrientation(self._object_id))
+    self._position = np.array(position)
+    self._orientation = np.array(orientation)
+
+  def post_control_step(self) -> None:
+    """Updates internal variables. Not yet used in AutonomousObject."""
+    pass
+
+  def _reset_base_pose(self,
+                       position: Union[Sequence[float], np.ndarray] = None,
+                       orientation_quat: Union[Sequence[float],
+                                               np.ndarray] = None):
+    """Resets the base to the desired position and orientation.
+
+    Args:
+      position: The desired base position. If omitted, current location is used.
+      orientation_quat: The desired base orientation in quaternion. If omitted,
+        current orientation is used.
+    """
+    if position is None:
+      position = self._position
+
+    if orientation_quat is None:
+      orientation_quat = self._orientation
+
+    self._pybullet_client.resetBaseVelocity(self._object_id, (0, 0, 0),
+                                            (0, 0, 0))
+    self._pybullet_client.resetBasePositionAndOrientation(
+        self._object_id, position, orientation_quat)
+
+  def _actuate_base_pose(self, position: Union[Sequence[float], np.ndarray],
+                         orientation_quat: Union[Sequence[float], np.ndarray]):
+    """Actuates the base to the desired position and orientation.
+
+    Difference of this function from _reset_base_pose() is that this function
+    considers dynamics along the path and collisions along the motion path.
+
+    Args:
+      position: The desired base position.
+      orientation_quat: The desired base orientation in quaternion.
+    """
+    self._pybullet_client.changeConstraint(
+        self._constraint_id,
+        position,
+        jointChildFrameOrientation=orientation_quat,
+        maxForce=_MAX_FORCE)
+
+  def _reset_joint_angles(self, joint_angles=None):
+    """Resets the joint angles. Not yet used in AutonomousObject."""
+    del joint_angles
+
+  @property
+  def action_names(self) -> Sequence[Text]:
+    """Returns a sequence of action names. Always () for AutonomousObject."""
+    return ()
+
+  @property
+  def sensors(self) -> Sequence[sensor.Sensor]:
+    """Returns the sensors on this robot."""
+    return self._sensors
+
+  @property
+  def base_orientation_quaternion(self) -> np.ndarray:
+    """Returns the base pose as a quaternion in format (x, y, z, w)."""
+    return self._orientation.copy()
+
+  @property
+  def base_roll_pitch_yaw(self) -> np.ndarray:
+    """Returns the base roll, pitch, and yaw angles in radians."""
+    return np.array(
+        self._pybullet_client.getEulerFromQuaternion(self._orientation))
+
+  @property
+  def base_position(self) -> np.ndarray:
+    """Returns the base cartesian coordinates in meters."""
+    return self._position.copy()
+
+  @property
+  def timestamp(self):
+    """Simulation monotonic time."""
+    if self._clock is None:
+      raise RuntimeError("Must call set_clock() before accessing timestamp.")
+    return self._clock()
+
+  # This is need for CameraSensor.set_robot() to work.
+  @property
+  def pybullet_client(self):
+    return self._pybullet_client
+
+  # This is need for CameraSensor.set_robot() to work.
+  @property
+  def robot_id(self) -> int:
+    return self._object_id
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py
new file mode 100644
index 0000000000..409c029cfa
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/crowd_controller.py
@@ -0,0 +1,706 @@
+# Lint as: python3
+"""Crowd objects/human controllers module."""
+
+import abc
+import collections
+from typing import Any, Callable, Dict, Iterable, List, Optional, Union, Sequence, Text
+
+from absl import logging
+import dataclasses
+import gin
+import numpy as np
+#import rvo2
+
+from pybullet_envs.minitaur.envs_v2.sensors import base_position_sensor
+from pybullet_envs.minitaur.envs_v2.sensors import sensor as generic_sensor
+from pybullet_envs.minitaur.robots import autonomous_object
+from pybullet_envs.minitaur.robots import object_controller
+
+
+POSITION_SENSOR_POSTFIX = "_pos"
+
+
+@dataclasses.dataclass
+class MovingObjectRecord:
+  position_key: Text
+  agent_id: int
+  radius: float
+  last_position: Optional[np.ndarray] = None
+
+
+@gin.configurable
+def sample_start_target_position(scene,
+                                 start=None,
+                                 start_circles=None,
+                                 target_circles=None,
+                                 num_sampling_retries=1,
+                                 min_wall_distance=0.0,
+                                 min_goal_euclidean_distance=0.0,
+                                 max_goal_euclidean_distance=np.Inf,
+                                 min_path_clearance=None):
+  """Sample valid start and target position reachable from start.
+
+  Args:
+    scene: a SceneBase instance implementing get_random_valid_position function.
+    start: a 2-tuple (x, y) of start position. If specified, no start is
+      sampled.
+    start_circles: a list of circle specification. Each circle is specified as
+      a tuple ((x, y), r) of a center (x, y) and radius r. If specified, start
+      position is sampled from within one of the start_circles.
+    target_circles: same as start_circle. If specified, target positions is
+      sampled from within one of the start_circles.
+    num_sampling_retries: a positive int, number of attempts to sample a
+      start, target pair.
+    min_wall_distance: a float, the minimum distance to a wall.
+    min_goal_euclidean_distance: a positive float, the minimum distance between
+      start and target.
+    max_goal_euclidean_distance: a positive float, the maximum distance between
+      start and target.
+    min_path_clearance: float, clearance of shortest path to walls.
+
+  Returns:
+    A 4 tuple (start, target, shortest_path, is_valid). start and target are
+    start and target positions, shortest_path is a list of 2-tuples specifying
+    the shortest path from start to target, is_valid is bool specifying whether
+    the start, target pair is valid. If min_path_clearance is not specified,
+    then shortest_path is None.
+  """
+  if not hasattr(scene, "get_random_valid_position"):
+    raise ValueError(
+        "Incompatible scene {}. Expected to have `get_random_valid_position` "
+        "method.".format(scene))
+
+  def _print_counters(counters):
+    for name, value in counters.items():
+      logging.info("  %s: %d", name, value)
+
+  sampling_counters = collections.defaultdict(lambda: 0)
+  for _ in range(num_sampling_retries):
+    if start is None:
+      start_pos = scene.get_random_valid_position(
+          min_wall_distance, inclusion_circles=start_circles)
+    else:
+      if start_circles is not None:
+        raise ValueError("At most one of the arguments start and start_circles "
+                         "can be not None.")
+      start_pos = start
+    target_pos = scene.get_random_valid_position(
+        min_wall_distance, inclusion_circles=target_circles)
+    sampling_counters["attempts"] += 1
+
+    euclidean_distance = np.linalg.norm(target_pos - start_pos)
+    if euclidean_distance < min_goal_euclidean_distance:
+      sampling_counters["min_euclidean"] += 1
+      continue
+    if euclidean_distance > max_goal_euclidean_distance:
+      sampling_counters["max_euclidean"] += 1
+      continue
+
+    # Skip the path computation is no path clearance is provided.
+    if min_path_clearance is None:
+      logging.info("Valid goal with no minimum path clearance checking.")
+      _print_counters(sampling_counters)
+      return start_pos, target_pos, None, True
+
+    # Check the goal clearance along the shortest path
+    if not hasattr(scene, "find_shortest_path"):
+      raise ValueError(
+          f"scene %s missing find_shortest_path method {scene}")
+
+    # This is a slow process.
+    shortest_path = scene.find_shortest_path(
+        start_pos[:2], target_pos[:2], min_path_clearance)
+    # No path exists between current robot position and goal satisfying the
+    # clearance.
+    if shortest_path is None:
+      sampling_counters["path_clearance"] += 1
+      continue
+
+    logging.info("Valid start/target with path clearance checking.")
+    _print_counters(sampling_counters)
+    return start_pos, target_pos, shortest_path, True
+
+  logging.info("No valid start/target found.")
+  _print_counters(sampling_counters)
+  return start_pos, target_pos, None, False
+
+
+class CrowdController(metaclass=abc.ABCMeta):
+  """Crowd controller interface."""
+
+  def __init__(self, names: Iterable[Text],
+               position_key_formatter="%s" + POSITION_SENSOR_POSTFIX):
+    """Constructor.
+
+    Args:
+      names: Name of instance (dynamic object or human).
+      position_key_formatter: Formatter to convert name to position sensor name.
+    """
+    self._names = list(names)
+    self._position_key_formatter = position_key_formatter
+    self._num_instance = len(self._names)
+
+    self._current_time = 0
+
+  def _validate_instance_id(self, instance_id):
+    if not 0 <= instance_id < self._num_instance:
+      raise ValueError(
+          f"instance_id must be an integer in [0, {self.num_instance}), "
+          f"got {instance_id}.")
+
+  @property
+  def num_instance(self):
+    """Returns the number of crowd instances."""
+    return self._num_instance
+
+  def instance_name(self, instance_id: int) -> Text:
+    """Returns the name of instance."""
+    self._validate_instance_id(instance_id)
+    return self._names[instance_id]
+
+  def instance_controller(
+      self, instance_id: int) -> object_controller.ControllerBase:
+    """Returns the individual controller of certain instance."""
+    self._validate_instance_id(instance_id)
+    return _IndividualController(self, instance_id)
+
+  def instance_get_action(
+      self, instance_id: int, time_sec: float,
+      observations: Dict[Text, Any]) -> object_controller.ControllerOutput:
+    """Returns action of specific instance given observation.
+
+    This method is for _IndividualController.
+
+    Args:
+      instance_id: Identifier of an object in the crowd.
+      time_sec: Time since simulation reset in seconds. If time < 0, returns
+        initial values and ignores observations.
+      observations: A dict of all observations.
+
+    Returns:
+      Position, orientation and an extra info dict for robot joints, human
+        skeletal pose, etc.
+    """
+    if time_sec < 0:
+      self._recalculate_actions(object_controller.INIT_TIME, {})
+      self._current_time = object_controller.INIT_TIME
+    elif time_sec > self._current_time:
+      self._current_time = time_sec
+      self._recalculate_actions(self._current_time, observations)
+
+    self._validate_instance_id(instance_id)
+
+    return self._get_action_of_instance(instance_id)
+
+  @abc.abstractmethod
+  def _recalculate_actions(
+      self, time_sec: float, observations: Dict[Text, Any]) -> None:
+    """Calculates crowd command for all instances in crowd."""
+    raise NotImplementedError(
+        "_recalculate_actions() should be implemented by subclass.")
+
+  @abc.abstractmethod
+  def _get_action_of_instance(
+      self, instance_id: int) -> object_controller.ControllerOutput:
+    """Returns calculated actions of specific instance."""
+    raise NotImplementedError(
+        "_get_action_of_instance() should be implemented by subclass.")
+
+  def set_scene(self, scene) -> None:
+    """Sets the scene for crowd controller to obtain scene information."""
+    del scene
+
+
+class _IndividualController(object_controller.ControllerBase):
+  """A utility class that wraps crowd controller in ControllerBase interface."""
+
+  def __init__(self, crowd_controller: CrowdController, instance_id: int):
+    """Constructor.
+
+    Args:
+      crowd_controller: The controller of crowd to which this instance belong.
+      instance_id: Identifier of a crowd instance.
+    """
+    self._instance_id = instance_id
+    self._crowd_controller = crowd_controller
+
+  def get_action(
+      self, time_sec: float,
+      observations: Dict[Text, Any]) -> object_controller.ControllerOutput:
+    """Returns position, orientation and pose based on time and observations.
+
+    Args:
+      time_sec: Time since simulation reset in seconds. If time < 0, returns
+        initial values and ignores observations.
+      observations: A dict of all observations.
+
+    Returns:
+      Position, orientation and an extra info dict for robot joints, human
+        skeletal pose, etc.
+    """
+    return self._crowd_controller.instance_get_action(
+        self._instance_id, time_sec, observations)
+
+
+@gin.configurable
+class StationaryController(CrowdController):
+  """A crowd controller that places crowd objects at fixed positions."""
+
+  def __init__(
+      self, positions: Sequence[Sequence[float]],
+      orientations: Optional[Sequence[Sequence[float]]] = None, **kwargs):
+    """Constructor.
+
+    Args:
+      positions: Fixed positions (3D points) of crowd instances.
+      orientations: Fixed orientations in quaternion of crowd instances.
+      **kwargs: Keyword arguments to pass on to base class.
+    """
+    super().__init__(**kwargs)
+
+    if orientations is None:
+      orientations = np.array(((0, 0, 0, 1),) * self.num_instance)
+
+    if not len(positions) == len(orientations) == self.num_instance:
+      raise ValueError(
+          f"positions and orientations should all have the same length "
+          f"{self.num_instance}. Got len(positions) = {len(positions)}, "
+          f"len(orientations) = {len(orientations)}.")
+
+    self._positions = positions
+    self._orientations = orientations
+
+  def _recalculate_actions(
+      self, time_sec: float, observations: Dict[Text, Any]) -> None:
+    """Calculates crowd command for all instances in crowd."""
+    del time_sec
+    del observations
+
+  def _get_action_of_instance(
+      self, instance_id: int) -> object_controller.ControllerOutput:
+    """Returns calculated actions of specific instance."""
+    self._validate_instance_id(instance_id)
+    return self._positions[instance_id], self._orientations[instance_id], {}
+
+
+@gin.configurable
+class OrcaController(CrowdController):
+  """A crowd controller that controls crowd instances using ORCA algorithm.
+
+  Crowd instance will be initialized at a specified start position and move
+  towards specified target position in a linear path while avoid collision with
+  each other.
+  """
+
+  _DEFAULT_NEIGHBOR_DISTANCE_M = 5
+  _DEFAULT_MAX_NEIGHBORS = 10
+  _DEFAULT_RADIUS_M = 0.5
+  _DEFAULT_MAX_SPEED_MPS = 2
+  _DEFAULT_TIME_HORIZON_SEC = 1.0
+  _DEFAULT_OBSTACLE_TIME_HORIZON_SEC = 0.3
+
+  def __init__(
+      self,
+      timestep: float,
+      start_positions: Optional[Sequence[Sequence[float]]] = None,
+      target_positions: Optional[Sequence[Sequence[float]]] = None,
+      use_position_generator: Optional[bool] = False,
+      group_sizes: Sequence[int] = None,
+      radius: float = _DEFAULT_RADIUS_M,
+      max_speed_mps: float = _DEFAULT_MAX_SPEED_MPS,
+      time_horizon_sec: float = _DEFAULT_TIME_HORIZON_SEC,
+      obstacle_time_horizon_sec: float = _DEFAULT_OBSTACLE_TIME_HORIZON_SEC,
+      neighbor_distance_m: float = _DEFAULT_NEIGHBOR_DISTANCE_M,
+      max_neighbors: int = _DEFAULT_MAX_NEIGHBORS,
+      workaround_erp_issue: bool = True,
+      moving_objects_pos_key: Sequence[Text] = (),
+      moving_objects_radius: Union[float, Sequence[float]] = _DEFAULT_RADIUS_M,
+      endless_trajectory: bool = True,
+      **kwargs):
+    """Constructor.
+
+    Args:
+      timestep: Timestep of simulation.
+      start_positions: A list of position (x, y, z) for crowd instances as
+        their starting position.
+      target_positions: A list of position (x, y, z) for crowd instances as
+        their target position.
+      use_position_generator: a boolean, if True than the start and end
+        positions are sampled. start_positions and target_positions must be None
+      group_sizes: If set, then crowd is split in groups randomly, whose sizes
+        are picked in random from this group_size list. In this way, the
+        crowd simulator sumulaters clusters of objects moving around.
+      radius: Radius of crowd instances.
+      max_speed_mps: Maximum crowd instance speed.
+      time_horizon_sec: Time horizon in second.
+      obstacle_time_horizon_sec: Time horizon for static obstacle in second.
+      neighbor_distance_m: Neighbor distance in meters. Instances closer than
+        this distance are considered neighbors.
+      max_neighbors: Max number of neighbors.
+      workaround_erp_issue: There is an issue with pybullet constraint that the
+        constraint is solved only 20% per timestep. Need to amplify position
+        delta by 5x to workaround this issue.
+      moving_objects_pos_key: Position observation key of moving objects not
+        controlled by the ORCA controller.
+      moving_objects_radius: Radius of moving objects. Should be a float, which
+        applies to all moving objects, or a sequence of float, which should be
+        of the same length as moving_objects_pos_key.
+      endless_trajectory: Only valid if use_position_generator is True. Agent
+        returns to starting point after reaching goal to achieve endless motion.
+      **kwargs: Keyword arguments to pass on to base class.
+    """
+    super().__init__(**kwargs)
+
+    assert ((start_positions is not None and target_positions is not None) or
+            use_position_generator)
+    if not use_position_generator:
+      if not len(start_positions) == len(target_positions) == self.num_instance:
+        raise ValueError(
+            f"start_positions and target_positions should both have length "
+            f"equals {self.num_instance}: "
+            f"len(start_positions) = {len(start_positions)}, "
+            f"len(target_positions) = {len(target_positions)}.")
+
+    self._timestep = timestep
+    self._radius = radius
+    self._max_speed_mps = max_speed_mps
+    self._time_horizon_sec = time_horizon_sec
+    self._obstacle_time_horizon_sec = obstacle_time_horizon_sec
+    self._neighbor_distance_m = neighbor_distance_m
+    self._max_neighbors = max_neighbors
+    self._use_position_generator = use_position_generator
+    self._endless_trajectory = endless_trajectory
+    self._scene = None
+    if isinstance(moving_objects_radius, float):
+      moving_objects_radius = [
+          moving_objects_radius] * len(moving_objects_pos_key)
+    if len(moving_objects_radius) != len(moving_objects_pos_key):
+      raise ValueError(
+          "moving_objects_radius should be either a float or a sequence of "
+          "float with the same length as moving_objects_pos_key.")
+    self._moving_objects = [
+        MovingObjectRecord(position_key=key, agent_id=-1, radius=radius)
+        for key, radius in zip(moving_objects_pos_key, moving_objects_radius)]
+
+    self._paths = None
+    self._path_indices = None
+    if self._use_position_generator:
+      self._start_positions = None
+      self._target_positions = None
+    else:
+      self._start_positions = np.array(start_positions, dtype=np.float64)
+      self._target_positions = np.array(target_positions, dtype=np.float64)
+    # A guard against multiple initializations. See recalculate_actions below.
+    self._already_initialized = False
+    self._group_sizes = [1] if group_sizes is None else group_sizes
+
+    # The following variables are initialized in _recalculate_actions()
+    self._current_positions = None
+    self._command_positions = None
+    self._command_orientations = None
+
+    #self._orca = rvo2.PyRVOSimulator(
+    #    self._timestep,  # timestep
+    #    self._neighbor_distance_m,  # neighborDist
+    #    self._max_neighbors,  # maxNeighbors
+    #    self._time_horizon_sec,  # timeHorizon
+    #    self._obstacle_time_horizon_sec,  # timeHorizonObst
+    #    self._radius,  # radius
+    #    self._max_speed_mps  # maxSpeed
+    #)
+    for i in range(self.num_instance):
+      if self._use_position_generator:
+        start_position = (0, 0)
+      else:
+        start_position = self._start_positions[i, :2]
+      agent_id = self._orca.addAgent(
+          tuple(start_position),
+          self._neighbor_distance_m,  # neighborDist
+          self._max_neighbors,  # maxNeighbors
+          self._time_horizon_sec,  # timeHorizon
+          self._obstacle_time_horizon_sec,  # timeHorizonObst
+          self._radius,  # radius
+          self._max_speed_mps,  # maxSpeed
+          (0.0, 0.0))  # velocity
+      assert agent_id == i
+
+    for obj in self._moving_objects:
+      obj.agent_id = self._orca.addAgent(
+          (0.0, 0.0),  # position (will adjust after simulation starts)
+          self._neighbor_distance_m,  # neighborDist
+          self._max_neighbors,  # maxNeighbors
+          self._timestep,  # timeHorizon
+          self._timestep,  # timeHorizonObst
+          obj.radius,  # radius
+          self._max_speed_mps,  # maxSpeed
+          (0.0, 0.0))  # velocity
+
+    self._workaround_erp_issue = workaround_erp_issue
+
+  def _subsample_path(self, path, subsample_step=1.0):
+    subsampled_path = [path[0]]
+    traveled_dist = 0.0
+    for i, (s, t) in enumerate(zip(path[:-1], path[1:])):
+      traveled_dist += np.sqrt(
+          np.square(s[0] - t[0]) + np.square(s[1] - t[1]))
+      if traveled_dist > subsample_step or i >= len(path) - 2:
+        subsampled_path.append(t)
+        traveled_dist = 0.0
+    return subsampled_path
+
+  def _generate_start_target_positions(self):
+    """Generates start and target positions using goal generartors."""
+    assert self._scene is not None
+    self._start_positions = np.zeros((self.num_instance, 3), dtype=np.float64)
+    self._target_positions = np.zeros((self.num_instance, 3), dtype=np.float64)
+
+    self._paths = []
+    self._path_indices = []
+    start_circles, target_circles = None, None
+    group_radius = 1.0
+    current_group_size = np.random.choice(self._group_sizes)
+    index_in_current_group = 0
+    for i in range(self._num_instance):
+      start_pos, target_pos, path, is_valid = sample_start_target_position(
+          self._scene,
+          start_circles=start_circles,
+          target_circles=target_circles)
+      if index_in_current_group == current_group_size - 1:
+        start_circles, target_circles = None, None
+        index_in_current_group = 0
+        current_group_size = np.random.choice(self._group_sizes)
+      else:
+        if start_circles is None:
+          start_circles = [(start_pos[:2], group_radius)]
+          target_circles = [(target_pos[:2], group_radius)]
+        else:
+          start_circles += [(start_pos[:2], group_radius)]
+          target_circles += [(target_pos[:2], group_radius)]
+        index_in_current_group += 1
+      if not is_valid:
+        raise ValueError("No valid start/target positions.")
+      self._start_positions[i, :] = start_pos
+      self._target_positions[i, :] = target_pos
+
+      subsampled_path = self._subsample_path(path)
+      self._paths.append(np.array(subsampled_path, dtype=np.float32))
+      self._path_indices.append(0)
+
+  def _recalculate_actions(
+      self, time_sec: float, observations: Dict[Text, Any]) -> None:
+    """Calculates crowd command for all crowd instances."""
+    if self._use_position_generator:
+      if (time_sec == object_controller.INIT_TIME and
+          self._start_positions is None and
+          not self._already_initialized):
+        self._generate_start_target_positions()
+        # Initialize only once per initial time even if recalculate actions
+        # is called multiple times.
+        self._already_initialized = True
+    if time_sec == object_controller.INIT_TIME:
+      # Resets orca simulator.
+      for i in range(len(self._names)):
+        self._orca.setAgentPosition(i, tuple(self._start_positions[i, :2]))
+
+      self._command_positions = self._start_positions.copy()
+      self._current_positions = self._start_positions.copy()
+      self._command_orientations = np.repeat(
+          ((0.0, 0.0, 0.0, 1.0),), len(self._names), axis=0)
+      self._last_target_recalculation_sec = time_sec
+      return
+    else:
+      # The moment we step beyond initial time, we can initialize again.
+      self._already_initialized = False
+
+    if self._use_position_generator:
+      for i in range(self._num_instance):
+        dist = np.linalg.norm(
+            self._current_positions[i, :] - self._target_positions[i, :])
+        if dist < 2.0:
+          _, target_pos, path, is_valid = sample_start_target_position(
+              self._scene, self._current_positions[i, :])
+          if is_valid:
+            self._target_positions[i, :] = target_pos
+            subsampled_path = self._subsample_path(path)
+            self._paths.append(np.array(subsampled_path, dtype=np.float32))
+            self._path_indices.append(0)
+
+    # Sets agent position and preferred velocity based on target.
+    for i, agent_name in enumerate(self._names):
+      position = observations[self._position_key_formatter % agent_name]
+      self._orca.setAgentPosition(
+          i, tuple(position[:2]))  # ORCA uses 2D position.
+      self._current_positions[i, :2] = position[:2]
+
+      if self._paths is not None:
+        # Find closest point on the path from start to target, which (1) hasn't
+        # been covered already; (2) is at least max_coverage_distance away from
+        # current position.
+        distances = np.sqrt(np.sum(np.square(
+            self._paths[i] - position[:2]), axis=1))
+        max_coverage_distance = 1.0
+        index = self._path_indices[i]
+        while True:
+          if index >= len(self._paths[i]) - 1:
+            if self._endless_trajectory:
+              self._paths[i] = self._paths[i][::-1]
+              distances = distances[::-1]
+              index = 0
+            break
+          elif distances[index] > max_coverage_distance:
+            break
+          else:
+            index += 1
+        self._path_indices[i] = index
+        target_position = self._paths[i][index, :]
+      else:
+        target_position = self._target_positions[i][:2]
+
+      goal_vector = target_position - position[:2]
+      goal_vector_norm = np.linalg.norm(goal_vector) + np.finfo(np.float32).eps
+      goal_unit_vector = goal_vector / goal_vector_norm
+
+      kv = 1
+      velocity = min(kv * goal_vector_norm,
+                     self._DEFAULT_MAX_SPEED_MPS) * goal_unit_vector
+      self._orca.setAgentPrefVelocity(i, tuple(velocity))
+
+    for obj in self._moving_objects:
+      position = observations[obj.position_key]
+      self._orca.setAgentPosition(obj.agent_id, tuple(position[:2]))
+      if obj.last_position is None:
+        self._orca.setAgentPrefVelocity(obj.agent_id, (0.0, 0.0))
+      else:
+        velocity = (position - obj.last_position) / self._timestep
+        self._orca.setAgentPrefVelocity(obj.agent_id, tuple(velocity[:2]))
+      obj.last_position = position.copy()
+
+    # Advances orca simulator.
+    self._orca.doStep()
+
+    # Retrieve agent position and save in buffer.
+    for i in range(len(self._names)):
+      x, y = self._orca.getAgentPosition(i)
+      self._command_positions[i, :2] = (x, y)
+
+      yaw = np.arctan2(y - self._current_positions[i, 1],
+                       x - self._current_positions[i, 0])
+      self._command_orientations[i] = (0, 0, np.sin(yaw / 2), np.cos(yaw / 2))
+
+  def _get_action_of_instance(
+      self, instance_id) -> object_controller.ControllerOutput:
+    """Returns calculated actions of specific instance."""
+
+    if self._command_positions is None:
+      raise RuntimeError(
+          "Attempted to get action of instance before _recalculate_actions().")
+
+    self._validate_instance_id(instance_id)
+
+    if self._workaround_erp_issue:
+      k_erp = 1 / 0.2
+      delta_position = (
+          self._command_positions[instance_id] -
+          self._current_positions[instance_id])
+      command_position = (
+          self._current_positions[instance_id] + k_erp * delta_position)
+    else:
+      command_position = self._command_positions[instance_id].copy()
+    return command_position, self._command_orientations[instance_id], {}
+
+  def set_scene(self, scene) -> None:
+    """Sets the scene for crowd controller to obtain scene information."""
+    try:
+      polygons = scene.vectorized_map
+      for polygon in polygons:
+        self._orca.addObstacle([tuple(point) for point in polygon])
+      self._orca.processObstacles()
+      self._scene = scene
+    except NotImplementedError:
+      logging.exception("Scene does not implement vectorized_map property. "
+                        "Crowd agent cannot avoid static obstacles.")
+
+
+@gin.configurable
+def uniform_object_factory(
+    instance_id: int,
+    object_factory: Callable[..., autonomous_object.AutonomousObject],
+    *args, **kwargs) -> autonomous_object.AutonomousObject:
+  """A wrapper that removes instance_id in default crowd object factory."""
+  del instance_id
+  return object_factory(*args, **kwargs)
+
+
+@gin.configurable
+def random_object_factory(
+    instance_id: int,
+    object_factories: Iterable[
+        Callable[..., autonomous_object.AutonomousObject]],
+    *args, **kwargs) -> autonomous_object.AutonomousObject:
+  """A wrapper that removes instance_id in default crowd object factory."""
+  del instance_id
+  object_factory = np.random.choice(object_factories)
+  return object_factory(*args, **kwargs)
+
+
+@gin.configurable
+def sensor_factory(instance_id: int, sensor: Callable[...,
+                                                      generic_sensor.Sensor],
+                   *args, **kwargs) -> generic_sensor.Sensor:
+  del instance_id
+  return sensor(*args, **kwargs)
+
+
+@gin.configurable
+class CrowdBuilder(object):
+  """A helper class to construct a crowd."""
+
+  def __init__(
+      self,
+      num_instance: int,
+      crowd_controller_factory: Callable[..., CrowdController],
+      object_factory: Callable[..., autonomous_object.AutonomousObject],
+      sensor_factories: Iterable[Callable[..., generic_sensor.Sensor]] = None):
+    """Constructor.
+
+    Args:
+      num_instance: Number of autonomous objects in the crowd.
+      crowd_controller_factory: A callable that returns a crowd controller
+        object.
+      object_factory: Callable that returns an autonomous object.
+      sensor_factories: list of sensor callables.
+    """
+    self._objects = []
+    crowd_id_prefix = "crowd"
+    names = [crowd_id_prefix + "_%d" % i for i in range(num_instance)]
+
+    self._controller = crowd_controller_factory(names=names)
+
+    for i in range(num_instance):
+      position_sensor = base_position_sensor.BasePositionSensor(
+          name=names[i] + POSITION_SENSOR_POSTFIX)
+
+      # Add additional per agent sensors (e.g. camera, occupancy, etc.).
+      add_sensors = []
+      if sensor_factories:
+        for s in sensor_factories:
+          add_sensors.append(
+              sensor_factory(
+                  instance_id=i, sensor=s, name=names[i] + "_" + s.__name__))
+
+      an_object = object_factory(
+          instance_id=i,
+          sensors=(position_sensor,) + tuple(add_sensors),
+          controller=self._controller.instance_controller(i))
+
+      self._objects.append(an_object)
+
+  @property
+  def crowd_objects(self) -> List[autonomous_object.AutonomousObject]:
+    """Returns list of AutonomousObjects in the crowd."""
+    return self._objects
+
+  @property
+  def crowd_controller(self) -> CrowdController:
+    """Returns the crowd controller."""
+    return self._controller
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py
new file mode 100644
index 0000000000..4a15422b96
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/hybrid_motor_model.py
@@ -0,0 +1,278 @@
+# Lint as: python3
+"""A generic PD motor model."""
+
+from typing import Tuple, Union
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots import time_ordered_buffer
+
+_DEFAULT_BUFFER_SIZE = 200
+
+_HYBRID_ACTION_LEN = len(robot_config.HybridActionIndex)
+_HYBRID_POS_INDEX = robot_config.HybridActionIndex.POSITION.value
+_HYBRID_KP_INDEX = robot_config.HybridActionIndex.POSITION_GAIN.value
+_HYBRID_VEL_INDEX = robot_config.HybridActionIndex.VELOCITY.value
+_HYBRID_KD_INDEX = robot_config.HybridActionIndex.VELOCITY_GAIN.value
+_HYBRID_TORQUE_INDEX = robot_config.HybridActionIndex.TORQUE.value
+
+
+def _convert_to_np_array(inputs: Union[float, Tuple[float], np.ndarray], dim):
+  """Converts the inputs to a numpy array.
+
+  Args:
+    inputs: The input scalar or array.
+    dim: The dimension of the converted numpy array.
+
+  Returns:
+    The converted numpy array.
+
+  Raises:
+    ValueError: If the inputs is an array whose dimension does not match the
+    provied dimension.
+  """
+  outputs = None
+  if isinstance(inputs, (tuple, np.ndarray)):
+    outputs = np.array(inputs)
+  else:
+    outputs = np.full(dim, inputs)
+
+  if len(outputs) != dim:
+    raise ValueError("The inputs array has a different dimension {}"
+                     " than provided, which is {}.".format(len(outputs), dim))
+
+  return outputs
+
+
+@gin.configurable
+class HybridMotorModel(object):
+  """A simple motor model that supports proportional and derivative control.
+
+    When in POSITION mode, the torque is calculated according to the difference
+    between current and desired joint angle, as well as the joint velocity
+    differences. For more information about PD control, please refer to:
+    https://en.wikipedia.org/wiki/PID_controller.
+
+    The model supports a HYBRID mode in which each motor command can be a tuple
+    (desired_motor_angle, position_gain, desired_motor_velocity, velocity_gain,
+    torque).
+  """
+
+  def __init__(
+      self,
+      num_motors: int,
+      pd_latency: float = 0,
+      motor_control_mode=robot_config.MotorControlMode.POSITION,
+      kp: Union[float, Tuple[float], np.ndarray] = 60,
+      kd: Union[float, Tuple[float], np.ndarray] = 1,
+      strength_ratios: Union[float, Tuple[float], np.ndarray] = 1,
+      torque_lower_limits: Union[float, Tuple[float], np.ndarray] = None,
+      torque_upper_limits: Union[float, Tuple[float], np.ndarray] = None,
+  ):
+    """Initializes the class.
+
+    Args:
+      num_motors: The number of motors for parallel computation.
+      pd_latency: Simulates the motor controller's latency in reading motor
+        angles and velocities.
+      motor_control_mode: Can be POSITION, TORQUE, or HYBRID. In POSITION
+        control mode, the PD formula is used to track a desired position and a
+        zero desired velocity. In TORQUE control mode, we assume a pass through
+        of the provided torques. In HYBRID control mode, the users need to
+        provie (desired_position, position_gain, desired_velocity,
+        velocity_gain, feedfoward_torque) for each motor.
+      kp: The default position gains for motors.
+      kd: The default velocity gains for motors.
+      strength_ratios: The scaling ratio for motor torque outputs. This can be
+        useful for quick debugging when sim-to-real gap is observed in the
+        actuator behavior.
+      torque_lower_limits: The lower bounds for torque outputs.
+      torque_upper_limits: The upper bounds for torque outputs. The output
+        torques will be clipped by the lower and upper bounds.
+
+    Raises:
+      ValueError: If the number of motors provided is negative or zero.
+    """
+    if num_motors <= 0:
+      raise ValueError(
+          "Number of motors must be positive, not {}".format(num_motors))
+    self._num_motors = num_motors
+    self._zero_array = np.full(num_motors, 0)
+    self._pd_latency = pd_latency
+    self._hybrid_command_dim = _HYBRID_ACTION_LEN * self._num_motors
+    self.set_motor_gains(kp, kd)
+    self.set_strength_ratios(strength_ratios)
+    self._torque_lower_limits = None
+    if torque_lower_limits:
+      self._torque_lower_limits = _convert_to_np_array(torque_lower_limits,
+                                                       self._num_motors)
+
+    self._torque_upper_limits = None
+    if torque_upper_limits:
+      self._torque_upper_limits = _convert_to_np_array(torque_upper_limits,
+                                                       self._num_motors)
+    self._motor_control_mode = motor_control_mode
+
+    # The history buffer is used to simulate the pd latency effect.
+    # TODO(b/157786642): remove hacks on duplicate timestep once the sim clock
+    # is fixed.
+    self._observation_buffer = time_ordered_buffer.TimeOrderedBuffer(
+        max_buffer_timespan=pd_latency,
+        error_on_duplicate_timestamp=False,
+        replace_value_on_duplicate_timestamp=True)
+
+  def set_strength_ratios(
+      self,
+      strength_ratios: Union[float, Tuple[float], np.ndarray],
+  ):
+    """Sets the strength of each motor relative to the default value.
+
+    Args:
+      strength_ratios: The relative strength of motor output, ranging from [0,
+        1] inclusive.
+    """
+    self._strength_ratios = np.clip(
+        _convert_to_np_array(strength_ratios, self._num_motors), 0, 1)
+
+  def set_motor_gains(
+      self,
+      kp: Union[float, Tuple[float], np.ndarray],
+      kd: Union[float, Tuple[float], np.ndarray],
+  ):
+    """Sets the gains of all motors.
+
+    These gains are PD gains for motor positional control. kp is the
+    proportional gain and kd is the derivative gain.
+
+    Args:
+      kp: Proportional gain of the motors.
+      kd: Derivative gain of the motors.
+    """
+    self._kp = _convert_to_np_array(kp, self._num_motors)
+    self._kd = _convert_to_np_array(kd, self._num_motors)
+
+  def get_motor_gains(self):
+    """Get the PD gains of all motors.
+
+    Returns:
+      Proportional and derivative gain of the motors.
+    """
+    return self._kp, self._kd
+
+  def reset(self):
+    self._observation_buffer.reset()
+
+  def update(self, timestamp, true_motor_positions: np.ndarray,
+             true_motor_velocities: np.ndarray):
+    # Push these to the buffer
+    self._observation_buffer.add(timestamp,
+                                 (true_motor_positions, true_motor_velocities))
+
+  def get_motor_torques(
+      self,
+      motor_commands: np.ndarray,
+      motor_control_mode=None) -> Tuple[np.ndarray, np.ndarray]:
+    """Computes the motor torques.
+
+    Args:
+      motor_commands: The desired motor angle if the motor is in position
+        control mode. The pwm signal if the motor is in torque control mode.
+      motor_control_mode: A MotorControlMode enum.
+
+    Returns:
+      observed_torque: The torque observed. This emulates the limitations in
+      torque measurement, which is generally obtained from current estimations.
+      actual_torque: The torque that needs to be applied to the motor.
+
+    Raises:
+      NotImplementedError if the motor_control_mode is not supported.
+
+    """
+    if not motor_control_mode:
+      motor_control_mode = self._motor_control_mode
+
+    motor_torques = None
+
+    if motor_control_mode is robot_config.MotorControlMode.TORQUE:
+      motor_torques = motor_commands
+
+    if motor_control_mode is robot_config.MotorControlMode.POSITION:
+      motor_torques = self._compute_pd_torques(
+          desired_motor_angles=motor_commands,
+          kp=self._kp,
+          desired_motor_velocities=self._zero_array,
+          kd=self._kd)
+
+    if motor_control_mode is robot_config.MotorControlMode.HYBRID:
+      motor_torques = self._compute_hybrid_action_torques(motor_commands)
+
+    if motor_torques is None:
+      raise ValueError(
+          "{} is not a supported motor control mode".format(motor_control_mode))
+
+    # Rescale and clip the motor torques as needed.
+    motor_torques = self._strength_ratios * motor_torques
+    if (self._torque_lower_limits is not None or
+        self._torque_upper_limits is not None):
+      motor_torques = np.clip(motor_torques, self._torque_lower_limits,
+                              self._torque_upper_limits)
+
+    return motor_torques, motor_torques
+
+  def get_motor_states(self, latency=None):
+    """Computes observation of motor angle and velocity under latency."""
+    if latency is None:
+      latency = self._pd_latency
+    buffer = self._observation_buffer.get_delayed_value(latency)
+    angle_vel_t0 = buffer.value_0
+    angle_vel_t1 = buffer.value_1
+    coeff = buffer.coeff
+
+    pos_idx = 0
+    motor_angles = angle_vel_t0[pos_idx] * (
+        1 - coeff) + coeff * angle_vel_t1[pos_idx]
+    vel_idx = 1
+    motor_velocities = angle_vel_t0[vel_idx] * (
+        1 - coeff) + coeff * angle_vel_t1[vel_idx]
+    return motor_angles, motor_velocities
+
+  def _compute_pd_torques(
+      self,
+      desired_motor_angles: np.ndarray,
+      kp: np.ndarray,
+      desired_motor_velocities,
+      kd: np.ndarray,
+  ) -> Tuple[np.ndarray, np.ndarray]:
+    """Computes the pd torques.
+
+    Args:
+      desired_motor_angles: The motor angles to track.
+      kp: The position gains.
+      desired_motor_velocities: The motor velocities to track.
+      kd: The velocity gains.
+
+    Returns:
+      The computed motor torques.
+    """
+    motor_angles, motor_velocities = self.get_motor_states()
+    motor_torques = -kp * (motor_angles - desired_motor_angles) - kd * (
+        motor_velocities - desired_motor_velocities)
+
+    return motor_torques
+
+  def _compute_hybrid_action_torques(
+      self, motor_commands: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
+    """Computes the pd torques in the HYBRID mode."""
+    assert len(motor_commands) == self._hybrid_command_dim
+    kp = motor_commands[_HYBRID_KP_INDEX::_HYBRID_ACTION_LEN]
+    kd = motor_commands[_HYBRID_KD_INDEX::_HYBRID_ACTION_LEN]
+    desired_motor_angles = motor_commands[_HYBRID_POS_INDEX::_HYBRID_ACTION_LEN]
+    desired_motor_velocities = motor_commands[
+        _HYBRID_VEL_INDEX::_HYBRID_ACTION_LEN]
+    additional_torques = motor_commands[
+        _HYBRID_TORQUE_INDEX::_HYBRID_ACTION_LEN]
+
+    return self._compute_pd_torques(desired_motor_angles, kp,
+                                    desired_motor_velocities,
+                                    kd) + additional_torques
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py
new file mode 100644
index 0000000000..bcfcbdc3ec
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago.py
@@ -0,0 +1,319 @@
+"""Pybullet simulation of a Laikago robot."""
+import math
+import os
+import re
+import gin
+import numpy as np
+from pybullet_utils import transformations
+from pybullet_envs.minitaur.envs_v2.utilities import laikago_pose_utils
+from pybullet_envs.minitaur.robots import laikago_constants
+from pybullet_envs.minitaur.robots import laikago_motor
+from pybullet_envs.minitaur.robots import minitaur
+from pybullet_envs.minitaur.robots import robot_config
+
+NUM_MOTORS = 12
+NUM_LEGS = 4
+MOTOR_NAMES = [
+    "FR_hip_motor_2_chassis_joint",
+    "FR_upper_leg_2_hip_motor_joint",
+    "FR_lower_leg_2_upper_leg_joint",
+    "FL_hip_motor_2_chassis_joint",
+    "FL_upper_leg_2_hip_motor_joint",
+    "FL_lower_leg_2_upper_leg_joint",
+    "RR_hip_motor_2_chassis_joint",
+    "RR_upper_leg_2_hip_motor_joint",
+    "RR_lower_leg_2_upper_leg_joint",
+    "RL_hip_motor_2_chassis_joint",
+    "RL_upper_leg_2_hip_motor_joint",
+    "RL_lower_leg_2_upper_leg_joint",
+]
+INIT_RACK_POSITION = [0, 0, 1]
+INIT_POSITION = [0, 0, 0.48]
+JOINT_DIRECTIONS = np.array([-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1])
+HIP_JOINT_OFFSET = 0.0
+UPPER_LEG_JOINT_OFFSET = -0.6
+KNEE_JOINT_OFFSET = 0.66
+DOFS_PER_LEG = 3
+JOINT_OFFSETS = np.array(
+    [HIP_JOINT_OFFSET, UPPER_LEG_JOINT_OFFSET, KNEE_JOINT_OFFSET] * 4)
+PI = math.pi
+
+MAX_MOTOR_ANGLE_CHANGE_PER_STEP = 0.12
+_DEFAULT_HIP_POSITIONS = (
+    (0.21, -0.1157, 0),
+    (0.21, 0.1157, 0),
+    (-0.21, -0.1157, 0),
+    (-0.21, 0.1157, 0),
+)
+
+# Bases on the readings from Laikago's default pose.
+INIT_MOTOR_ANGLES = np.array([
+    laikago_pose_utils.LAIKAGO_DEFAULT_ABDUCTION_ANGLE,
+    laikago_pose_utils.LAIKAGO_DEFAULT_HIP_ANGLE,
+    laikago_pose_utils.LAIKAGO_DEFAULT_KNEE_ANGLE
+] * NUM_LEGS)
+
+CHASSIS_NAME_PATTERN = re.compile(r"\w+_chassis_\w+")
+MOTOR_NAME_PATTERN = re.compile(r"\w+_hip_motor_\w+")
+KNEE_NAME_PATTERN = re.compile(r"\w+_lower_leg_\w+")
+TOE_NAME_PATTERN = re.compile(r"jtoe\d*")
+
+URDF_NO_TOES = "laikago.urdf"
+URDF_WITH_TOES = "laikago_toes_zup.urdf"
+
+_BODY_B_FIELD_NUMBER = 2
+_LINK_A_FIELD_NUMBER = 3
+
+
+@gin.configurable
+class Laikago(minitaur.Minitaur):
+  """A simulation for the Laikago robot."""
+
+  def __init__(self, urdf_filename=URDF_WITH_TOES, **kwargs):
+    self._urdf_filename = urdf_filename
+    if "motor_kp" not in kwargs:
+      kwargs["motor_kp"] = 100.0
+    if "motor_kd" not in kwargs:
+      kwargs["motor_kd"] = 2.0
+    if "motor_torque_limits" not in kwargs:
+      kwargs["motor_torque_limits"] = None
+
+    # enable_clip_motor_commands: Boolean indicating if clipping should be
+    # applied to motor commands, which limits the amount of change in joint
+    # pose between timesteps.
+    if "enable_clip_motor_commands" in kwargs:
+      self._enable_clip_motor_commands = kwargs["enable_clip_motor_commands"]
+      del kwargs["enable_clip_motor_commands"]
+    else:
+      self._enable_clip_motor_commands = False
+
+    # The follwing parameters are fixed for the Laikago robot.
+    kwargs["num_motors"] = NUM_MOTORS
+    kwargs["dofs_per_leg"] = DOFS_PER_LEG
+    kwargs["motor_direction"] = JOINT_DIRECTIONS
+    kwargs["motor_offset"] = JOINT_OFFSETS
+    kwargs["motor_overheat_protection"] = False
+    kwargs["motor_model_class"] = laikago_motor.LaikagoMotorModel
+    kwargs["safety_config"] = None
+
+    super(Laikago, self).__init__(**kwargs)
+
+  def _LoadRobotURDF(self):
+    laikago_urdf_path = self.GetURDFFile()
+    if self._self_collision_enabled:
+      self.quadruped = self._pybullet_client.loadURDF(
+          laikago_urdf_path,
+          self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation(),
+          flags=self._pybullet_client.URDF_USE_SELF_COLLISION)
+    else:
+      self.quadruped = self._pybullet_client.loadURDF(
+          laikago_urdf_path, self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation())
+
+  def _SettleDownForReset(self, default_motor_angles, reset_time):
+    self.ReceiveObservation()
+
+    if reset_time <= 0:
+      return
+
+    for _ in range(500):
+      self._StepInternal(
+          INIT_MOTOR_ANGLES,
+          motor_control_mode=robot_config.MotorControlMode.POSITION)
+    if default_motor_angles is not None:
+      num_steps_to_reset = int(reset_time / self.time_step)
+      for _ in range(num_steps_to_reset):
+        self._StepInternal(
+            default_motor_angles,
+            motor_control_mode=robot_config.MotorControlMode.POSITION)
+
+  def GetHipPositionsInBaseFrame(self):
+    return _DEFAULT_HIP_POSITIONS
+
+  def GetFootContacts(self):
+    all_contacts = self._pybullet_client.getContactPoints(bodyA=self.quadruped)
+
+    contacts = [False, False, False, False]
+    for contact in all_contacts:
+      # Ignore self contacts
+      if contact[_BODY_B_FIELD_NUMBER] == self.quadruped:
+        continue
+      try:
+        toe_link_index = self._foot_link_ids.index(
+            contact[_LINK_A_FIELD_NUMBER])
+        contacts[toe_link_index] = True
+      except ValueError:
+        continue
+    return contacts
+
+  def ComputeJacobian(self, leg_id):
+    """Compute the Jacobian for a given leg."""
+    # Because of the default rotation in the Laikago URDF, we need to reorder
+    # the rows in the Jacobian matrix.
+    if self._urdf_filename == URDF_WITH_TOES:
+      return super(Laikago, self).ComputeJacobian(leg_id)
+    else:
+      return super(Laikago, self).ComputeJacobian(leg_id)[(2, 0, 1), :]
+
+  def ResetPose(self, add_constraint):
+    del add_constraint
+    for name in self._joint_name_to_id:
+      joint_id = self._joint_name_to_id[name]
+      self._pybullet_client.setJointMotorControl2(
+          bodyIndex=self.quadruped,
+          jointIndex=(joint_id),
+          controlMode=self._pybullet_client.VELOCITY_CONTROL,
+          targetVelocity=0,
+          force=0)
+    for name, i in zip(MOTOR_NAMES, range(len(MOTOR_NAMES))):
+      if "hip_motor_2_chassis_joint" in name:
+        angle = INIT_MOTOR_ANGLES[i] + HIP_JOINT_OFFSET
+      elif "upper_leg_2_hip_motor_joint" in name:
+        angle = INIT_MOTOR_ANGLES[i] + UPPER_LEG_JOINT_OFFSET
+      elif "lower_leg_2_upper_leg_joint" in name:
+        angle = INIT_MOTOR_ANGLES[i] + KNEE_JOINT_OFFSET
+      else:
+        raise ValueError("The name %s is not recognized as a motor joint." %
+                         name)
+      self._pybullet_client.resetJointState(
+          self.quadruped, self._joint_name_to_id[name], angle, targetVelocity=0)
+
+  def GetURDFFile(self):
+    return os.path.join(self._urdf_root, "laikago/" + self._urdf_filename)
+
+  def _BuildUrdfIds(self):
+    """Build the link Ids from its name in the URDF file.
+
+    Raises:
+      ValueError: Unknown category of the joint name.
+    """
+    num_joints = self._pybullet_client.getNumJoints(self.quadruped)
+    self._chassis_link_ids = [-1]
+    self._leg_link_ids = []
+    self._motor_link_ids = []
+    self._knee_link_ids = []
+    self._foot_link_ids = []
+
+    for i in range(num_joints):
+      joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
+      joint_name = joint_info[1].decode("UTF-8")
+      joint_id = self._joint_name_to_id[joint_name]
+      if CHASSIS_NAME_PATTERN.match(joint_name):
+        self._chassis_link_ids.append(joint_id)
+      elif MOTOR_NAME_PATTERN.match(joint_name):
+        self._motor_link_ids.append(joint_id)
+      # We either treat the lower leg or the toe as the foot link, depending on
+      # the urdf version used.
+      elif KNEE_NAME_PATTERN.match(joint_name):
+        self._knee_link_ids.append(joint_id)
+      elif TOE_NAME_PATTERN.match(joint_name):
+        assert self._urdf_filename == URDF_WITH_TOES
+        self._foot_link_ids.append(joint_id)
+      else:
+        raise ValueError("Unknown category of joint %s" % joint_name)
+
+    self._leg_link_ids.extend(self._knee_link_ids)
+    self._leg_link_ids.extend(self._foot_link_ids)
+
+    if self._urdf_filename == URDF_NO_TOES:
+      self._foot_link_ids.extend(self._knee_link_ids)
+
+    assert len(self._foot_link_ids) == NUM_LEGS
+    self._chassis_link_ids.sort()
+    self._motor_link_ids.sort()
+    self._knee_link_ids.sort()
+    self._foot_link_ids.sort()
+    self._leg_link_ids.sort()
+
+    return
+
+  def _GetMotorNames(self):
+    return MOTOR_NAMES
+
+  def _GetDefaultInitPosition(self):
+    if self._on_rack:
+      return INIT_RACK_POSITION
+    else:
+      return INIT_POSITION
+
+  def _GetDefaultInitOrientation(self):
+    # The Laikago URDF assumes the initial pose of heading towards z axis,
+    # and belly towards y axis. The following transformation is to transform
+    # the Laikago initial orientation to our commonly used orientation: heading
+    # towards -x direction, and z axis is the up direction.
+    if self._urdf_filename == URDF_WITH_TOES:
+      return [0, 0, 0, 1]
+    else:
+      return transformations.quaternion_from_euler(
+          ai=math.pi / 2.0, aj=0, ak=math.pi / 2.0, axes="sxyz")
+
+  def GetDefaultInitPosition(self):
+    """Get default initial base position."""
+    return self._GetDefaultInitPosition()
+
+  def GetDefaultInitOrientation(self):
+    """Get default initial base orientation."""
+    return self._GetDefaultInitOrientation()
+
+  def GetDefaultInitJointPose(self):
+    """Get default initial joint pose."""
+    joint_pose = (INIT_MOTOR_ANGLES + JOINT_OFFSETS) * JOINT_DIRECTIONS
+    return joint_pose
+
+  def ApplyAction(self, motor_commands, motor_control_mode=None):
+    """Clips and then apply the motor commands using the motor model.
+
+    Args:
+      motor_commands: np.array. Can be motor angles, torques, hybrid commands,
+        or motor pwms (for Minitaur only).N
+      motor_control_mode: A MotorControlMode enum.
+    """
+    if self._enable_clip_motor_commands:
+      motor_commands = self._ClipMotorCommands(motor_commands)
+
+    super(Laikago, self).ApplyAction(motor_commands, motor_control_mode)
+    return
+
+  def _ClipMotorCommands(self, motor_commands):
+    """Clips motor commands.
+
+    Args:
+      motor_commands: np.array. Can be motor angles, torques, hybrid commands,
+        or motor pwms (for Minitaur only).
+
+    Returns:
+      Clipped motor commands.
+    """
+
+    # clamp the motor command by the joint limit, in case weired things happens
+    max_angle_change = MAX_MOTOR_ANGLE_CHANGE_PER_STEP
+    current_motor_angles = self.GetMotorAngles()
+    motor_commands = np.clip(motor_commands,
+                             current_motor_angles - max_angle_change,
+                             current_motor_angles + max_angle_change)
+    return motor_commands
+
+  @classmethod
+  def GetConstants(cls):
+    del cls
+    return laikago_constants
+
+  # The following functions are added for the migration purpose. Will be removed
+  # after the migration is complete.
+
+  @property
+  def robot_id(self):
+    return self.quadruped
+
+  @property
+  def base_position(self):
+    return self.GetBasePosition()
+
+  @property
+  def base_roll_pitch_yaw(self):
+    return self.GetTrueBaseRollPitchYaw()
+
+  @property
+  def timestamp(self):
+    return self.GetTimeSinceReset()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py
new file mode 100644
index 0000000000..d07e730718
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_constants.py
@@ -0,0 +1,120 @@
+# Lint as: python3
+"""Defines the laikago robot related constants and URDF specs."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import collections
+import gin
+
+URDF_PATH = "laikago/laikago_toes_zup.urdf"
+
+NUM_MOTORS = 12
+NUM_LEGS = 4
+MOTORS_PER_LEG = 3
+
+INIT_RACK_POSITION = [0, 0, 1]
+INIT_POSITION = [0, 0, 0.48]
+
+# Will be default to (0, 0, 0, 1) once the new laikago_toes_zup.urdf checked in.
+INIT_ORIENTATION = [0, 0, 0, 1]
+
+# Can be different from the motors, although for laikago they are the same list.
+JOINT_NAMES = (
+    # front right leg
+    "FR_hip_motor_2_chassis_joint",
+    "FR_upper_leg_2_hip_motor_joint",
+    "FR_lower_leg_2_upper_leg_joint",
+    # front left leg
+    "FL_hip_motor_2_chassis_joint",
+    "FL_upper_leg_2_hip_motor_joint",
+    "FL_lower_leg_2_upper_leg_joint",
+    # rear right leg
+    "RR_hip_motor_2_chassis_joint",
+    "RR_upper_leg_2_hip_motor_joint",
+    "RR_lower_leg_2_upper_leg_joint",
+    # rear left leg
+    "RL_hip_motor_2_chassis_joint",
+    "RL_upper_leg_2_hip_motor_joint",
+    "RL_lower_leg_2_upper_leg_joint",
+)
+
+INIT_ABDUCTION_ANGLE = 0
+INIT_HIP_ANGLE = 0.67
+INIT_KNEE_ANGLE = -1.25
+
+# Note this matches the Laikago SDK/control convention, but is different from
+# URDF's internal joint angles which needs to be computed using the joint
+# offsets and directions. The conversion formula is (sdk_joint_angle + offset) *
+# joint direction.
+INIT_JOINT_ANGLES = collections.OrderedDict(
+    zip(JOINT_NAMES,
+        (INIT_ABDUCTION_ANGLE, INIT_HIP_ANGLE, INIT_KNEE_ANGLE) * NUM_LEGS))
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_DIRECTIONS = collections.OrderedDict(
+    zip(JOINT_NAMES, (-1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1)))
+
+HIP_JOINT_OFFSET = 0.0
+UPPER_LEG_JOINT_OFFSET = -0.6
+KNEE_JOINT_OFFSET = 0.66
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_OFFSETS = collections.OrderedDict(
+    zip(JOINT_NAMES,
+        [HIP_JOINT_OFFSET, UPPER_LEG_JOINT_OFFSET, KNEE_JOINT_OFFSET] *
+        NUM_LEGS))
+
+LEG_NAMES = (
+    "front_right",
+    "front_left",
+    "rear_right",
+    "rear_left",
+)
+
+LEG_ORDER = (
+    "front_right",
+    "front_left",
+    "back_right",
+    "back_left",
+)
+
+END_EFFECTOR_NAMES = (
+    "jtoeFR",
+    "jtoeFL",
+    "jtoeRR",
+    "jtoeRL",
+)
+
+MOTOR_NAMES = JOINT_NAMES
+MOTOR_GROUP = collections.OrderedDict((
+    (LEG_NAMES[0], JOINT_NAMES[0:3]),
+    (LEG_NAMES[1], JOINT_NAMES[3:6]),
+    (LEG_NAMES[2], JOINT_NAMES[6:9]),
+    (LEG_NAMES[3], JOINT_NAMES[9:12]),
+))
+
+# Regulates the joint angle change when in position control mode.
+MAX_MOTOR_ANGLE_CHANGE_PER_STEP = 0.12
+
+# The hip joint location in the CoM frame.
+HIP_POSITIONS = collections.OrderedDict((
+    (LEG_NAMES[0], (0.21, -0.1157, 0)),
+    (LEG_NAMES[1], (0.21, 0.1157, 0)),
+    (LEG_NAMES[2], (-0.21, -0.1157, 0)),
+    (LEG_NAMES[3], (-0.21, 0.1157, 0)),
+))
+
+# Add the gin constants to be used for gin binding in config. Append "LAIKAGO_"
+# for unique binding names.
+gin.constant("laikago_constants.LAIKAGO_NUM_MOTORS", NUM_MOTORS)
+gin.constant("laikago_constants.LAIKAGO_URDF_PATH", URDF_PATH)
+gin.constant("laikago_constants.LAIKAGO_INIT_POSITION", INIT_POSITION)
+gin.constant("laikago_constants.LAIKAGO_INIT_ORIENTATION", INIT_ORIENTATION)
+gin.constant("laikago_constants.LAIKAGO_INIT_JOINT_ANGLES", INIT_JOINT_ANGLES)
+gin.constant("laikago_constants.LAIKAGO_JOINT_DIRECTIONS", JOINT_DIRECTIONS)
+gin.constant("laikago_constants.LAIKAGO_JOINT_OFFSETS", JOINT_OFFSETS)
+gin.constant("laikago_constants.LAIKAGO_MOTOR_NAMES", MOTOR_NAMES)
+gin.constant("laikago_constants.LAIKAGO_END_EFFECTOR_NAMES", END_EFFECTOR_NAMES)
+gin.constant("laikago_constants.LAIKAGO_MOTOR_GROUP", MOTOR_GROUP)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto
new file mode 100644
index 0000000000..3e2a31a974
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface.proto
@@ -0,0 +1,181 @@
+syntax = "proto3";
+
+package minitaur_fluxworks.control;
+
+import "timestamp.proto";
+import "vector.proto";
+
+// A general motor command.
+message MotorCommand {
+  // The unique motor id.
+  uint32 motor_id = 1;
+
+  // The motor angle.
+  float position = 2;
+
+  float position_gain = 3;
+
+  // The motor velocity.
+  float velocity = 4;
+  float velocity_gain = 5;
+
+  // The feed forward torque.
+  float torque = 6;
+}
+
+// LED command for the foot.
+message Led {
+  uint32 leg_id = 1;
+  uint32 r = 2;
+  uint32 g = 3;
+  uint32 b = 4;
+}
+
+// The message type for Laikago's motor command.
+message LaikagoCommand {
+  google.protobuf.Timestamp timestamp = 1;
+  enum ControlMode {
+    CONTROL_MODE_UNSPECIFIED = 0;
+    CONTROL_MODE_POSITION = 1;
+    CONTROL_MODE_TORQUE = 2;
+    CONTROL_MODE_HYBRID = 3;
+  }
+  ControlMode control_mode = 2;
+  repeated MotorCommand motor_command = 3;
+  repeated Led led = 4;
+}
+
+// Empty message just to request a state from the control server.
+message LaikagoStateRequest {}
+
+message Imu {
+  robotics.messages.Vector4f quaternion = 1;
+
+  // The unit is rad/s
+  robotics.messages.Vector3f gyroscope = 2;
+
+  // The unit is m/s^2
+  robotics.messages.Vector3f acceleration = 3;
+
+  // The unit is rad
+  robotics.messages.Vector3f rpy = 4;
+
+  // The IMU temperature.
+  float temperature = 5;
+}
+
+message MotorState {
+  uint32 motor_id = 1;
+  uint32 mode = 2;
+
+  float position = 3;
+  // Position/Velocity gains cannot be read from the motor. We just save the
+  // last used value.
+  float position_gain = 4;
+  float velocity = 5;
+  float velocity_gain = 6;
+  float torque = 7;
+  float temperature = 8;
+}
+
+message ContactState {
+  uint32 leg_id = 1;
+
+  // Contact force is measured in one dimension for Laikago.
+  float force = 2;
+
+  // The contact force measurement direction.
+  robotics.messages.Vector3f axis = 3;
+}
+
+// The message type for Laikago's low level state.
+message LaikagoState {
+  google.protobuf.Timestamp timestamp = 1;
+  uint32 control_level = 2;
+  Imu imu = 3;
+  repeated MotorState motor_state = 4;
+  repeated ContactState contact_state = 5;
+  // The microcontroller_time is millis.
+  uint32 microcontroller_time_millis = 6;
+  bytes wireless_remote = 7;
+  uint32 crc = 8;
+}
+
+message LaikagoCommandState {
+  LaikagoCommand command = 1;
+  LaikagoState state = 2;
+}
+
+// The optional gRPC interface for Laikago control.
+service LaikagoControlGrpcInterface {
+  // Sends the low level control command and receives a state.
+  rpc SendCommand(LaikagoCommand) returns (LaikagoState) {}
+
+  // Receives a robot state without sending motor commands.
+  rpc GetState(LaikagoStateRequest) returns (LaikagoState) {}
+}
+
+// Reserved for Laikago's high level command.
+message LaikagoHighLevelCommand {
+  google.protobuf.Timestamp timestamp = 1;
+  uint32 control_level = 2;
+
+  // 1 for standing and 2 for walking.
+  uint32 control_mode = 3;
+
+  // The normalized speed tuple (x, y, \omega_z)
+  robotics.messages.Vector3f walk_speed = 4;
+
+  float body_height = 5;
+  float foot_clearance_height = 6;
+
+  // The target roll, pitch, yaw of the body in the stand mode.
+  robotics.messages.Vector3f rpy = 7;
+}
+
+// Reserved for Laikago's high level status.
+message LaikagoHighLevelState {
+  google.protobuf.Timestamp timestamp = 1;
+  uint32 control_level = 2;
+
+  // 1 for standing and 2 for walking.
+  uint32 control_mode = 3;
+  Imu imu = 4;
+
+  // The normalized speed tuple (x, y, \omega_z)
+  robotics.messages.Vector3f walk_speed = 5;
+
+  // In stand mode.
+  float body_height = 8;
+  float up_down_speed = 9;
+
+  // The com position estimation. Will drift in x-y plane.
+  robotics.messages.Vector3f com_position = 10;
+  repeated robotics.messages.Vector3f foot_position_to_com = 11;
+  repeated robotics.messages.Vector3f foot_velocity_to_com = 12;
+  repeated ContactState contact_state = 13;
+  // The microcontroller_time is millis.
+  uint32 microcontroller_time_millis = 14;
+  // Bytes 4-7: slider_lx (side step speed); Bytes 8-11: slider_rx (twisting
+  // speed); Bytes 12-15: -slider_ry. Bytes 16-19: (slider_r + 1) / 2; Bytes
+  // 20-23: -slider_ly (forward/backward speed). Each float number (4 bytes) are
+  // packed using big endian convention.
+  bytes wireless_remote = 15;
+  uint32 crc = 16;
+}
+
+message LaikagoHighLevelStateRequest {}
+
+message LaikagoHighLevelCommandState {
+  LaikagoHighLevelCommand command = 1;
+  LaikagoHighLevelState state = 2;
+}
+
+// The optional gRPC interface for Laikago control.
+service LaikagoHighLevelControlGrpcInterface {
+  // Sends the high level control command and receives a state.
+  rpc SendCommand(LaikagoHighLevelCommand) returns (LaikagoHighLevelState) {}
+
+  // Requests a state without sending commands.
+  rpc GetState(LaikagoHighLevelStateRequest) returns (LaikagoHighLevelState) {}
+}
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py
new file mode 100644
index 0000000000..7d67f55ccc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_interface_pb2.py
@@ -0,0 +1,1040 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: laikago_interface.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from pybullet_envs.minitaur.robots import timestamp_pb2 as timestamp__pb2
+from pybullet_envs.minitaur.robots import vector_pb2 as vector__pb2
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='laikago_interface.proto',
+  package='minitaur_fluxworks.control',
+  syntax='proto3',
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x17laikago_interface.proto\x12\x1aminitaur_fluxworks.control\x1a\x0ftimestamp.proto\x1a\x0cvector.proto\"\x82\x01\n\x0cMotorCommand\x12\x10\n\x08motor_id\x18\x01 \x01(\r\x12\x10\n\x08position\x18\x02 \x01(\x02\x12\x15\n\rposition_gain\x18\x03 \x01(\x02\x12\x10\n\x08velocity\x18\x04 \x01(\x02\x12\x15\n\rvelocity_gain\x18\x05 \x01(\x02\x12\x0e\n\x06torque\x18\x06 \x01(\x02\"6\n\x03Led\x12\x0e\n\x06leg_id\x18\x01 \x01(\r\x12\t\n\x01r\x18\x02 \x01(\r\x12\t\n\x01g\x18\x03 \x01(\r\x12\t\n\x01\x62\x18\x04 \x01(\r\"\xf6\x02\n\x0eLaikagoCommand\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12L\n\x0c\x63ontrol_mode\x18\x02 \x01(\x0e\x32\x36.minitaur_fluxworks.control.LaikagoCommand.ControlMode\x12?\n\rmotor_command\x18\x03 \x03(\x0b\x32(.minitaur_fluxworks.control.MotorCommand\x12,\n\x03led\x18\x04 \x03(\x0b\x32\x1f.minitaur_fluxworks.control.Led\"x\n\x0b\x43ontrolMode\x12\x1c\n\x18\x43ONTROL_MODE_UNSPECIFIED\x10\x00\x12\x19\n\x15\x43ONTROL_MODE_POSITION\x10\x01\x12\x17\n\x13\x43ONTROL_MODE_TORQUE\x10\x02\x12\x17\n\x13\x43ONTROL_MODE_HYBRID\x10\x03\"\x15\n\x13LaikagoStateRequest\"\xd8\x01\n\x03Imu\x12/\n\nquaternion\x18\x01 \x01(\x0b\x32\x1b.robotics.messages.Vector4f\x12.\n\tgyroscope\x18\x02 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x31\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12(\n\x03rpy\x18\x04 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x13\n\x0btemperature\x18\x05 \x01(\x02\"\xa3\x01\n\nMotorState\x12\x10\n\x08motor_id\x18\x01 \x01(\r\x12\x0c\n\x04mode\x18\x02 \x01(\r\x12\x10\n\x08position\x18\x03 \x01(\x02\x12\x15\n\rposition_gain\x18\x04 \x01(\x02\x12\x10\n\x08velocity\x18\x05 \x01(\x02\x12\x15\n\rvelocity_gain\x18\x06 \x01(\x02\x12\x0e\n\x06torque\x18\x07 \x01(\x02\x12\x13\n\x0btemperature\x18\x08 \x01(\x02\"X\n\x0c\x43ontactState\x12\x0e\n\x06leg_id\x18\x01 \x01(\r\x12\r\n\x05\x66orce\x18\x02 \x01(\x02\x12)\n\x04\x61xis\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\"\xcb\x02\n\x0cLaikagoState\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x15\n\rcontrol_level\x18\x02 \x01(\r\x12,\n\x03imu\x18\x03 \x01(\x0b\x32\x1f.minitaur_fluxworks.control.Imu\x12;\n\x0bmotor_state\x18\x04 \x03(\x0b\x32&.minitaur_fluxworks.control.MotorState\x12?\n\rcontact_state\x18\x05 \x03(\x0b\x32(.minitaur_fluxworks.control.ContactState\x12#\n\x1bmicrocontroller_time_millis\x18\x06 \x01(\r\x12\x17\n\x0fwireless_remote\x18\x07 \x01(\x0c\x12\x0b\n\x03\x63rc\x18\x08 \x01(\r\"\x8b\x01\n\x13LaikagoCommandState\x12;\n\x07\x63ommand\x18\x01 \x01(\x0b\x32*.minitaur_fluxworks.control.LaikagoCommand\x12\x37\n\x05state\x18\x02 \x01(\x0b\x32(.minitaur_fluxworks.control.LaikagoState\"\x84\x02\n\x17LaikagoHighLevelCommand\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x15\n\rcontrol_level\x18\x02 \x01(\r\x12\x14\n\x0c\x63ontrol_mode\x18\x03 \x01(\r\x12/\n\nwalk_speed\x18\x04 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x13\n\x0b\x62ody_height\x18\x05 \x01(\x02\x12\x1d\n\x15\x66oot_clearance_height\x18\x06 \x01(\x02\x12(\n\x03rpy\x18\x07 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\"\xb3\x04\n\x15LaikagoHighLevelState\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x15\n\rcontrol_level\x18\x02 \x01(\r\x12\x14\n\x0c\x63ontrol_mode\x18\x03 \x01(\r\x12,\n\x03imu\x18\x04 \x01(\x0b\x32\x1f.minitaur_fluxworks.control.Imu\x12/\n\nwalk_speed\x18\x05 \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x13\n\x0b\x62ody_height\x18\x08 \x01(\x02\x12\x15\n\rup_down_speed\x18\t \x01(\x02\x12\x31\n\x0c\x63om_position\x18\n \x01(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x39\n\x14\x66oot_position_to_com\x18\x0b \x03(\x0b\x32\x1b.robotics.messages.Vector3f\x12\x39\n\x14\x66oot_velocity_to_com\x18\x0c \x03(\x0b\x32\x1b.robotics.messages.Vector3f\x12?\n\rcontact_state\x18\r \x03(\x0b\x32(.minitaur_fluxworks.control.ContactState\x12#\n\x1bmicrocontroller_time_millis\x18\x0e \x01(\r\x12\x17\n\x0fwireless_remote\x18\x0f \x01(\x0c\x12\x0b\n\x03\x63rc\x18\x10 \x01(\r\"\x1e\n\x1cLaikagoHighLevelStateRequest\"\xa6\x01\n\x1cLaikagoHighLevelCommandState\x12\x44\n\x07\x63ommand\x18\x01 \x01(\x0b\x32\x33.minitaur_fluxworks.control.LaikagoHighLevelCommand\x12@\n\x05state\x18\x02 \x01(\x0b\x32\x31.minitaur_fluxworks.control.LaikagoHighLevelState2\xed\x01\n\x1bLaikagoControlGrpcInterface\x12\x65\n\x0bSendCommand\x12*.minitaur_fluxworks.control.LaikagoCommand\x1a(.minitaur_fluxworks.control.LaikagoState\"\x00\x12g\n\x08GetState\x12/.minitaur_fluxworks.control.LaikagoStateRequest\x1a(.minitaur_fluxworks.control.LaikagoState\"\x00\x32\x9a\x02\n$LaikagoHighLevelControlGrpcInterface\x12w\n\x0bSendCommand\x12\x33.minitaur_fluxworks.control.LaikagoHighLevelCommand\x1a\x31.minitaur_fluxworks.control.LaikagoHighLevelState\"\x00\x12y\n\x08GetState\x12\x38.minitaur_fluxworks.control.LaikagoHighLevelStateRequest\x1a\x31.minitaur_fluxworks.control.LaikagoHighLevelState\"\x00\x62\x06proto3'
+  ,
+  dependencies=[timestamp__pb2.DESCRIPTOR,vector__pb2.DESCRIPTOR,])
+
+
+
+_LAIKAGOCOMMAND_CONTROLMODE = _descriptor.EnumDescriptor(
+  name='ControlMode',
+  full_name='minitaur_fluxworks.control.LaikagoCommand.ControlMode',
+  filename=None,
+  file=DESCRIPTOR,
+  create_key=_descriptor._internal_create_key,
+  values=[
+    _descriptor.EnumValueDescriptor(
+      name='CONTROL_MODE_UNSPECIFIED', index=0, number=0,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='CONTROL_MODE_POSITION', index=1, number=1,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='CONTROL_MODE_TORQUE', index=2, number=2,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+    _descriptor.EnumValueDescriptor(
+      name='CONTROL_MODE_HYBRID', index=3, number=3,
+      serialized_options=None,
+      type=None,
+      create_key=_descriptor._internal_create_key),
+  ],
+  containing_type=None,
+  serialized_options=None,
+  serialized_start=530,
+  serialized_end=650,
+)
+_sym_db.RegisterEnumDescriptor(_LAIKAGOCOMMAND_CONTROLMODE)
+
+
+_MOTORCOMMAND = _descriptor.Descriptor(
+  name='MotorCommand',
+  full_name='minitaur_fluxworks.control.MotorCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='motor_id', full_name='minitaur_fluxworks.control.MotorCommand.motor_id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='position', full_name='minitaur_fluxworks.control.MotorCommand.position', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='position_gain', full_name='minitaur_fluxworks.control.MotorCommand.position_gain', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity', full_name='minitaur_fluxworks.control.MotorCommand.velocity', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_gain', full_name='minitaur_fluxworks.control.MotorCommand.velocity_gain', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='torque', full_name='minitaur_fluxworks.control.MotorCommand.torque', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=87,
+  serialized_end=217,
+)
+
+
+_LED = _descriptor.Descriptor(
+  name='Led',
+  full_name='minitaur_fluxworks.control.Led',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='leg_id', full_name='minitaur_fluxworks.control.Led.leg_id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='r', full_name='minitaur_fluxworks.control.Led.r', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='g', full_name='minitaur_fluxworks.control.Led.g', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='b', full_name='minitaur_fluxworks.control.Led.b', index=3,
+      number=4, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=219,
+  serialized_end=273,
+)
+
+
+_LAIKAGOCOMMAND = _descriptor.Descriptor(
+  name='LaikagoCommand',
+  full_name='minitaur_fluxworks.control.LaikagoCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='minitaur_fluxworks.control.LaikagoCommand.timestamp', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_mode', full_name='minitaur_fluxworks.control.LaikagoCommand.control_mode', index=1,
+      number=2, type=14, cpp_type=8, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='motor_command', full_name='minitaur_fluxworks.control.LaikagoCommand.motor_command', index=2,
+      number=3, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='led', full_name='minitaur_fluxworks.control.LaikagoCommand.led', index=3,
+      number=4, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+    _LAIKAGOCOMMAND_CONTROLMODE,
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=276,
+  serialized_end=650,
+)
+
+
+_LAIKAGOSTATEREQUEST = _descriptor.Descriptor(
+  name='LaikagoStateRequest',
+  full_name='minitaur_fluxworks.control.LaikagoStateRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=652,
+  serialized_end=673,
+)
+
+
+_IMU = _descriptor.Descriptor(
+  name='Imu',
+  full_name='minitaur_fluxworks.control.Imu',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='quaternion', full_name='minitaur_fluxworks.control.Imu.quaternion', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='gyroscope', full_name='minitaur_fluxworks.control.Imu.gyroscope', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='acceleration', full_name='minitaur_fluxworks.control.Imu.acceleration', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='rpy', full_name='minitaur_fluxworks.control.Imu.rpy', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='temperature', full_name='minitaur_fluxworks.control.Imu.temperature', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=676,
+  serialized_end=892,
+)
+
+
+_MOTORSTATE = _descriptor.Descriptor(
+  name='MotorState',
+  full_name='minitaur_fluxworks.control.MotorState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='motor_id', full_name='minitaur_fluxworks.control.MotorState.motor_id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='mode', full_name='minitaur_fluxworks.control.MotorState.mode', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='position', full_name='minitaur_fluxworks.control.MotorState.position', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='position_gain', full_name='minitaur_fluxworks.control.MotorState.position_gain', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity', full_name='minitaur_fluxworks.control.MotorState.velocity', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='velocity_gain', full_name='minitaur_fluxworks.control.MotorState.velocity_gain', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='torque', full_name='minitaur_fluxworks.control.MotorState.torque', index=6,
+      number=7, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='temperature', full_name='minitaur_fluxworks.control.MotorState.temperature', index=7,
+      number=8, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=895,
+  serialized_end=1058,
+)
+
+
+_CONTACTSTATE = _descriptor.Descriptor(
+  name='ContactState',
+  full_name='minitaur_fluxworks.control.ContactState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='leg_id', full_name='minitaur_fluxworks.control.ContactState.leg_id', index=0,
+      number=1, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='force', full_name='minitaur_fluxworks.control.ContactState.force', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='axis', full_name='minitaur_fluxworks.control.ContactState.axis', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1060,
+  serialized_end=1148,
+)
+
+
+_LAIKAGOSTATE = _descriptor.Descriptor(
+  name='LaikagoState',
+  full_name='minitaur_fluxworks.control.LaikagoState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='minitaur_fluxworks.control.LaikagoState.timestamp', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_level', full_name='minitaur_fluxworks.control.LaikagoState.control_level', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='imu', full_name='minitaur_fluxworks.control.LaikagoState.imu', index=2,
+      number=3, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='motor_state', full_name='minitaur_fluxworks.control.LaikagoState.motor_state', index=3,
+      number=4, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='contact_state', full_name='minitaur_fluxworks.control.LaikagoState.contact_state', index=4,
+      number=5, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='microcontroller_time_millis', full_name='minitaur_fluxworks.control.LaikagoState.microcontroller_time_millis', index=5,
+      number=6, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='wireless_remote', full_name='minitaur_fluxworks.control.LaikagoState.wireless_remote', index=6,
+      number=7, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"",
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='crc', full_name='minitaur_fluxworks.control.LaikagoState.crc', index=7,
+      number=8, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1151,
+  serialized_end=1482,
+)
+
+
+_LAIKAGOCOMMANDSTATE = _descriptor.Descriptor(
+  name='LaikagoCommandState',
+  full_name='minitaur_fluxworks.control.LaikagoCommandState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='command', full_name='minitaur_fluxworks.control.LaikagoCommandState.command', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='state', full_name='minitaur_fluxworks.control.LaikagoCommandState.state', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1485,
+  serialized_end=1624,
+)
+
+
+_LAIKAGOHIGHLEVELCOMMAND = _descriptor.Descriptor(
+  name='LaikagoHighLevelCommand',
+  full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.timestamp', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_level', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.control_level', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_mode', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.control_mode', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='walk_speed', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.walk_speed', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='body_height', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.body_height', index=4,
+      number=5, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='foot_clearance_height', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.foot_clearance_height', index=5,
+      number=6, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='rpy', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommand.rpy', index=6,
+      number=7, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1627,
+  serialized_end=1887,
+)
+
+
+_LAIKAGOHIGHLEVELSTATE = _descriptor.Descriptor(
+  name='LaikagoHighLevelState',
+  full_name='minitaur_fluxworks.control.LaikagoHighLevelState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='timestamp', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.timestamp', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_level', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.control_level', index=1,
+      number=2, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='control_mode', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.control_mode', index=2,
+      number=3, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='imu', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.imu', index=3,
+      number=4, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='walk_speed', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.walk_speed', index=4,
+      number=5, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='body_height', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.body_height', index=5,
+      number=8, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='up_down_speed', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.up_down_speed', index=6,
+      number=9, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='com_position', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.com_position', index=7,
+      number=10, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='foot_position_to_com', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.foot_position_to_com', index=8,
+      number=11, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='foot_velocity_to_com', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.foot_velocity_to_com', index=9,
+      number=12, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='contact_state', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.contact_state', index=10,
+      number=13, type=11, cpp_type=10, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='microcontroller_time_millis', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.microcontroller_time_millis', index=11,
+      number=14, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='wireless_remote', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.wireless_remote', index=12,
+      number=15, type=12, cpp_type=9, label=1,
+      has_default_value=False, default_value=b"",
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='crc', full_name='minitaur_fluxworks.control.LaikagoHighLevelState.crc', index=13,
+      number=16, type=13, cpp_type=3, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=1890,
+  serialized_end=2453,
+)
+
+
+_LAIKAGOHIGHLEVELSTATEREQUEST = _descriptor.Descriptor(
+  name='LaikagoHighLevelStateRequest',
+  full_name='minitaur_fluxworks.control.LaikagoHighLevelStateRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=2455,
+  serialized_end=2485,
+)
+
+
+_LAIKAGOHIGHLEVELCOMMANDSTATE = _descriptor.Descriptor(
+  name='LaikagoHighLevelCommandState',
+  full_name='minitaur_fluxworks.control.LaikagoHighLevelCommandState',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='command', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommandState.command', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='state', full_name='minitaur_fluxworks.control.LaikagoHighLevelCommandState.state', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=2488,
+  serialized_end=2654,
+)
+
+_LAIKAGOCOMMAND.fields_by_name['timestamp'].message_type = timestamp__pb2._TIMESTAMP
+_LAIKAGOCOMMAND.fields_by_name['control_mode'].enum_type = _LAIKAGOCOMMAND_CONTROLMODE
+_LAIKAGOCOMMAND.fields_by_name['motor_command'].message_type = _MOTORCOMMAND
+_LAIKAGOCOMMAND.fields_by_name['led'].message_type = _LED
+_LAIKAGOCOMMAND_CONTROLMODE.containing_type = _LAIKAGOCOMMAND
+_IMU.fields_by_name['quaternion'].message_type = vector__pb2._VECTOR4F
+_IMU.fields_by_name['gyroscope'].message_type = vector__pb2._VECTOR3F
+_IMU.fields_by_name['acceleration'].message_type = vector__pb2._VECTOR3F
+_IMU.fields_by_name['rpy'].message_type = vector__pb2._VECTOR3F
+_CONTACTSTATE.fields_by_name['axis'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOSTATE.fields_by_name['timestamp'].message_type = timestamp__pb2._TIMESTAMP
+_LAIKAGOSTATE.fields_by_name['imu'].message_type = _IMU
+_LAIKAGOSTATE.fields_by_name['motor_state'].message_type = _MOTORSTATE
+_LAIKAGOSTATE.fields_by_name['contact_state'].message_type = _CONTACTSTATE
+_LAIKAGOCOMMANDSTATE.fields_by_name['command'].message_type = _LAIKAGOCOMMAND
+_LAIKAGOCOMMANDSTATE.fields_by_name['state'].message_type = _LAIKAGOSTATE
+_LAIKAGOHIGHLEVELCOMMAND.fields_by_name['timestamp'].message_type = timestamp__pb2._TIMESTAMP
+_LAIKAGOHIGHLEVELCOMMAND.fields_by_name['walk_speed'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELCOMMAND.fields_by_name['rpy'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['timestamp'].message_type = timestamp__pb2._TIMESTAMP
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['imu'].message_type = _IMU
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['walk_speed'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['com_position'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['foot_position_to_com'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['foot_velocity_to_com'].message_type = vector__pb2._VECTOR3F
+_LAIKAGOHIGHLEVELSTATE.fields_by_name['contact_state'].message_type = _CONTACTSTATE
+_LAIKAGOHIGHLEVELCOMMANDSTATE.fields_by_name['command'].message_type = _LAIKAGOHIGHLEVELCOMMAND
+_LAIKAGOHIGHLEVELCOMMANDSTATE.fields_by_name['state'].message_type = _LAIKAGOHIGHLEVELSTATE
+DESCRIPTOR.message_types_by_name['MotorCommand'] = _MOTORCOMMAND
+DESCRIPTOR.message_types_by_name['Led'] = _LED
+DESCRIPTOR.message_types_by_name['LaikagoCommand'] = _LAIKAGOCOMMAND
+DESCRIPTOR.message_types_by_name['LaikagoStateRequest'] = _LAIKAGOSTATEREQUEST
+DESCRIPTOR.message_types_by_name['Imu'] = _IMU
+DESCRIPTOR.message_types_by_name['MotorState'] = _MOTORSTATE
+DESCRIPTOR.message_types_by_name['ContactState'] = _CONTACTSTATE
+DESCRIPTOR.message_types_by_name['LaikagoState'] = _LAIKAGOSTATE
+DESCRIPTOR.message_types_by_name['LaikagoCommandState'] = _LAIKAGOCOMMANDSTATE
+DESCRIPTOR.message_types_by_name['LaikagoHighLevelCommand'] = _LAIKAGOHIGHLEVELCOMMAND
+DESCRIPTOR.message_types_by_name['LaikagoHighLevelState'] = _LAIKAGOHIGHLEVELSTATE
+DESCRIPTOR.message_types_by_name['LaikagoHighLevelStateRequest'] = _LAIKAGOHIGHLEVELSTATEREQUEST
+DESCRIPTOR.message_types_by_name['LaikagoHighLevelCommandState'] = _LAIKAGOHIGHLEVELCOMMANDSTATE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+MotorCommand = _reflection.GeneratedProtocolMessageType('MotorCommand', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORCOMMAND,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.MotorCommand)
+  })
+_sym_db.RegisterMessage(MotorCommand)
+
+Led = _reflection.GeneratedProtocolMessageType('Led', (_message.Message,), {
+  'DESCRIPTOR' : _LED,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.Led)
+  })
+_sym_db.RegisterMessage(Led)
+
+LaikagoCommand = _reflection.GeneratedProtocolMessageType('LaikagoCommand', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOCOMMAND,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoCommand)
+  })
+_sym_db.RegisterMessage(LaikagoCommand)
+
+LaikagoStateRequest = _reflection.GeneratedProtocolMessageType('LaikagoStateRequest', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOSTATEREQUEST,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoStateRequest)
+  })
+_sym_db.RegisterMessage(LaikagoStateRequest)
+
+Imu = _reflection.GeneratedProtocolMessageType('Imu', (_message.Message,), {
+  'DESCRIPTOR' : _IMU,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.Imu)
+  })
+_sym_db.RegisterMessage(Imu)
+
+MotorState = _reflection.GeneratedProtocolMessageType('MotorState', (_message.Message,), {
+  'DESCRIPTOR' : _MOTORSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.MotorState)
+  })
+_sym_db.RegisterMessage(MotorState)
+
+ContactState = _reflection.GeneratedProtocolMessageType('ContactState', (_message.Message,), {
+  'DESCRIPTOR' : _CONTACTSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.ContactState)
+  })
+_sym_db.RegisterMessage(ContactState)
+
+LaikagoState = _reflection.GeneratedProtocolMessageType('LaikagoState', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoState)
+  })
+_sym_db.RegisterMessage(LaikagoState)
+
+LaikagoCommandState = _reflection.GeneratedProtocolMessageType('LaikagoCommandState', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOCOMMANDSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoCommandState)
+  })
+_sym_db.RegisterMessage(LaikagoCommandState)
+
+LaikagoHighLevelCommand = _reflection.GeneratedProtocolMessageType('LaikagoHighLevelCommand', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOHIGHLEVELCOMMAND,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoHighLevelCommand)
+  })
+_sym_db.RegisterMessage(LaikagoHighLevelCommand)
+
+LaikagoHighLevelState = _reflection.GeneratedProtocolMessageType('LaikagoHighLevelState', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOHIGHLEVELSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoHighLevelState)
+  })
+_sym_db.RegisterMessage(LaikagoHighLevelState)
+
+LaikagoHighLevelStateRequest = _reflection.GeneratedProtocolMessageType('LaikagoHighLevelStateRequest', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOHIGHLEVELSTATEREQUEST,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoHighLevelStateRequest)
+  })
+_sym_db.RegisterMessage(LaikagoHighLevelStateRequest)
+
+LaikagoHighLevelCommandState = _reflection.GeneratedProtocolMessageType('LaikagoHighLevelCommandState', (_message.Message,), {
+  'DESCRIPTOR' : _LAIKAGOHIGHLEVELCOMMANDSTATE,
+  '__module__' : 'laikago_interface_pb2'
+  # @@protoc_insertion_point(class_scope:minitaur_fluxworks.control.LaikagoHighLevelCommandState)
+  })
+_sym_db.RegisterMessage(LaikagoHighLevelCommandState)
+
+
+
+_LAIKAGOCONTROLGRPCINTERFACE = _descriptor.ServiceDescriptor(
+  name='LaikagoControlGrpcInterface',
+  full_name='minitaur_fluxworks.control.LaikagoControlGrpcInterface',
+  file=DESCRIPTOR,
+  index=0,
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_start=2657,
+  serialized_end=2894,
+  methods=[
+  _descriptor.MethodDescriptor(
+    name='SendCommand',
+    full_name='minitaur_fluxworks.control.LaikagoControlGrpcInterface.SendCommand',
+    index=0,
+    containing_service=None,
+    input_type=_LAIKAGOCOMMAND,
+    output_type=_LAIKAGOSTATE,
+    serialized_options=None,
+    create_key=_descriptor._internal_create_key,
+  ),
+  _descriptor.MethodDescriptor(
+    name='GetState',
+    full_name='minitaur_fluxworks.control.LaikagoControlGrpcInterface.GetState',
+    index=1,
+    containing_service=None,
+    input_type=_LAIKAGOSTATEREQUEST,
+    output_type=_LAIKAGOSTATE,
+    serialized_options=None,
+    create_key=_descriptor._internal_create_key,
+  ),
+])
+_sym_db.RegisterServiceDescriptor(_LAIKAGOCONTROLGRPCINTERFACE)
+
+DESCRIPTOR.services_by_name['LaikagoControlGrpcInterface'] = _LAIKAGOCONTROLGRPCINTERFACE
+
+
+_LAIKAGOHIGHLEVELCONTROLGRPCINTERFACE = _descriptor.ServiceDescriptor(
+  name='LaikagoHighLevelControlGrpcInterface',
+  full_name='minitaur_fluxworks.control.LaikagoHighLevelControlGrpcInterface',
+  file=DESCRIPTOR,
+  index=1,
+  serialized_options=None,
+  create_key=_descriptor._internal_create_key,
+  serialized_start=2897,
+  serialized_end=3179,
+  methods=[
+  _descriptor.MethodDescriptor(
+    name='SendCommand',
+    full_name='minitaur_fluxworks.control.LaikagoHighLevelControlGrpcInterface.SendCommand',
+    index=0,
+    containing_service=None,
+    input_type=_LAIKAGOHIGHLEVELCOMMAND,
+    output_type=_LAIKAGOHIGHLEVELSTATE,
+    serialized_options=None,
+    create_key=_descriptor._internal_create_key,
+  ),
+  _descriptor.MethodDescriptor(
+    name='GetState',
+    full_name='minitaur_fluxworks.control.LaikagoHighLevelControlGrpcInterface.GetState',
+    index=1,
+    containing_service=None,
+    input_type=_LAIKAGOHIGHLEVELSTATEREQUEST,
+    output_type=_LAIKAGOHIGHLEVELSTATE,
+    serialized_options=None,
+    create_key=_descriptor._internal_create_key,
+  ),
+])
+_sym_db.RegisterServiceDescriptor(_LAIKAGOHIGHLEVELCONTROLGRPCINTERFACE)
+
+DESCRIPTOR.services_by_name['LaikagoHighLevelControlGrpcInterface'] = _LAIKAGOHIGHLEVELCONTROLGRPCINTERFACE
+
+# @@protoc_insertion_point(module_scope)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py
new file mode 100644
index 0000000000..eae1662da1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_kinematic_constants.py
@@ -0,0 +1,106 @@
+# Lint as: python3
+"""Defines the LaikagoKinematic robot related constants and URDF specs."""
+
+import collections
+import gin
+
+LAIKAGO_KINEMATIC_URDF_PATH = "robotics/reinforcement_learning/minitaur/robots/data/urdf/laikago/laikago_toes_zup_kinematic.urdf"
+INIT_POSITION = (0, 0, 0.5)
+INIT_ORIENTATION_QUAT = (0, 0, 0, 1)
+INIT_ORIENTATION_RPY = (0, 0, 0)
+
+NUM_LEGS = 4
+# TODO(b/153405332): Use link name instead of joint name to identify the
+# base link.
+BASE_NAMES = ("kinematic_drive_joint_th",)
+
+JOINT_NAMES = (
+    "kinematic_drive_joint_x",
+    "kinematic_drive_joint_y",
+    "kinematic_drive_joint_th",
+    # front right leg
+    "FR_hip_motor_2_chassis_joint",
+    "FR_upper_leg_2_hip_motor_joint",
+    "FR_lower_leg_2_upper_leg_joint",
+    # front left leg
+    "FL_hip_motor_2_chassis_joint",
+    "FL_upper_leg_2_hip_motor_joint",
+    "FL_lower_leg_2_upper_leg_joint",
+    # rear right leg
+    "RR_hip_motor_2_chassis_joint",
+    "RR_upper_leg_2_hip_motor_joint",
+    "RR_lower_leg_2_upper_leg_joint",
+    # rear left leg
+    "RL_hip_motor_2_chassis_joint",
+    "RL_upper_leg_2_hip_motor_joint",
+    "RL_lower_leg_2_upper_leg_joint",
+)
+
+# A default joint pose where the arm is tucked near the base, and head looking
+# forward.
+INIT_ABDUCTION_ANGLE = 0
+INIT_HIP_ANGLE = 0.67
+INIT_KNEE_ANGLE = -1.25
+
+# Note this matches the Laikago SDK/control convention, but is different from
+# URDF's internal joint angles which needs to be computed using the joint
+# offsets and directions. The conversion formula is (sdk_joint_angle + offset) *
+# joint direction.
+INIT_JOINT_ANGLES = collections.OrderedDict(
+    zip(JOINT_NAMES, (0, 0, 0) +
+        (INIT_ABDUCTION_ANGLE, INIT_HIP_ANGLE, INIT_KNEE_ANGLE) * NUM_LEGS))
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_DIRECTIONS = collections.OrderedDict(
+    zip(JOINT_NAMES, (1, 1, 1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1)))
+
+HIP_JOINT_OFFSET = 0.0
+UPPER_LEG_JOINT_OFFSET = -0.6
+KNEE_JOINT_OFFSET = 0.66
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_OFFSETS = collections.OrderedDict(
+    zip(JOINT_NAMES, [0, 0, 0] +
+        [HIP_JOINT_OFFSET, UPPER_LEG_JOINT_OFFSET, KNEE_JOINT_OFFSET] *
+        NUM_LEGS))
+
+LEG_NAMES = (
+    "front_right",
+    "front_left",
+    "rear_right",
+    "rear_left",
+)
+
+LEG_ORDER = (
+    "front_right",
+    "front_left",
+    "back_right",
+    "back_left",
+)
+
+END_EFFECTOR_NAMES = (
+    "jtoeFR",
+    "jtoeFL",
+    "jtoeRR",
+    "jtoeRL",
+)
+
+MOTOR_NAMES = JOINT_NAMES
+MOTOR_GROUP = collections.OrderedDict((("body_motors", JOINT_NAMES[3:]),))
+
+# Add the gin constants to be used for gin binding in config.
+gin.constant("laikago_kinematic_constants.LAIKAGO_KINEMATIC_URDF_PATH",
+             LAIKAGO_KINEMATIC_URDF_PATH)
+gin.constant("laikago_kinematic_constants.INIT_POSITION", INIT_POSITION)
+gin.constant("laikago_kinematic_constants.INIT_ORIENTATION_QUAT",
+             INIT_ORIENTATION_QUAT)
+gin.constant("laikago_kinematic_constants.INIT_ORIENTATION_RPY",
+             INIT_ORIENTATION_RPY)
+gin.constant("laikago_kinematic_constants.BASE_NAMES", BASE_NAMES)
+gin.constant("laikago_kinematic_constants.INIT_JOINT_ANGLES", INIT_JOINT_ANGLES)
+gin.constant("laikago_kinematic_constants.JOINT_DIRECTIONS", JOINT_DIRECTIONS)
+gin.constant("laikago_kinematic_constants.JOINT_OFFSETS", JOINT_OFFSETS)
+gin.constant("laikago_kinematic_constants.MOTOR_NAMES", MOTOR_NAMES)
+gin.constant("laikago_kinematic_constants.END_EFFECTOR_NAMES",
+             END_EFFECTOR_NAMES)
+gin.constant("laikago_kinematic_constants.MOTOR_GROUP", MOTOR_GROUP)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py
new file mode 100644
index 0000000000..a57c0a9648
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_motor.py
@@ -0,0 +1,149 @@
+"""Motor model for laikago."""
+
+import collections
+import numpy as np
+
+from pybullet_envs.minitaur.robots import robot_config
+
+NUM_MOTORS = 12
+
+MOTOR_COMMAND_DIMENSION = 5
+
+# These values represent the indices of each field in the motor command tuple
+POSITION_INDEX = 0
+POSITION_GAIN_INDEX = 1
+VELOCITY_INDEX = 2
+VELOCITY_GAIN_INDEX = 3
+TORQUE_INDEX = 4
+
+
+class LaikagoMotorModel(object):
+  """A simple motor model for Laikago.
+
+    When in POSITION mode, the torque is calculated according to the difference
+    between current and desired joint angle, as well as the joint velocity.
+    For more information about PD control, please refer to:
+    https://en.wikipedia.org/wiki/PID_controller.
+
+    The model supports a HYBRID mode in which each motor command can be a tuple
+    (desired_motor_angle, position_gain, desired_motor_velocity, velocity_gain,
+    torque).
+
+  """
+
+  def __init__(self,
+               kp=60,
+               kd=1,
+               torque_limits=None,
+               motor_control_mode=robot_config.MotorControlMode.POSITION):
+    self._kp = kp
+    self._kd = kd
+    self._torque_limits = torque_limits
+    if torque_limits is not None:
+      if isinstance(torque_limits, (collections.Sequence, np.ndarray)):
+        self._torque_limits = np.asarray(torque_limits)
+      else:
+        self._torque_limits = np.full(NUM_MOTORS, torque_limits)
+    self._motor_control_mode = motor_control_mode
+    self._strength_ratios = np.full(NUM_MOTORS, 1)
+
+  def set_strength_ratios(self, ratios):
+    """Set the strength of each motors relative to the default value.
+
+    Args:
+      ratios: The relative strength of motor output. A numpy array ranging from
+        0.0 to 1.0.
+    """
+    self._strength_ratios = ratios
+
+  def set_motor_gains(self, kp, kd):
+    """Set the gains of all motors.
+
+    These gains are PD gains for motor positional control. kp is the
+    proportional gain and kd is the derivative gain.
+
+    Args:
+      kp: proportional gain of the motors.
+      kd: derivative gain of the motors.
+    """
+    self._kp = kp
+    self._kd = kd
+
+  def set_voltage(self, voltage):
+    pass
+
+  def get_voltage(self):
+    return 0.0
+
+  def set_viscous_damping(self, viscous_damping):
+    pass
+
+  def get_viscous_dampling(self):
+    return 0.0
+
+  def convert_to_torque(self,
+                        motor_commands,
+                        motor_angle,
+                        motor_velocity,
+                        true_motor_velocity,
+                        motor_control_mode=None):
+    """Convert the commands (position control or torque control) to torque.
+
+    Args:
+      motor_commands: The desired motor angle if the motor is in position
+        control mode. The pwm signal if the motor is in torque control mode.
+      motor_angle: The motor angle observed at the current time step. It is
+        actually the true motor angle observed a few milliseconds ago (pd
+        latency).
+      motor_velocity: The motor velocity observed at the current time step, it
+        is actually the true motor velocity a few milliseconds ago (pd latency).
+      true_motor_velocity: The true motor velocity. The true velocity is used to
+        compute back EMF voltage and viscous damping.
+      motor_control_mode: A MotorControlMode enum.
+
+    Returns:
+      actual_torque: The torque that needs to be applied to the motor.
+      observed_torque: The torque observed by the sensor.
+    """
+    del true_motor_velocity
+    if not motor_control_mode:
+      motor_control_mode = self._motor_control_mode
+
+    # No processing for motor torques
+    if motor_control_mode is robot_config.MotorControlMode.TORQUE:
+      assert len(motor_commands) == NUM_MOTORS
+      motor_torques = self._strength_ratios * motor_commands
+      return motor_torques, motor_torques
+
+    desired_motor_angles = None
+    desired_motor_velocities = None
+    kp = None
+    kd = None
+    additional_torques = np.full(NUM_MOTORS, 0)
+    if motor_control_mode is robot_config.MotorControlMode.POSITION:
+      assert len(motor_commands) == NUM_MOTORS
+      kp = self._kp
+      kd = self._kd
+      desired_motor_angles = motor_commands
+      desired_motor_velocities = np.full(NUM_MOTORS, 0)
+    elif motor_control_mode is robot_config.MotorControlMode.HYBRID:
+      # The input should be a 60 dimension vector
+      assert len(motor_commands) == MOTOR_COMMAND_DIMENSION * NUM_MOTORS
+      kp = motor_commands[POSITION_GAIN_INDEX::MOTOR_COMMAND_DIMENSION]
+      kd = motor_commands[VELOCITY_GAIN_INDEX::MOTOR_COMMAND_DIMENSION]
+      desired_motor_angles = motor_commands[
+          POSITION_INDEX::MOTOR_COMMAND_DIMENSION]
+      desired_motor_velocities = motor_commands[
+          VELOCITY_INDEX::MOTOR_COMMAND_DIMENSION]
+      additional_torques = motor_commands[TORQUE_INDEX::MOTOR_COMMAND_DIMENSION]
+    motor_torques = -1 * (kp * (motor_angle - desired_motor_angles)) - kd * (
+        motor_velocity - desired_motor_velocities) + additional_torques
+    motor_torques = self._strength_ratios * motor_torques
+    if self._torque_limits is not None:
+      if len(self._torque_limits) != len(motor_torques):
+        raise ValueError(
+            "Torque limits dimension does not match the number of motors.")
+      motor_torques = np.clip(motor_torques, -1.0 * self._torque_limits,
+                              self._torque_limits)
+
+    return motor_torques, motor_torques
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py
new file mode 100644
index 0000000000..dcabd05df3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/laikago_v2.py
@@ -0,0 +1,34 @@
+# Lint as: python3
+"""Add the new laikago robot."""
+import gin
+
+from pybullet_envs.minitaur.robots import laikago_constants
+from pybullet_envs.minitaur.robots import quadruped_base
+from pybullet_envs.minitaur.robots import robot_urdf_loader
+
+
+@gin.configurable
+class Laikago(quadruped_base.QuadrupedBase):
+  """The Laikago class that simulates the quadruped from Unitree."""
+
+  def _pre_load(self):
+    """Import the Laikago specific constants.
+    """
+    self._urdf_loader = robot_urdf_loader.RobotUrdfLoader(
+        pybullet_client=self._pybullet_client,
+        urdf_path=laikago_constants.URDF_PATH,
+        enable_self_collision=True,
+        init_base_position=laikago_constants.INIT_POSITION,
+        init_base_orientation_quaternion=laikago_constants.INIT_ORIENTATION,
+        init_joint_angles=laikago_constants.INIT_JOINT_ANGLES,
+        joint_offsets=laikago_constants.JOINT_OFFSETS,
+        joint_directions=laikago_constants.JOINT_DIRECTIONS,
+        motor_names=laikago_constants.MOTOR_NAMES,
+        end_effector_names=laikago_constants.END_EFFECTOR_NAMES,
+        user_group=laikago_constants.MOTOR_GROUP,
+    )
+
+  @classmethod
+  def get_constants(cls):
+    del cls
+    return laikago_constants
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py
new file mode 100644
index 0000000000..bc8fb10890
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah.py
@@ -0,0 +1,133 @@
+"""Pybullet simulation of a vision60 robot."""
+import math
+import os
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.robots import laikago_motor
+from pybullet_envs.minitaur.robots import minitaur
+from pybullet_envs.minitaur.robots import robot_config
+
+NUM_MOTORS = 12
+NUM_LEGS = 4
+MOTOR_NAMES = [
+    "torso_to_abduct_fl_j",  # Left front abduction (hip0).
+    "abduct_fl_to_thigh_fl_j",  # Left front hip (upper0).
+    "thigh_fl_to_knee_fl_j",  # Left front knee (lower0).
+    "torso_to_abduct_hl_j",  # Left rear abduction (hip1).
+    "abduct_hl_to_thigh_hl_j",  # Left rear hip (upper1).
+    "thigh_hl_to_knee_hl_j",  # Left rear knee (lower1).
+    "torso_to_abduct_fr_j",  # Right front abduction (hip2).
+    "abduct_fr_to_thigh_fr_j",  # Right front hip (upper2).
+    "thigh_fr_to_knee_fr_j",  # Right front knee (lower2).
+    "torso_to_abduct_hr_j",  # Right rear abduction (hip3).
+    "abduct_hr_to_thigh_hr_j",  # Right rear hip (upper3).
+    "thigh_hr_to_knee_hr_j",  # Right rear knee (lower3).
+]
+_DEFAULT_TORQUE_LIMITS = [12, 18, 12] * 4
+INIT_RACK_POSITION = [0, 0, 1.4]
+INIT_POSITION = [0, 0, 0.4]
+JOINT_DIRECTIONS = np.array([1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1])
+HIP_JOINT_OFFSET = 0.0
+UPPER_LEG_JOINT_OFFSET = 0.0
+KNEE_JOINT_OFFSET = 0.0
+DOFS_PER_LEG = 3
+JOINT_OFFSETS = np.array(
+    [HIP_JOINT_OFFSET, UPPER_LEG_JOINT_OFFSET, KNEE_JOINT_OFFSET] * 4)
+PI = math.pi
+DEFAULT_ABDUCTION_ANGLE = 0.0
+DEFAULT_HIP_ANGLE = -1.1
+DEFAULT_KNEE_ANGLE = 2.3
+# Bases on the readings from 's default pose.
+INIT_MOTOR_ANGLES = [
+    DEFAULT_ABDUCTION_ANGLE, DEFAULT_HIP_ANGLE, DEFAULT_KNEE_ANGLE
+] * NUM_LEGS
+DEFAULT_LOCAL_TOE_POSITIONS = [[0.17, -0.11, -0.16], [0.17, 0.11, -0.16],
+                               [-0.20, -0.11, -0.16], [-0.20, 0.11, -0.16]]
+
+
+@gin.configurable
+class MiniCheetah(minitaur.Minitaur):
+  """A simulation for the mini cheetah robot."""
+
+  def __init__(self, **kwargs):
+    if "motor_kp" not in kwargs:
+      kwargs["motor_kp"] = 100.0
+    if "motor_kd" not in kwargs:
+      kwargs["motor_kd"] = 2.0
+    if "motor_torque_limits" not in kwargs:
+      kwargs["motor_torque_limits"] = _DEFAULT_TORQUE_LIMITS
+
+    # The follwing parameters are fixed for the vision60 robot.
+    kwargs["num_motors"] = NUM_MOTORS
+    kwargs["dofs_per_leg"] = DOFS_PER_LEG
+    kwargs["motor_direction"] = JOINT_DIRECTIONS
+    kwargs["motor_offset"] = JOINT_OFFSETS
+    kwargs["motor_overheat_protection"] = False
+    kwargs["motor_model_class"] = laikago_motor.LaikagoMotorModel
+    super(MiniCheetah, self).__init__(**kwargs)
+
+  def _LoadRobotURDF(self):
+    mini_cheetah_urdf_path = "mini_cheetah/mini_cheetah.urdf"
+    if self._self_collision_enabled:
+      self.quadruped = self._pybullet_client.loadURDF(
+          mini_cheetah_urdf_path,
+          self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation(),
+          flags=self._pybullet_client.URDF_USE_SELF_COLLISION)
+    else:
+      self.quadruped = self._pybullet_client.loadURDF(
+          mini_cheetah_urdf_path, self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation())
+
+  def _SettleDownForReset(self, default_motor_angles, reset_time):
+    self.ReceiveObservation()
+    for _ in range(500):
+      self.ApplyAction(
+          INIT_MOTOR_ANGLES,
+          motor_control_mode=robot_config.MotorControlMode.POSITION)
+      self._pybullet_client.stepSimulation()
+      self.ReceiveObservation()
+    if default_motor_angles is not None:
+      num_steps_to_reset = int(reset_time / self.time_step)
+      for _ in range(num_steps_to_reset):
+        self.ApplyAction(
+            default_motor_angles,
+            motor_control_mode=robot_config.MotorControlMode.POSITION)
+        self._pybullet_client.stepSimulation()
+        self.ReceiveObservation()
+
+  def GetURDFFile(self):
+    return os.path.join(self._urdf_root, "mini_cheetah/mini_cheetah.urdf")
+
+  def ResetPose(self, add_constraint):
+    del add_constraint
+    for name in self._joint_name_to_id:
+      joint_id = self._joint_name_to_id[name]
+      self._pybullet_client.setJointMotorControl2(
+          bodyIndex=self.quadruped,
+          jointIndex=(joint_id),
+          controlMode=self._pybullet_client.VELOCITY_CONTROL,
+          targetVelocity=0,
+          force=0)
+    for name, i in zip(MOTOR_NAMES, range(len(MOTOR_NAMES))):
+      angle = INIT_MOTOR_ANGLES[i]
+      self._pybullet_client.resetJointState(
+          self.quadruped, self._joint_name_to_id[name], angle, targetVelocity=0)
+
+  def _BuildUrdfIds(self):
+    pass
+
+  def _GetMotorNames(self):
+    return MOTOR_NAMES
+
+  def _GetDefaultInitPosition(self):
+    if self._on_rack:
+      return INIT_RACK_POSITION
+    else:
+      return INIT_POSITION
+
+  def _GetDefaultInitOrientation(self):
+    init_orientation = [0, 0, 0, 1.0]
+    return init_orientation
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py
new file mode 100644
index 0000000000..94acf54c0a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/mini_cheetah_test.py
@@ -0,0 +1,58 @@
+"""Tests for pybullet_envs.minitaur.robots.mini_cheetah.
+
+blaze test -c opt
+//robotics/reinforcement_learning/minitaur/robots:mini_cheetah_test
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import math
+import numpy as np
+from pybullet_envs.minitaur.envs import bullet_client
+from pybullet_envs.minitaur.robots import mini_cheetah
+from google3.testing.pybase import googletest
+
+PI = math.pi
+NUM_STEPS = 500
+TIME_STEP = 0.002
+INIT_MOTOR_ANGLES = [0, -0.6, 1.4] * 4
+
+
+class MiniCheetahTest(googletest.TestCase):
+
+  def test_init(self):
+    pybullet_client = bullet_client.BulletClient()
+    pybullet_client.enable_cns()
+    robot = mini_cheetah.MiniCheetah(
+        pybullet_client=pybullet_client, time_step=TIME_STEP, on_rack=True)
+    self.assertIsNotNone(robot)
+
+  def test_static_pose_on_rack(self):
+    pybullet_client = bullet_client.BulletClient()
+    pybullet_client.enable_cns()
+    pybullet_client.resetSimulation()
+    pybullet_client.setPhysicsEngineParameter(numSolverIterations=60)
+    pybullet_client.setTimeStep(TIME_STEP)
+    pybullet_client.setGravity(0, 0, -10)
+
+    robot = (
+        mini_cheetah.MiniCheetah(
+            pybullet_client=pybullet_client,
+            action_repeat=5,
+            time_step=0.002,
+            on_rack=True))
+    robot.Reset(
+        reload_urdf=False,
+        default_motor_angles=INIT_MOTOR_ANGLES,
+        reset_time=0.5)
+    for _ in range(NUM_STEPS):
+      robot.Step(INIT_MOTOR_ANGLES)
+      motor_angles = robot.GetMotorAngles()
+      np.testing.assert_array_almost_equal(
+          motor_angles, INIT_MOTOR_ANGLES, decimal=2)
+
+
+if __name__ == '__main__':
+  googletest.main()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py
new file mode 100644
index 0000000000..9494c9ef0d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur.py
@@ -0,0 +1,1479 @@
+"""This file implements the functionalities of a minitaur using pybullet."""
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import collections
+import copy
+import logging
+import math
+import re
+import numpy as np
+import gin
+from pybullet_envs.minitaur.robots import minitaur_constants
+from pybullet_envs.minitaur.robots import minitaur_motor
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots.safety import safety_checker
+from pybullet_envs.minitaur.robots.safety import safety_error
+from pybullet_envs.minitaur.robots.utilities import action_filter
+from pybullet_envs.minitaur.robots.utilities import kinematics
+
+INIT_POSITION = [0, 0, .2]
+INIT_RACK_POSITION = [0, 0, 1]
+INIT_ORIENTATION = [0, 0, 0, 1]
+KNEE_CONSTRAINT_POINT_RIGHT = [0, 0.005, 0.2]
+KNEE_CONSTRAINT_POINT_LEFT = [0, 0.01, 0.2]
+OVERHEAT_SHUTDOWN_TORQUE = 2.45
+OVERHEAT_SHUTDOWN_TIME = 1.0
+LEG_POSITION = ["front_left", "back_left", "front_right", "back_right"]
+MOTOR_NAMES = [
+    "motor_front_leftL_joint", "motor_front_leftR_joint",
+    "motor_back_leftL_joint", "motor_back_leftR_joint",
+    "motor_front_rightL_joint", "motor_front_rightR_joint",
+    "motor_back_rightL_joint", "motor_back_rightR_joint"
+]
+_CHASSIS_NAME_PATTERN = re.compile(r"chassis\D*center")
+_MOTOR_NAME_PATTERN = re.compile(r"motor\D*joint")
+_KNEE_NAME_PATTERN = re.compile(r"knee\D*")
+_BRACKET_NAME_PATTERN = re.compile(r"motor\D*_bracket_joint")
+_LEG_NAME_PATTERN1 = re.compile(r"hip\D*joint")
+_LEG_NAME_PATTERN2 = re.compile(r"hip\D*link")
+_LEG_NAME_PATTERN3 = re.compile(r"motor\D*link")
+SENSOR_NOISE_STDDEV = (0.0, 0.0, 0.0, 0.0, 0.0)
+MINITAUR_DEFAULT_MOTOR_DIRECTIONS = (-1, -1, -1, -1, 1, 1, 1, 1)
+MINITAUR_DEFAULT_MOTOR_OFFSETS = (0, 0, 0, 0, 0, 0, 0, 0)
+MINITAUR_NUM_MOTORS = 8
+TWO_PI = 2 * math.pi
+MINITAUR_DOFS_PER_LEG = 2
+
+URDF_ROOT = "robotics/reinforcement_learning/minitaur/robots/data/urdf/"
+
+
+def MapToMinusPiToPi(angles):
+  """Maps a list of angles to [-pi, pi].
+
+  Args:
+    angles: A list of angles in rad.
+
+  Returns:
+    A list of angle mapped to [-pi, pi].
+  """
+  mapped_angles = copy.deepcopy(angles)
+  for i in range(len(angles)):
+    mapped_angles[i] = math.fmod(angles[i], TWO_PI)
+    if mapped_angles[i] >= math.pi:
+      mapped_angles[i] -= TWO_PI
+    elif mapped_angles[i] < -math.pi:
+      mapped_angles[i] += TWO_PI
+  return mapped_angles
+
+
+@gin.configurable
+class Minitaur(object):
+  """The minitaur class that simulates a quadruped robot from Ghost Robotics."""
+
+  def __init__(self,
+               pybullet_client,
+               num_motors=MINITAUR_NUM_MOTORS,
+               dofs_per_leg=MINITAUR_DOFS_PER_LEG,
+               urdf_root=URDF_ROOT,
+               time_step=0.01,
+               action_repeat=1,
+               self_collision_enabled=False,
+               motor_control_mode=robot_config.MotorControlMode.POSITION,
+               motor_model_class=minitaur_motor.MotorModel,
+               motor_kp=1.0,
+               motor_kd=0.02,
+               motor_torque_limits=None,
+               pd_latency=0.0,
+               control_latency=0.0,
+               observation_noise_stdev=SENSOR_NOISE_STDDEV,
+               motor_overheat_protection=False,
+               motor_direction=MINITAUR_DEFAULT_MOTOR_DIRECTIONS,
+               motor_offset=MINITAUR_DEFAULT_MOTOR_OFFSETS,
+               on_rack=False,
+               reset_at_current_position=False,
+               sensors=None,
+               safety_config=None,
+               enable_action_interpolation=False,
+               enable_action_filter=False):
+    """Constructs a minitaur and reset it to the initial states.
+
+    Args:
+      pybullet_client: The instance of BulletClient to manage different
+        simulations.
+      num_motors: The number of the motors on the robot.
+      dofs_per_leg: The number of degrees of freedom for each leg.
+      urdf_root: The path to the urdf folder.
+      time_step: The time step of the simulation.
+      action_repeat: The number of ApplyAction() for each control step.
+      self_collision_enabled: Whether to enable self collision.
+      motor_control_mode: Enum. Can either be POSITION, TORQUE, or HYBRID.
+      motor_model_class: We can choose from simple pd model to more accureate DC
+        motor models.
+      motor_kp: proportional gain for the motors.
+      motor_kd: derivative gain for the motors.
+      motor_torque_limits: Torque limits for the motors. Can be a single float
+        or a list of floats specifying different limits for different robots. If
+        not provided, the default limit of the robot is used.
+      pd_latency: The latency of the observations (in seconds) used to calculate
+        PD control. On the real hardware, it is the latency between the
+        microcontroller and the motor controller.
+      control_latency: The latency of the observations (in second) used to
+        calculate action. On the real hardware, it is the latency from the motor
+        controller, the microcontroller to the host (Nvidia TX2).
+      observation_noise_stdev: The standard deviation of a Gaussian noise model
+        for the sensor. It should be an array for separate sensors in the
+        following order [motor_angle, motor_velocity, motor_torque,
+        base_roll_pitch_yaw, base_angular_velocity]
+      motor_overheat_protection: Whether to shutdown the motor that has exerted
+        large torque (OVERHEAT_SHUTDOWN_TORQUE) for an extended amount of time
+        (OVERHEAT_SHUTDOWN_TIME). See ApplyAction() in minitaur.py for more
+        details.
+      motor_direction: A list of direction values, either 1 or -1, to compensate
+        the axis difference of motors between the simulation and the real robot.
+      motor_offset: A list of offset value for the motor angles. This is used to
+        compensate the angle difference between the simulation and the real
+        robot.
+      on_rack: Whether to place the minitaur on rack. This is only used to debug
+        the walking gait. In this mode, the minitaur's base is hanged midair so
+        that its walking gait is clearer to visualize.
+      reset_at_current_position: Whether to reset the minitaur at the current
+        position and orientation. This is for simulating the reset behavior in
+        the real world.
+      sensors: a list of sensors that are attached to the robot.
+      safety_config: A SafetyConfig class to configure the safety layer. If
+        None, the safety layer will be disabled.
+      enable_action_interpolation: Whether to interpolate the current action
+        with the previous action in order to produce smoother motions
+      enable_action_filter: Boolean specifying if a lowpass filter should be
+        used to smooth actions.
+    """
+    self.num_motors = num_motors
+    self.num_legs = self.num_motors // dofs_per_leg
+    self._pybullet_client = pybullet_client
+    self._action_repeat = action_repeat
+    self._urdf_root = urdf_root
+    self._self_collision_enabled = self_collision_enabled
+    self._motor_direction = motor_direction
+    self._motor_offset = motor_offset
+    self._observed_motor_torques = np.zeros(self.num_motors)
+    self._applied_motor_torques = np.zeros(self.num_motors)
+    self._max_force = 3.5
+    self._pd_latency = pd_latency
+    self._control_latency = control_latency
+    self._observation_noise_stdev = observation_noise_stdev
+    self._observation_history = collections.deque(maxlen=100)
+    self._control_observation = []
+    self._chassis_link_ids = [-1]
+    self._leg_link_ids = []
+    self._motor_link_ids = []
+    self._foot_link_ids = []
+    self._motor_overheat_protection = motor_overheat_protection
+    self._on_rack = on_rack
+    self._reset_at_current_position = reset_at_current_position
+    self.SetAllSensors(sensors if sensors is not None else list())
+    self.safety_config = safety_config
+    self._is_safe = True
+    self._safety_checker = None
+
+    self._enable_action_interpolation = enable_action_interpolation
+    self._enable_action_filter = enable_action_filter
+    self._last_action = None
+
+    if not motor_model_class:
+      raise ValueError("Must provide a motor model class!")
+
+    if self._on_rack and self._reset_at_current_position:
+      raise ValueError("on_rack and reset_at_current_position "
+                       "cannot be enabled together")
+
+    if isinstance(motor_kp, (collections.Sequence, np.ndarray)):
+      self._motor_kps = np.asarray(motor_kp)
+    else:
+      self._motor_kps = np.full(num_motors, motor_kp)
+
+    if isinstance(motor_kd, (collections.Sequence, np.ndarray)):
+      self._motor_kds = np.asarray(motor_kd)
+    else:
+      self._motor_kds = np.full(num_motors, motor_kd)
+
+    if isinstance(motor_torque_limits, (collections.Sequence, np.ndarray)):
+      self._motor_torque_limits = np.asarray(motor_torque_limits)
+    elif motor_torque_limits is None:
+      self._motor_torque_limits = None
+    else:
+      self._motor_torque_limits = motor_torque_limits
+
+    self._motor_control_mode = motor_control_mode
+    self._motor_model = motor_model_class(
+        kp=motor_kp,
+        kd=motor_kd,
+        torque_limits=self._motor_torque_limits,
+        motor_control_mode=motor_control_mode)
+
+    self.time_step = time_step
+    self._step_counter = 0
+
+    # This also includes the time spent during the Reset motion.
+    self._state_action_counter = 0
+    _, self._init_orientation_inv = self._pybullet_client.invertTransform(
+        position=[0, 0, 0], orientation=self._GetDefaultInitOrientation())
+
+    if self._enable_action_filter:
+      self._action_filter = self._BuildActionFilter()
+    # reset_time=-1.0 means skipping the reset motion.
+    # See Reset for more details.
+    self.Reset(reset_time=-1.0)
+    self.ReceiveObservation()
+
+    return
+
+  def GetTimeSinceReset(self):
+    return self._step_counter * self.time_step
+
+  def _StepInternal(self, action, motor_control_mode=None):
+    self.ApplyAction(action, motor_control_mode)
+    self._pybullet_client.stepSimulation()
+    self.ReceiveObservation()
+    self._state_action_counter += 1
+
+    return
+
+  def Step(self, action):
+    """Steps simulation."""
+    if self._enable_action_filter:
+      action = self._FilterAction(action)
+
+    for i in range(self._action_repeat):
+      proc_action = self.ProcessAction(action, i)
+      self._StepInternal(proc_action)
+      self._step_counter += 1
+
+    self._last_action = action
+    return
+
+  def Terminate(self):
+    pass
+
+  def GetKneeLinkIDs(self):
+    """Get list of IDs for all knee links."""
+    return self._knee_link_ids
+
+  def GetFootLinkIDs(self):
+    """Get list of IDs for all foot links."""
+    return self._foot_link_ids
+
+  def _RecordMassInfoFromURDF(self):
+    """Records the mass information from the URDF file."""
+    self._base_mass_urdf = []
+    for chassis_id in self._chassis_link_ids:
+      self._base_mass_urdf.append(
+          self._pybullet_client.getDynamicsInfo(self.quadruped, chassis_id)[0])
+    self._leg_masses_urdf = []
+    for leg_id in self._leg_link_ids:
+      self._leg_masses_urdf.append(
+          self._pybullet_client.getDynamicsInfo(self.quadruped, leg_id)[0])
+    for motor_id in self._motor_link_ids:
+      self._leg_masses_urdf.append(
+          self._pybullet_client.getDynamicsInfo(self.quadruped, motor_id)[0])
+
+  def _RecordInertiaInfoFromURDF(self):
+    """Record the inertia of each body from URDF file."""
+    self._link_urdf = []
+    num_bodies = self._pybullet_client.getNumJoints(self.quadruped)
+    for body_id in range(-1, num_bodies):  # -1 is for the base link.
+      inertia = self._pybullet_client.getDynamicsInfo(self.quadruped,
+                                                      body_id)[2]
+      self._link_urdf.append(inertia)
+    # We need to use id+1 to index self._link_urdf because it has the base
+    # (index = -1) at the first element.
+    self._base_inertia_urdf = [
+        self._link_urdf[chassis_id + 1] for chassis_id in self._chassis_link_ids
+    ]
+    self._leg_inertia_urdf = [
+        self._link_urdf[leg_id + 1] for leg_id in self._leg_link_ids
+    ]
+    self._leg_inertia_urdf.extend(
+        [self._link_urdf[motor_id + 1] for motor_id in self._motor_link_ids])
+
+  def _BuildJointNameToIdDict(self):
+    num_joints = self._pybullet_client.getNumJoints(self.quadruped)
+    self._joint_name_to_id = {}
+    for i in range(num_joints):
+      joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
+      self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0]
+
+  def _BuildUrdfIds(self):
+    """Build the link Ids from its name in the URDF file.
+
+    Raises:
+      ValueError: Unknown category of the joint name.
+    """
+    num_joints = self._pybullet_client.getNumJoints(self.quadruped)
+    self._chassis_link_ids = [-1]
+    # The self._leg_link_ids include both the upper and lower links of the leg.
+    self._leg_link_ids = []
+    self._motor_link_ids = []
+    self._foot_link_ids = []
+    self._bracket_link_ids = []
+    for i in range(num_joints):
+      joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
+      joint_name = joint_info[1].decode("UTF-8")
+      joint_id = self._joint_name_to_id[joint_name]
+      if _CHASSIS_NAME_PATTERN.match(joint_name):
+        self._chassis_link_ids.append(joint_id)
+      elif _BRACKET_NAME_PATTERN.match(joint_name):
+        self._bracket_link_ids.append(joint_id)
+      elif _MOTOR_NAME_PATTERN.match(joint_name):
+        self._motor_link_ids.append(joint_id)
+      elif _KNEE_NAME_PATTERN.match(joint_name):
+        self._foot_link_ids.append(joint_id)
+      elif (_LEG_NAME_PATTERN1.match(joint_name) or
+            _LEG_NAME_PATTERN2.match(joint_name) or
+            _LEG_NAME_PATTERN3.match(joint_name)):
+        self._leg_link_ids.append(joint_id)
+      else:
+        raise ValueError("Unknown category of joint %s" % joint_name)
+
+    self._leg_link_ids.extend(self._foot_link_ids)
+    self._chassis_link_ids.sort()
+    self._motor_link_ids.sort()
+    self._foot_link_ids.sort()
+    self._leg_link_ids.sort()
+    self._bracket_link_ids.sort()
+
+  def _RemoveDefaultJointDamping(self):
+    num_joints = self._pybullet_client.getNumJoints(self.quadruped)
+    for i in range(num_joints):
+      joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
+      self._pybullet_client.changeDynamics(
+          joint_info[0], -1, linearDamping=0, angularDamping=0)
+
+  def _BuildMotorIdList(self):
+    self._motor_id_list = [
+        self._joint_name_to_id[motor_name]
+        for motor_name in self._GetMotorNames()
+    ]
+
+  def _CreateRackConstraint(self, init_position, init_orientation):
+    """Create a constraint that keeps the chassis at a fixed frame.
+
+    This frame is defined by init_position and init_orientation.
+
+    Args:
+      init_position: initial position of the fixed frame.
+      init_orientation: initial orientation of the fixed frame in quaternion
+        format [x,y,z,w].
+
+    Returns:
+      Return the constraint id.
+    """
+    fixed_constraint = self._pybullet_client.createConstraint(
+        parentBodyUniqueId=self.quadruped,
+        parentLinkIndex=-1,
+        childBodyUniqueId=-1,
+        childLinkIndex=-1,
+        jointType=self._pybullet_client.JOINT_FIXED,
+        jointAxis=[0, 0, 0],
+        parentFramePosition=[0, 0, 0],
+        childFramePosition=init_position,
+        childFrameOrientation=init_orientation)
+    return fixed_constraint
+
+  def IsObservationValid(self):
+    """Whether the observation is valid for the current time step.
+
+    In simulation, observations are always valid. In real hardware, it may not
+    be valid from time to time when communication error happens between the
+    Nvidia TX2 and the microcontroller.
+
+    Returns:
+      Whether the observation is valid for the current time step.
+    """
+    return True
+
+  def Reset(self, reload_urdf=True, default_motor_angles=None, reset_time=3.0):
+    """Reset the minitaur to its initial states.
+
+    Args:
+      reload_urdf: Whether to reload the urdf file. If not, Reset() just place
+        the minitaur back to its starting position.
+      default_motor_angles: The default motor angles. If it is None, minitaur
+        will hold a default pose (motor angle math.pi / 2) for 100 steps. In
+        torque control mode, the phase of holding the default pose is skipped.
+      reset_time: The duration (in seconds) to hold the default motor angles. If
+        reset_time <= 0 or in torque control mode, the phase of holding the
+        default pose is skipped.
+    """
+    if reload_urdf:
+      self._LoadRobotURDF()
+      if self._on_rack:
+        self.rack_constraint = (
+            self._CreateRackConstraint(self._GetDefaultInitPosition(),
+                                       self._GetDefaultInitOrientation()))
+      self._BuildJointNameToIdDict()
+      self._BuildUrdfIds()
+      self._RemoveDefaultJointDamping()
+      self._BuildMotorIdList()
+      self._RecordMassInfoFromURDF()
+      self._RecordInertiaInfoFromURDF()
+      self.ResetPose(add_constraint=True)
+    else:
+      self._pybullet_client.resetBasePositionAndOrientation(
+          self.quadruped, self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation())
+      self._pybullet_client.resetBaseVelocity(self.quadruped, [0, 0, 0],
+                                              [0, 0, 0])
+      self.ResetPose(add_constraint=False)
+
+    self._overheat_counter = np.zeros(self.num_motors)
+    self._motor_enabled_list = [True] * self.num_motors
+    self._observation_history.clear()
+    self._step_counter = 0
+    self._state_action_counter = 0
+    self._is_safe = True
+    self._last_action = None
+
+    # Enable the safety layer before we perform any reset motions.
+    if self.safety_config:
+      self._safety_checker = safety_checker.SafetyChecker(self)
+    self._SettleDownForReset(default_motor_angles, reset_time)
+
+    if self._enable_action_filter:
+      self._ResetActionFilter()
+
+    return
+
+  def _LoadRobotURDF(self):
+    """Loads the URDF file for the robot."""
+    urdf_file = self.GetURDFFile()
+    if self._self_collision_enabled:
+      self.quadruped = self._pybullet_client.loadURDF(
+          urdf_file,
+          self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation(),
+          flags=self._pybullet_client.URDF_USE_SELF_COLLISION)
+    else:
+      self.quadruped = self._pybullet_client.loadURDF(
+          urdf_file, self._GetDefaultInitPosition(),
+          self._GetDefaultInitOrientation())
+
+  def _SettleDownForReset(self, default_motor_angles, reset_time):
+    """Sets the default motor angles and waits for the robot to settle down.
+
+    The reset is skipped is reset_time is less than zereo.
+
+    Args:
+      default_motor_angles: A list of motor angles that the robot will achieve
+        at the end of the reset phase.
+      reset_time: The time duration for the reset phase.
+    """
+    if reset_time <= 0:
+      return
+
+    # Important to fill the observation buffer.
+    self.ReceiveObservation()
+    for _ in range(100):
+      self._StepInternal(
+          [math.pi / 2] * self.num_motors,
+          motor_control_mode=robot_config.MotorControlMode.POSITION)
+      # Don't continue to reset if a safety error has occurred.
+      if not self._is_safe:
+        return
+
+    if default_motor_angles is None:
+      return
+
+    num_steps_to_reset = int(reset_time / self.time_step)
+    for _ in range(num_steps_to_reset):
+      self._StepInternal(
+          default_motor_angles,
+          motor_control_mode=robot_config.MotorControlMode.POSITION)
+      # Don't continue to reset if a safety error has occurred.
+      if not self._is_safe:
+        return
+
+  def _SetMotorTorqueById(self, motor_id, torque):
+    self._pybullet_client.setJointMotorControl2(
+        bodyIndex=self.quadruped,
+        jointIndex=motor_id,
+        controlMode=self._pybullet_client.TORQUE_CONTROL,
+        force=torque)
+
+  def _SetMotorTorqueByIds(self, motor_ids, torques):
+    self._pybullet_client.setJointMotorControlArray(
+        bodyIndex=self.quadruped,
+        jointIndices=motor_ids,
+        controlMode=self._pybullet_client.TORQUE_CONTROL,
+        forces=torques)
+
+  def _SetDesiredMotorAngleByName(self, motor_name, desired_angle):
+    self._SetDesiredMotorAngleById(self._joint_name_to_id[motor_name],
+                                   desired_angle)
+
+  def GetURDFFile(self):
+    return "%s/quadruped/minitaur.urdf" % self._urdf_root
+
+  def ResetPose(self, add_constraint):
+    """Reset the pose of the minitaur.
+
+    Args:
+      add_constraint: Whether to add a constraint at the joints of two feet.
+    """
+    for i in range(self.num_legs):
+      self._ResetPoseForLeg(i, add_constraint)
+
+  def _ResetPoseForLeg(self, leg_id, add_constraint):
+    """Reset the initial pose for the leg.
+
+    Args:
+      leg_id: It should be 0, 1, 2, or 3, which represents the leg at
+        front_left, back_left, front_right and back_right.
+      add_constraint: Whether to add a constraint at the joints of two feet.
+    """
+    knee_friction_force = 0
+    half_pi = math.pi / 2.0
+    knee_angle = -2.1834
+
+    leg_position = LEG_POSITION[leg_id]
+    self._pybullet_client.resetJointState(
+        self.quadruped,
+        self._joint_name_to_id["motor_" + leg_position + "L_joint"],
+        self._motor_direction[2 * leg_id] * half_pi,
+        targetVelocity=0)
+    self._pybullet_client.resetJointState(
+        self.quadruped,
+        self._joint_name_to_id["knee_" + leg_position + "L_link"],
+        self._motor_direction[2 * leg_id] * knee_angle,
+        targetVelocity=0)
+    self._pybullet_client.resetJointState(
+        self.quadruped,
+        self._joint_name_to_id["motor_" + leg_position + "R_joint"],
+        self._motor_direction[2 * leg_id + 1] * half_pi,
+        targetVelocity=0)
+    self._pybullet_client.resetJointState(
+        self.quadruped,
+        self._joint_name_to_id["knee_" + leg_position + "R_link"],
+        self._motor_direction[2 * leg_id + 1] * knee_angle,
+        targetVelocity=0)
+    if add_constraint:
+      self._pybullet_client.createConstraint(
+          self.quadruped,
+          self._joint_name_to_id["knee_" + leg_position + "R_link"],
+          self.quadruped,
+          self._joint_name_to_id["knee_" + leg_position + "L_link"],
+          self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0],
+          KNEE_CONSTRAINT_POINT_RIGHT, KNEE_CONSTRAINT_POINT_LEFT)
+
+    # Disable the default motor in pybullet.
+    self._pybullet_client.setJointMotorControl2(
+        bodyIndex=self.quadruped,
+        jointIndex=(self._joint_name_to_id["motor_" + leg_position +
+                                           "L_joint"]),
+        controlMode=self._pybullet_client.VELOCITY_CONTROL,
+        targetVelocity=0,
+        force=knee_friction_force)
+    self._pybullet_client.setJointMotorControl2(
+        bodyIndex=self.quadruped,
+        jointIndex=(self._joint_name_to_id["motor_" + leg_position +
+                                           "R_joint"]),
+        controlMode=self._pybullet_client.VELOCITY_CONTROL,
+        targetVelocity=0,
+        force=knee_friction_force)
+
+    self._pybullet_client.setJointMotorControl2(
+        bodyIndex=self.quadruped,
+        jointIndex=(self._joint_name_to_id["knee_" + leg_position + "L_link"]),
+        controlMode=self._pybullet_client.VELOCITY_CONTROL,
+        targetVelocity=0,
+        force=knee_friction_force)
+    self._pybullet_client.setJointMotorControl2(
+        bodyIndex=self.quadruped,
+        jointIndex=(self._joint_name_to_id["knee_" + leg_position + "R_link"]),
+        controlMode=self._pybullet_client.VELOCITY_CONTROL,
+        targetVelocity=0,
+        force=knee_friction_force)
+
+  def GetBasePosition(self):
+    """Get the position of minitaur's base.
+
+    Returns:
+      The position of minitaur's base.
+    """
+    return self._base_position
+
+  def GetBaseVelocity(self):
+    """Get the linear velocity of minitaur's base.
+
+    Returns:
+      The velocity of minitaur's base.
+    """
+    velocity, _ = self._pybullet_client.getBaseVelocity(self.quadruped)
+    return velocity
+
+  def GetTrueBaseRollPitchYaw(self):
+    """Get minitaur's base orientation in euler angle in the world frame.
+
+    Returns:
+      A tuple (roll, pitch, yaw) of the base in world frame.
+    """
+    orientation = self.GetTrueBaseOrientation()
+    roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(orientation)
+    return np.asarray(roll_pitch_yaw)
+
+  def GetBaseRollPitchYaw(self):
+    """Get minitaur's base orientation in euler angle in the world frame.
+
+    This function mimicks the noisy sensor reading and adds latency.
+    Returns:
+      A tuple (roll, pitch, yaw) of the base in world frame polluted by noise
+      and latency.
+    """
+    delayed_orientation = np.array(
+        self._control_observation[3 * self.num_motors:3 * self.num_motors + 4])
+    delayed_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(
+        delayed_orientation)
+    roll_pitch_yaw = self._AddSensorNoise(
+        np.array(delayed_roll_pitch_yaw), self._observation_noise_stdev[3])
+    return roll_pitch_yaw
+
+  def GetHipPositionsInBaseFrame(self):
+    """Get the hip joint positions of the robot within its base frame."""
+    raise NotImplementedError("Not implemented for Minitaur.")
+
+  def _EndEffectorIK(self, leg_id, position, position_in_world_frame):
+    """Calculate the joint positions from the end effector position."""
+    assert len(self._foot_link_ids) == self.num_legs
+    toe_id = self._foot_link_ids[leg_id]
+    motors_per_leg = self.num_motors // self.num_legs
+    joint_position_idxs = [
+        i for i in range(leg_id * motors_per_leg, leg_id * motors_per_leg +
+                         motors_per_leg)
+    ]
+    joint_angles = kinematics.joint_angles_from_link_position(
+        robot=self,
+        link_position=position,
+        link_id=toe_id,
+        joint_ids=joint_position_idxs,
+        position_in_world_frame=position_in_world_frame)
+    # Joint offset is necessary for Laikago.
+    joint_angles = np.multiply(
+        np.asarray(joint_angles) -
+        np.asarray(self._motor_offset)[joint_position_idxs],
+        self._motor_direction[joint_position_idxs])
+    # Return the joing index (the same as when calling GetMotorAngles) as well
+    # as the angles.
+    return joint_position_idxs, joint_angles.tolist()
+
+  # TODO(b/154361633): Implements an array version of this following function.
+  def ComputeMotorAnglesFromFootWorldPosition(self, leg_id,
+                                              foot_world_position):
+    """Use IK to compute the motor angles, given the foot link's position.
+
+    Args:
+      leg_id: The leg index.
+      foot_world_position: The foot link's position in the world frame.
+
+    Returns:
+      A tuple. The position indices and the angles for all joints along the
+      leg. The position indices is consistent with the joint orders as returned
+      by GetMotorAngles API.
+    """
+    return self._EndEffectorIK(
+        leg_id, foot_world_position, position_in_world_frame=True)
+
+  def ComputeMotorAnglesFromFootLocalPosition(self, leg_id,
+                                              foot_local_position):
+    """Use IK to compute the motor angles, given the foot link's local position.
+
+    Args:
+      leg_id: The leg index.
+      foot_local_position: The foot link's position in the base frame.
+
+    Returns:
+      A tuple. The position indices and the angles for all joints along the
+      leg. The position indices is consistent with the joint orders as returned
+      by GetMotorAngles API.
+    """
+    return self._EndEffectorIK(
+        leg_id, foot_local_position, position_in_world_frame=False)
+
+  def ComputeJacobian(self, leg_id):
+    """Compute the Jacobian for a given leg."""
+    # Does not work for Minitaur which has the four bar mechanism for now.
+    assert len(self._foot_link_ids) == self.num_legs
+    return kinematics.compute_jacobian(
+        robot=self,
+        link_id=self._foot_link_ids[leg_id],
+    )
+
+  def MapContactForceToJointTorques(self, leg_id, contact_force):
+    """Maps the foot contact force to the leg joint torques."""
+    jv = self.ComputeJacobian(leg_id)
+    all_motor_torques = np.matmul(contact_force, jv)
+    motor_torques = {}
+    motors_per_leg = self.num_motors // self.num_legs
+    com_dof = 6
+    for joint_id in range(leg_id * motors_per_leg,
+                          (leg_id + 1) * motors_per_leg):
+      motor_torques[joint_id] = all_motor_torques[
+          com_dof + joint_id] * self._motor_direction[joint_id]
+
+    return motor_torques
+
+  def GetFootContacts(self):
+    """Get minitaur's foot contact situation with the ground.
+
+    Returns:
+      A list of 4 booleans. The ith boolean is True if leg i is in contact with
+      ground.
+    """
+    contacts = []
+    for leg_idx in range(MINITAUR_NUM_MOTORS // 2):
+      link_id_1 = self._foot_link_ids[leg_idx * 2]
+      link_id_2 = self._foot_link_ids[leg_idx * 2 + 1]
+      contact_1 = bool(
+          self._pybullet_client.getContactPoints(
+              bodyA=0,
+              bodyB=self.quadruped,
+              linkIndexA=-1,
+              linkIndexB=link_id_1))
+      contact_2 = bool(
+          self._pybullet_client.getContactPoints(
+              bodyA=0,
+              bodyB=self.quadruped,
+              linkIndexA=-1,
+              linkIndexB=link_id_2))
+      contacts.append(contact_1 or contact_2)
+    return contacts
+
+  def GetFootPositionsInWorldFrame(self):
+    """Get the robot's foot position in the base frame."""
+    assert len(self._foot_link_ids) == self.num_legs
+    foot_positions = []
+    for foot_id in self.GetFootLinkIDs():
+      foot_positions.append(
+          kinematics.link_position_in_world_frame(
+              robot=self,
+              link_id=foot_id,
+          ))
+    return np.array(foot_positions)
+
+  def GetFootPositionsInBaseFrame(self):
+    """Get the robot's foot position in the base frame."""
+    assert len(self._foot_link_ids) == self.num_legs
+    foot_positions = []
+    for foot_id in self.GetFootLinkIDs():
+      foot_positions.append(
+          kinematics.link_position_in_base_frame(
+              robot=self,
+              link_id=foot_id,
+          ))
+    return np.array(foot_positions)
+
+  def GetTrueMotorAngles(self):
+    """Gets the eight motor angles at the current moment, mapped to [-pi, pi].
+
+    Returns:
+      Motor angles, mapped to [-pi, pi].
+    """
+    motor_angles = [state[0] for state in self._joint_states]
+    motor_angles = np.multiply(
+        np.asarray(motor_angles) - np.asarray(self._motor_offset),
+        self._motor_direction)
+    return motor_angles
+
+  def GetMotorAngles(self):
+    """Gets the eight motor angles.
+
+    This function mimicks the noisy sensor reading and adds latency. The motor
+    angles that are delayed, noise polluted, and mapped to [-pi, pi].
+
+    Returns:
+      Motor angles polluted by noise and latency, mapped to [-pi, pi].
+    """
+    motor_angles = self._AddSensorNoise(
+        np.array(self._control_observation[0:self.num_motors]),
+        self._observation_noise_stdev[0])
+    return MapToMinusPiToPi(motor_angles)
+
+  def GetTrueMotorVelocities(self):
+    """Get the velocity of all eight motors.
+
+    Returns:
+      Velocities of all eight motors.
+    """
+    motor_velocities = [state[1] for state in self._joint_states]
+
+    motor_velocities = np.multiply(motor_velocities, self._motor_direction)
+    return motor_velocities
+
+  def GetMotorVelocities(self):
+    """Get the velocity of all eight motors.
+
+    This function mimicks the noisy sensor reading and adds latency.
+    Returns:
+      Velocities of all eight motors polluted by noise and latency.
+    """
+    return self._AddSensorNoise(
+        np.array(self._control_observation[self.num_motors:2 *
+                                           self.num_motors]),
+        self._observation_noise_stdev[1])
+
+  def GetTrueMotorTorques(self):
+    """Get the amount of torque the motors are exerting.
+
+    Returns:
+      Motor torques of all eight motors.
+    """
+    return self._observed_motor_torques
+
+  def GetMotorTorques(self):
+    """Get the amount of torque the motors are exerting.
+
+    This function mimicks the noisy sensor reading and adds latency.
+    Returns:
+      Motor torques of all eight motors polluted by noise and latency.
+    """
+    return self._AddSensorNoise(
+        np.array(self._control_observation[2 * self.num_motors:3 *
+                                           self.num_motors]),
+        self._observation_noise_stdev[2])
+
+  def GetEnergyConsumptionPerControlStep(self):
+    """Get the amount of energy used in last one time step.
+
+    Returns:
+      Energy Consumption based on motor velocities and torques (Nm^2/s).
+    """
+    return np.abs(np.dot(
+        self.GetMotorTorques(),
+        self.GetMotorVelocities())) * self.time_step * self._action_repeat
+
+  def GetTrueBaseOrientation(self):
+    """Get the orientation of minitaur's base, represented as quaternion.
+
+    Returns:
+      The orientation of minitaur's base.
+    """
+    return self._base_orientation
+
+  def GetBaseOrientation(self):
+    """Get the orientation of minitaur's base, represented as quaternion.
+
+    This function mimicks the noisy sensor reading and adds latency.
+    Returns:
+      The orientation of minitaur's base polluted by noise and latency.
+    """
+    return self._pybullet_client.getQuaternionFromEuler(
+        self.GetBaseRollPitchYaw())
+
+  def GetTrueBaseRollPitchYawRate(self):
+    """Get the rate of orientation change of the minitaur's base in euler angle.
+
+    Returns:
+      rate of (roll, pitch, yaw) change of the minitaur's base.
+    """
+    angular_velocity = self._pybullet_client.getBaseVelocity(self.quadruped)[1]
+    orientation = self.GetTrueBaseOrientation()
+    return self.TransformAngularVelocityToLocalFrame(angular_velocity,
+                                                     orientation)
+
+  def TransformAngularVelocityToLocalFrame(self, angular_velocity, orientation):
+    """Transform the angular velocity from world frame to robot's frame.
+
+    Args:
+      angular_velocity: Angular velocity of the robot in world frame.
+      orientation: Orientation of the robot represented as a quaternion.
+
+    Returns:
+      angular velocity of based on the given orientation.
+    """
+    # Treat angular velocity as a position vector, then transform based on the
+    # orientation given by dividing (or multiplying with inverse).
+    # Get inverse quaternion assuming the vector is at 0,0,0 origin.
+    _, orientation_inversed = self._pybullet_client.invertTransform([0, 0, 0],
+                                                                    orientation)
+    # Transform the angular_velocity at neutral orientation using a neutral
+    # translation and reverse of the given orientation.
+    relative_velocity, _ = self._pybullet_client.multiplyTransforms(
+        [0, 0, 0], orientation_inversed, angular_velocity,
+        self._pybullet_client.getQuaternionFromEuler([0, 0, 0]))
+    return np.asarray(relative_velocity)
+
+  def GetBaseRollPitchYawRate(self):
+    """Get the rate of orientation change of the minitaur's base in euler angle.
+
+    This function mimicks the noisy sensor reading and adds latency.
+    Returns:
+      rate of (roll, pitch, yaw) change of the minitaur's base polluted by noise
+      and latency.
+    """
+    return self._AddSensorNoise(
+        np.array(self._control_observation[3 * self.num_motors +
+                                           4:3 * self.num_motors + 7]),
+        self._observation_noise_stdev[4])
+
+  def GetActionDimension(self):
+    """Get the length of the action list.
+
+    Returns:
+      The length of the action list.
+    """
+    return self.num_motors
+
+  def _ApplyOverheatProtection(self, actual_torque):
+    if self._motor_overheat_protection:
+      for i in range(self.num_motors):
+        if abs(actual_torque[i]) > OVERHEAT_SHUTDOWN_TORQUE:
+          self._overheat_counter[i] += 1
+        else:
+          self._overheat_counter[i] = 0
+        if (self._overheat_counter[i] >
+            OVERHEAT_SHUTDOWN_TIME / self.time_step):
+          self._motor_enabled_list[i] = False
+
+  def ApplyAction(self, motor_commands, motor_control_mode=None):
+    """Apply the motor commands using the motor model.
+
+    Args:
+      motor_commands: np.array. Can be motor angles, torques, hybrid commands,
+        or motor pwms (for Minitaur only).
+      motor_control_mode: A MotorControlMode enum.
+    """
+    self.last_action_time = self._state_action_counter * self.time_step
+    control_mode = motor_control_mode
+    if control_mode is None:
+      control_mode = self._motor_control_mode
+    if self._safety_checker:
+      try:
+        self._safety_checker.check_motor_action(motor_commands, control_mode)
+      except safety_error.SafetyError as e:
+        logging.info("A safety error occurred: %s", e)
+        self._is_safe = False
+        return
+    motor_commands = np.asarray(motor_commands)
+
+    q, qdot = self._GetPDObservation()
+    qdot_true = self.GetTrueMotorVelocities()
+    actual_torque, observed_torque = self._motor_model.convert_to_torque(
+        motor_commands, q, qdot, qdot_true, control_mode)
+
+    # May turn off the motor
+    self._ApplyOverheatProtection(actual_torque)
+
+    # The torque is already in the observation space because we use
+    # GetMotorAngles and GetMotorVelocities.
+    self._observed_motor_torques = observed_torque
+
+    # Transform into the motor space when applying the torque.
+    self._applied_motor_torque = np.multiply(actual_torque,
+                                             self._motor_direction)
+    motor_ids = []
+    motor_torques = []
+
+    for motor_id, motor_torque, motor_enabled in zip(self._motor_id_list,
+                                                     self._applied_motor_torque,
+                                                     self._motor_enabled_list):
+      if motor_enabled:
+        motor_ids.append(motor_id)
+        motor_torques.append(motor_torque)
+      else:
+        motor_ids.append(motor_id)
+        motor_torques.append(0)
+    self._SetMotorTorqueByIds(motor_ids, motor_torques)
+
+  def ConvertFromLegModel(self, actions):
+    """Convert the actions that use leg model to the real motor actions.
+
+    Args:
+      actions: The theta, phi of the leg model.
+
+    Returns:
+      The eight desired motor angles that can be used in ApplyActions().
+    """
+    motor_angle = copy.deepcopy(actions)
+    scale_for_singularity = 1
+    offset_for_singularity = 1.5
+    half_num_motors = self.num_motors // 2
+    quater_pi = math.pi / 4
+    for i in range(self.num_motors):
+      action_idx = i // 2
+      forward_backward_component = (
+          -scale_for_singularity * quater_pi *
+          (actions[action_idx + half_num_motors] + offset_for_singularity))
+      extension_component = (-1)**i * quater_pi * actions[action_idx]
+      if i >= half_num_motors:
+        extension_component = -extension_component
+      motor_angle[i] = (
+          math.pi + forward_backward_component + extension_component)
+    return motor_angle
+
+  def GetBaseMassesFromURDF(self):
+    """Get the mass of the base from the URDF file."""
+    return self._base_mass_urdf
+
+  def GetBaseInertiasFromURDF(self):
+    """Get the inertia of the base from the URDF file."""
+    return self._base_inertia_urdf
+
+  def GetLegMassesFromURDF(self):
+    """Get the mass of the legs from the URDF file."""
+    return self._leg_masses_urdf
+
+  def GetLegInertiasFromURDF(self):
+    """Get the inertia of the legs from the URDF file."""
+    return self._leg_inertia_urdf
+
+  def SetBaseMasses(self, base_mass):
+    """Set the mass of minitaur's base.
+
+    Args:
+      base_mass: A list of masses of each body link in CHASIS_LINK_IDS. The
+        length of this list should be the same as the length of CHASIS_LINK_IDS.
+
+    Raises:
+      ValueError: It is raised when the length of base_mass is not the same as
+        the length of self._chassis_link_ids.
+    """
+    if len(base_mass) != len(self._chassis_link_ids):
+      raise ValueError(
+          "The length of base_mass {} and self._chassis_link_ids {} are not "
+          "the same.".format(len(base_mass), len(self._chassis_link_ids)))
+    for chassis_id, chassis_mass in zip(self._chassis_link_ids, base_mass):
+      self._pybullet_client.changeDynamics(
+          self.quadruped, chassis_id, mass=chassis_mass)
+
+  def SetLegMasses(self, leg_masses):
+    """Set the mass of the legs.
+
+    A leg includes leg_link and motor. 4 legs contain 16 links (4 links each)
+    and 8 motors. First 16 numbers correspond to link masses, last 8 correspond
+    to motor masses (24 total).
+
+    Args:
+      leg_masses: The leg and motor masses for all the leg links and motors.
+
+    Raises:
+      ValueError: It is raised when the length of masses is not equal to number
+        of links + motors.
+    """
+    if len(leg_masses) != len(self._leg_link_ids) + len(self._motor_link_ids):
+      raise ValueError("The number of values passed to SetLegMasses are "
+                       "different than number of leg links and motors.")
+    for leg_id, leg_mass in zip(self._leg_link_ids, leg_masses):
+      self._pybullet_client.changeDynamics(
+          self.quadruped, leg_id, mass=leg_mass)
+    motor_masses = leg_masses[len(self._leg_link_ids):]
+    for link_id, motor_mass in zip(self._motor_link_ids, motor_masses):
+      self._pybullet_client.changeDynamics(
+          self.quadruped, link_id, mass=motor_mass)
+
+  def SetBaseInertias(self, base_inertias):
+    """Set the inertias of minitaur's base.
+
+    Args:
+      base_inertias: A list of inertias of each body link in CHASIS_LINK_IDS.
+        The length of this list should be the same as the length of
+        CHASIS_LINK_IDS.
+
+    Raises:
+      ValueError: It is raised when the length of base_inertias is not the same
+        as the length of self._chassis_link_ids and base_inertias contains
+        negative values.
+    """
+    if len(base_inertias) != len(self._chassis_link_ids):
+      raise ValueError(
+          "The length of base_inertias {} and self._chassis_link_ids {} are "
+          "not the same.".format(
+              len(base_inertias), len(self._chassis_link_ids)))
+    for chassis_id, chassis_inertia in zip(self._chassis_link_ids,
+                                           base_inertias):
+      for inertia_value in chassis_inertia:
+        if (np.asarray(inertia_value) < 0).any():
+          raise ValueError("Values in inertia matrix should be non-negative.")
+      self._pybullet_client.changeDynamics(
+          self.quadruped, chassis_id, localInertiaDiagonal=chassis_inertia)
+
+  def SetLegInertias(self, leg_inertias):
+    """Set the inertias of the legs.
+
+    A leg includes leg_link and motor. 4 legs contain 16 links (4 links each)
+    and 8 motors. First 16 numbers correspond to link inertia, last 8 correspond
+    to motor inertia (24 total).
+
+    Args:
+      leg_inertias: The leg and motor inertias for all the leg links and motors.
+
+    Raises:
+      ValueError: It is raised when the length of inertias is not equal to
+      the number of links + motors or leg_inertias contains negative values.
+    """
+
+    if len(leg_inertias) != len(self._leg_link_ids) + len(self._motor_link_ids):
+      raise ValueError("The number of values passed to SetLegMasses are "
+                       "different than number of leg links and motors.")
+    for leg_id, leg_inertia in zip(self._leg_link_ids, leg_inertias):
+      for inertia_value in leg_inertias:
+        if (np.asarray(inertia_value) < 0).any():
+          raise ValueError("Values in inertia matrix should be non-negative.")
+      self._pybullet_client.changeDynamics(
+          self.quadruped, leg_id, localInertiaDiagonal=leg_inertia)
+
+    motor_inertias = leg_inertias[len(self._leg_link_ids):]
+    for link_id, motor_inertia in zip(self._motor_link_ids, motor_inertias):
+      for inertia_value in motor_inertias:
+        if (np.asarray(inertia_value) < 0).any():
+          raise ValueError("Values in inertia matrix should be non-negative.")
+      self._pybullet_client.changeDynamics(
+          self.quadruped, link_id, localInertiaDiagonal=motor_inertia)
+
+  def SetFootFriction(self, foot_friction):
+    """Set the lateral friction of the feet.
+
+    Args:
+      foot_friction: The lateral friction coefficient of the foot. This value is
+        shared by all four feet.
+    """
+    for link_id in self._foot_link_ids:
+      self._pybullet_client.changeDynamics(
+          self.quadruped, link_id, lateralFriction=foot_friction)
+
+  # TODO(b/73748980): Add more API's to set other contact parameters.
+  def SetFootRestitution(self, foot_restitution):
+    """Set the coefficient of restitution at the feet.
+
+    Args:
+      foot_restitution: The coefficient of restitution (bounciness) of the feet.
+        This value is shared by all four feet.
+    """
+    for link_id in self._foot_link_ids:
+      self._pybullet_client.changeDynamics(
+          self.quadruped, link_id, restitution=foot_restitution)
+
+  def SetJointFriction(self, joint_frictions):
+    for knee_joint_id, friction in zip(self._foot_link_ids, joint_frictions):
+      self._pybullet_client.setJointMotorControl2(
+          bodyIndex=self.quadruped,
+          jointIndex=knee_joint_id,
+          controlMode=self._pybullet_client.VELOCITY_CONTROL,
+          targetVelocity=0,
+          force=friction)
+
+  def GetNumKneeJoints(self):
+    return len(self._foot_link_ids)
+
+  def SetBatteryVoltage(self, voltage):
+    self._motor_model.set_voltage(voltage)
+
+  def SetMotorViscousDamping(self, viscous_damping):
+    self._motor_model.set_viscous_damping(viscous_damping)
+
+  def GetTrueObservation(self):
+    observation = []
+    observation.extend(self.GetTrueMotorAngles())
+    observation.extend(self.GetTrueMotorVelocities())
+    observation.extend(self.GetTrueMotorTorques())
+    observation.extend(self.GetTrueBaseOrientation())
+    observation.extend(self.GetTrueBaseRollPitchYawRate())
+    return observation
+
+  def ReceiveObservation(self):
+    """Receive the observation from sensors.
+
+    This function is called once per step. The observations are only updated
+    when this function is called.
+    """
+    self._joint_states = self._pybullet_client.getJointStates(
+        self.quadruped, self._motor_id_list)
+    self._base_position, orientation = (
+        self._pybullet_client.getBasePositionAndOrientation(self.quadruped))
+    # Computes the relative orientation relative to the robot's
+    # initial_orientation.
+    _, self._base_orientation = self._pybullet_client.multiplyTransforms(
+        positionA=[0, 0, 0],
+        orientationA=orientation,
+        positionB=[0, 0, 0],
+        orientationB=self._init_orientation_inv)
+    self._observation_history.appendleft(self.GetTrueObservation())
+    self._control_observation = self._GetControlObservation()
+    self.last_state_time = self._state_action_counter * self.time_step
+    if self._safety_checker:
+      try:
+        self._safety_checker.check_state()
+      except safety_error.SafetyError as e:
+        logging.info("A safety error occurred: %s", e)
+        self._is_safe = False
+
+  def _GetDelayedObservation(self, latency):
+    """Get observation that is delayed by the amount specified in latency.
+
+    Args:
+      latency: The latency (in seconds) of the delayed observation.
+
+    Returns:
+      observation: The observation which was actually latency seconds ago.
+    """
+    if latency <= 0 or len(self._observation_history) == 1:
+      observation = self._observation_history[0]
+    else:
+      n_steps_ago = int(latency / self.time_step)
+      if n_steps_ago + 1 >= len(self._observation_history):
+        return self._observation_history[-1]
+      remaining_latency = latency - n_steps_ago * self.time_step
+      blend_alpha = remaining_latency / self.time_step
+      observation = (
+          (1.0 - blend_alpha) * np.array(self._observation_history[n_steps_ago])
+          + blend_alpha * np.array(self._observation_history[n_steps_ago + 1]))
+    return observation
+
+  def _GetPDObservation(self):
+    pd_delayed_observation = self._GetDelayedObservation(self._pd_latency)
+    q = pd_delayed_observation[0:self.num_motors]
+    qdot = pd_delayed_observation[self.num_motors:2 * self.num_motors]
+    return (np.array(q), np.array(qdot))
+
+  def _GetControlObservation(self):
+    control_delayed_observation = self._GetDelayedObservation(
+        self._control_latency)
+    return control_delayed_observation
+
+  def _AddSensorNoise(self, sensor_values, noise_stdev):
+    if noise_stdev <= 0:
+      return sensor_values
+    observation = sensor_values + np.random.normal(
+        scale=noise_stdev, size=sensor_values.shape)
+    return observation
+
+  def SetControlLatency(self, latency):
+    """Set the latency of the control loop.
+
+    It measures the duration between sending an action from Nvidia TX2 and
+    receiving the observation from microcontroller.
+
+    Args:
+      latency: The latency (in seconds) of the control loop.
+    """
+    self._control_latency = latency
+
+  def GetControlLatency(self):
+    """Get the control latency.
+
+    Returns:
+      The latency (in seconds) between when the motor command is sent and when
+        the sensor measurements are reported back to the controller.
+    """
+    return self._control_latency
+
+  # TODO(b/73666007): Change the API to SetMotorPGains and SetMotorDGains.
+  def SetMotorGains(self, kp, kd):
+    """Set the gains of all motors.
+
+    These gains are PD gains for motor positional control. kp is the
+    proportional gain and kd is the derivative gain.
+
+    Args:
+      kp: proportional gain(s) of the motors.
+      kd: derivative gain(s) of the motors.
+    """
+    if isinstance(kp, (collections.Sequence, np.ndarray)):
+      self._motor_kps = np.asarray(kp)
+    else:
+      self._motor_kps = np.full(self.num_motors, kp)
+
+    if isinstance(kd, (collections.Sequence, np.ndarray)):
+      self._motor_kds = np.asarray(kd)
+    else:
+      self._motor_kds = np.full(self.num_motors, kd)
+
+    self._motor_model.set_motor_gains(kp, kd)
+
+  # TODO(b/73666007): Change the API to GetMotorPGains and GetMotorDGains.
+  def GetMotorGains(self):
+    """Get the gains of the motor.
+
+    Returns:
+      The proportional gain.
+      The derivative gain.
+    """
+    return self._motor_kps, self._motor_kds
+
+  def GetMotorPositionGains(self):
+    """Get the position gains of the motor.
+
+    Returns:
+      The proportional gain.
+    """
+    return self._motor_kps
+
+  def GetMotorVelocityGains(self):
+    """Get the velocity gains of the motor.
+
+    Returns:
+      The derivative gain.
+    """
+    return self._motor_kds
+
+  def SetMotorStrengthRatio(self, ratio):
+    """Set the strength of all motors relative to the default value.
+
+    Args:
+      ratio: The relative strength. A scalar range from 0.0 to 1.0.
+    """
+    self._motor_model.set_strength_ratios([ratio] * self.num_motors)
+
+  def SetMotorStrengthRatios(self, ratios):
+    """Set the strength of each motor relative to the default value.
+
+    Args:
+      ratios: The relative strength. A numpy array ranging from 0.0 to 1.0.
+    """
+    self._motor_model.set_strength_ratios(ratios)
+
+  def SetTimeSteps(self, action_repeat, simulation_step):
+    """Set the time steps of the control and simulation.
+
+    Args:
+      action_repeat: The number of simulation steps that the same action is
+        repeated.
+      simulation_step: The simulation time step.
+    """
+    self.time_step = simulation_step
+    self._action_repeat = action_repeat
+
+  def _GetMotorNames(self):
+    return MOTOR_NAMES
+
+  def _GetDefaultInitPosition(self):
+    """Returns the init position of the robot.
+
+    It can be either 1) origin (INIT_POSITION), 2) origin with a rack
+    (INIT_RACK_POSITION), or 3) the previous position.
+    """
+    # If we want continuous resetting and is not the first episode.
+    if self._reset_at_current_position and self._observation_history:
+      x, y, _ = self.GetBasePosition()
+      _, _, z = INIT_POSITION
+      return [x, y, z]
+
+    if self._on_rack:
+      return INIT_RACK_POSITION
+    else:
+      return INIT_POSITION
+
+  def _GetDefaultInitOrientation(self):
+    """Returns the init position of the robot.
+
+    It can be either 1) INIT_ORIENTATION or 2) the previous rotation in yaw.
+    """
+    # If we want continuous resetting and is not the first episode.
+    if self._reset_at_current_position and self._observation_history:
+      _, _, yaw = self.GetBaseRollPitchYaw()
+      return self._pybullet_client.getQuaternionFromEuler([0.0, 0.0, yaw])
+    return INIT_ORIENTATION
+
+  @property
+  def chassis_link_ids(self):
+    return self._chassis_link_ids
+
+  def SetAllSensors(self, sensors):
+    """set all sensors to this robot and move the ownership to this robot.
+
+    Args:
+      sensors: a list of sensors to this robot.
+    """
+    for s in sensors:
+      s.set_robot(self)
+    self._sensors = sensors
+
+  def GetAllSensors(self):
+    """get all sensors associated with this robot.
+
+    Returns:
+      sensors: a list of all sensors.
+    """
+    return self._sensors
+
+  def GetSensor(self, name):
+    """get the first sensor with the given name.
+
+    This function return None if a sensor with the given name does not exist.
+
+    Args:
+      name: the name of the sensor we are looking
+
+    Returns:
+      sensor: a sensor with the given name. None if not exists.
+    """
+    for s in self._sensors:
+      if s.get_name() == name:
+        return s
+    return None
+
+  @property
+  def is_safe(self):
+    return self._is_safe
+
+  @property
+  def last_action(self):
+    return self._last_action
+
+  def ProcessAction(self, action, substep_count):
+    """If enabled, interpolates between the current and previous actions.
+
+    Args:
+      action: current action.
+      substep_count: the step count should be between [0, self.__action_repeat).
+
+    Returns:
+      If interpolation is enabled, returns interpolated action depending on
+      the current action repeat substep.
+    """
+    if self._enable_action_interpolation:
+      if self._last_action is not None:
+        prev_action = self._last_action
+      else:
+        prev_action = self.GetMotorAngles()
+
+      lerp = float(substep_count + 1) / self._action_repeat
+      proc_action = prev_action + lerp * (action - prev_action)
+    else:
+      proc_action = action
+
+    return proc_action
+
+  def _BuildActionFilter(self):
+    sampling_rate = 1 / (self.time_step * self._action_repeat)
+    num_joints = self.GetActionDimension()
+    a_filter = action_filter.ActionFilterButter(
+        sampling_rate=sampling_rate, num_joints=num_joints)
+    return a_filter
+
+  def _ResetActionFilter(self):
+    self._action_filter.reset()
+    return
+
+  def _FilterAction(self, action):
+    # initialize the filter history, since resetting the filter will fill
+    # the history with zeros and this can cause sudden movements at the start
+    # of each episode
+    if self._step_counter == 0:
+      default_action = self.GetMotorAngles()
+      self._action_filter.init_history(default_action)
+
+    filtered_action = self._action_filter.filter(action)
+    return filtered_action
+
+  @property
+  def pybullet_client(self):
+    return self._pybullet_client
+
+  @property
+  def joint_states(self):
+    return self._joint_states
+
+  @classmethod
+  def GetConstants(cls):
+    del cls
+    return minitaur_constants
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py
new file mode 100644
index 0000000000..9a9ed2e69c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_constants.py
@@ -0,0 +1,62 @@
+# Lint as: python3
+"""Defines the minitaur robot related constants and URDF specs."""
+
+import collections
+import math
+
+import gin
+
+MINITAUR_URDF_PATH = "quadruped/minitaur_rainbow_dash.urdf"
+
+INIT_POSITION = (0, 0, 0.2)
+INIT_RACK_POSITION = (0, 0, 1)
+INIT_ORIENTATION_QUAT = (0, 0, 0, 1)
+INIT_ORIENTATION_RPY = (0, 0, 0)
+
+NUM_LEGS = 4
+
+JOINT_NAMES = ("motor_front_leftL_joint", "motor_front_leftR_joint",
+               "motor_back_leftL_joint", "motor_back_leftR_joint",
+               "motor_front_rightL_joint", "motor_front_rightR_joint",
+               "motor_back_rightL_joint", "motor_back_rightR_joint")
+
+INIT_JOINT_ANGLES = collections.OrderedDict(
+    zip(JOINT_NAMES, [math.pi / 2, math.pi / 2] * NUM_LEGS))
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_DIRECTIONS = collections.OrderedDict(
+    zip(JOINT_NAMES, (-1, -1, -1, -1, 1, 1, 1, 1)))
+
+# Used to convert the robot SDK joint angles to URDF joint angles.
+JOINT_OFFSETS = collections.OrderedDict(
+    zip(JOINT_NAMES, (0, 0, 0, 0, 0, 0, 0, 0)))
+
+LEG_ORDER = ["front_left", "back_left", "front_right", "back_right"]
+
+END_EFFECTOR_NAMES = (
+    "knee_front_rightR_joint",
+    "knee_front_leftL_joint",
+    "knee_back_rightR_joint",
+    "knee_back_leftL_joint",
+)
+
+MOTOR_NAMES = JOINT_NAMES
+MOTOR_GROUP = collections.OrderedDict((("body_motors", JOINT_NAMES),))
+
+KNEE_CONSTRAINT_POINT_LONG = [0, 0.0045, 0.088]
+KNEE_CONSTRAINT_POINT_SHORT = [0, 0.0045, 0.100]
+
+# Add the gin constants to be used for gin binding in config.
+gin.constant("minitaur_constants.MINITAUR_URDF_PATH", MINITAUR_URDF_PATH)
+gin.constant("minitaur_constants.MINITAUR_INIT_POSITION", INIT_POSITION)
+gin.constant("minitaur_constants.MINITAUR_INIT_ORIENTATION_QUAT",
+             INIT_ORIENTATION_QUAT)
+gin.constant("minitaur_constants.MINITAUR_INIT_ORIENTATION_RPY",
+             INIT_ORIENTATION_RPY)
+gin.constant("minitaur_constants.MINITAUR_INIT_JOINT_ANGLES", INIT_JOINT_ANGLES)
+gin.constant("minitaur_constants.MINITAUR_JOINT_DIRECTIONS", JOINT_DIRECTIONS)
+gin.constant("minitaur_constants.MINITAUR_JOINT_OFFSETS", JOINT_OFFSETS)
+gin.constant("minitaur_constants.MINITAUR_MOTOR_NAMES", MOTOR_NAMES)
+gin.constant("minitaur_constants.MINITAUR_END_EFFECTOR_NAMES",
+             END_EFFECTOR_NAMES)
+gin.constant("minitaur_constants.MINITAUR_MOTOR_GROUP", MOTOR_GROUP)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py
new file mode 100644
index 0000000000..2ec0c927eb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor.py
@@ -0,0 +1,171 @@
+"""This file implements an accurate motor model."""
+
+import numpy as np
+
+from pybullet_envs.minitaur.robots import robot_config
+
+VOLTAGE_CLIPPING = 50
+# TODO(b/73728631): Clamp the pwm signal instead of the OBSERVED_TORQUE_LIMIT.
+OBSERVED_TORQUE_LIMIT = 5.7
+MOTOR_VOLTAGE = 16.0
+MOTOR_RESISTANCE = 0.186
+MOTOR_TORQUE_CONSTANT = 0.0954
+MOTOR_VISCOUS_DAMPING = 0
+MOTOR_SPEED_LIMIT = MOTOR_VOLTAGE / (
+    MOTOR_VISCOUS_DAMPING + MOTOR_TORQUE_CONSTANT)
+NUM_MOTORS = 8
+MOTOR_POS_LB = 0.5
+MOTOR_POS_UB = 2.5
+
+
+class MotorModel(object):
+  """The accurate motor model, which is based on the physics of DC motors.
+
+  The motor model support two types of control: position control and torque
+  control. In position control mode, a desired motor angle is specified, and a
+  torque is computed based on the internal motor model. When the torque control
+  is specified, a pwm signal in the range of [-1.0, 1.0] is converted to the
+  torque.
+
+  The internal motor model takes the following factors into consideration:
+  pd gains, viscous friction, back-EMF voltage and current-torque profile.
+  """
+
+  def __init__(self,
+               kp=1.2,
+               kd=0,
+               torque_limits=None,
+               motor_control_mode=robot_config.MotorControlMode.POSITION):
+    self._kp = kp
+    self._kd = kd
+    self._torque_limits = torque_limits
+    self._motor_control_mode = motor_control_mode
+    self._resistance = MOTOR_RESISTANCE
+    self._voltage = MOTOR_VOLTAGE
+    self._torque_constant = MOTOR_TORQUE_CONSTANT
+    self._viscous_damping = MOTOR_VISCOUS_DAMPING
+    self._current_table = [0, 10, 20, 30, 40, 50, 60]
+    self._torque_table = [0, 1, 1.9, 2.45, 3.0, 3.25, 3.5]
+    self._strength_ratios = [1.0] * NUM_MOTORS
+
+  def set_strength_ratios(self, ratios):
+    """Set the strength of each motors relative to the default value.
+
+    Args:
+      ratios: The relative strength of motor output. A numpy array ranging from
+        0.0 to 1.0.
+    """
+    self._strength_ratios = np.array(ratios)
+
+  def set_motor_gains(self, kp, kd):
+    """Set the gains of all motors.
+
+    These gains are PD gains for motor positional control. kp is the
+    proportional gain and kd is the derivative gain.
+
+    Args:
+      kp: proportional gain of the motors.
+      kd: derivative gain of the motors.
+    """
+    self._kp = kp
+    self._kd = kd
+
+  def set_voltage(self, voltage):
+    self._voltage = voltage
+
+  def get_voltage(self):
+    return self._voltage
+
+  def set_viscous_damping(self, viscous_damping):
+    self._viscous_damping = viscous_damping
+
+  def get_viscous_dampling(self):
+    return self._viscous_damping
+
+  def convert_to_torque(self,
+                        motor_commands,
+                        motor_angle,
+                        motor_velocity,
+                        true_motor_velocity,
+                        motor_control_mode=None):
+    """Convert the commands (position control or pwm control) to torque.
+
+    Args:
+      motor_commands: The desired motor angle if the motor is in position
+        control mode. The pwm signal if the motor is in torque control mode.
+      motor_angle: The motor angle observed at the current time step. It is
+        actually the true motor angle observed a few milliseconds ago (pd
+        latency).
+      motor_velocity: The motor velocity observed at the current time step, it
+        is actually the true motor velocity a few milliseconds ago (pd latency).
+      true_motor_velocity: The true motor velocity. The true velocity is used to
+        compute back EMF voltage and viscous damping.
+      motor_control_mode: A MotorControlMode enum.
+
+    Returns:
+      actual_torque: The torque that needs to be applied to the motor.
+      observed_torque: The torque observed by the sensor.
+    """
+    if not motor_control_mode:
+      motor_control_mode = self._motor_control_mode
+
+    if (motor_control_mode is robot_config.MotorControlMode.TORQUE) or (
+        motor_control_mode is robot_config.MotorControlMode.HYBRID):
+      raise ValueError(
+          "{} is not a supported motor control mode".format(motor_control_mode))
+
+    kp = self._kp
+    kd = self._kd
+
+    if motor_control_mode is robot_config.MotorControlMode.PWM:
+      # The following implements a safety controller that softly enforces the
+      # joint angles to remain within safe region: If PD controller targeting
+      # the positive (negative) joint limit outputs a negative (positive)
+      # signal, the corresponding joint violates the joint constraint, so
+      # we should add the PD output to motor_command to bring it back to the
+      # safe region.
+      pd_max = -1 * kp * (motor_angle - MOTOR_POS_UB) - kd / 2. * motor_velocity
+      pd_min = -1 * kp * (motor_angle - MOTOR_POS_LB) - kd / 2. * motor_velocity
+      pwm = motor_commands + np.minimum(pd_max, 0) + np.maximum(pd_min, 0)
+    else:
+      pwm = -1 * kp * (motor_angle - motor_commands) - kd * motor_velocity
+    pwm = np.clip(pwm, -1.0, 1.0)
+    return self._convert_to_torque_from_pwm(pwm, true_motor_velocity)
+
+  def _convert_to_torque_from_pwm(self, pwm, true_motor_velocity):
+    """Convert the pwm signal to torque.
+
+    Args:
+      pwm: The pulse width modulation.
+      true_motor_velocity: The true motor velocity at the current moment. It is
+        used to compute the back EMF voltage and the viscous damping.
+
+    Returns:
+      actual_torque: The torque that needs to be applied to the motor.
+      observed_torque: The torque observed by the sensor.
+    """
+    observed_torque = np.clip(
+        self._torque_constant *
+        (np.asarray(pwm) * self._voltage / self._resistance),
+        -OBSERVED_TORQUE_LIMIT, OBSERVED_TORQUE_LIMIT)
+    if self._torque_limits is not None:
+      observed_torque = np.clip(observed_torque, -1.0 * self._torque_limits,
+                                self._torque_limits)
+
+    # Net voltage is clipped at 50V by diodes on the motor controller.
+    voltage_net = np.clip(
+        np.asarray(pwm) * self._voltage -
+        (self._torque_constant + self._viscous_damping) *
+        np.asarray(true_motor_velocity), -VOLTAGE_CLIPPING, VOLTAGE_CLIPPING)
+    current = voltage_net / self._resistance
+    current_sign = np.sign(current)
+    current_magnitude = np.absolute(current)
+    # Saturate torque based on empirical current relation.
+    actual_torque = np.interp(current_magnitude, self._current_table,
+                              self._torque_table)
+    actual_torque = np.multiply(current_sign, actual_torque)
+    actual_torque = np.multiply(self._strength_ratios, actual_torque)
+    if self._torque_limits is not None:
+      actual_torque = np.clip(actual_torque, -1.0 * self._torque_limits,
+                              self._torque_limits)
+    return actual_torque, observed_torque
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py
new file mode 100644
index 0000000000..40927cc7ce
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_motor_model_v2.py
@@ -0,0 +1,145 @@
+# Lint as: python3
+"""This file implements an accurate motor model."""
+
+from typing import Tuple
+
+import gin
+import numpy as np
+
+from pybullet_envs.minitaur.robots import hybrid_motor_model
+from pybullet_envs.minitaur.robots import robot_config
+
+VOLTAGE_CLIPPING = 50
+# TODO(b/73728631): Clamp the pwm signal instead of the OBSERVED_TORQUE_LIMIT.
+OBSERVED_TORQUE_LIMIT = 5.7
+MOTOR_VOLTAGE = 16.0
+MOTOR_RESISTANCE = 0.186
+MOTOR_TORQUE_CONSTANT = 0.0954
+MOTOR_VISCOUS_DAMPING = 0
+MOTOR_POS_LB = 0.5
+MOTOR_POS_UB = 2.5
+
+
+@gin.configurable
+class MinitaurMotorModel(hybrid_motor_model.HybridMotorModel):
+  """The accurate motor model, which is based on the physics of DC motors.
+
+  The motor model support two types of control: position control and torque
+  control. In position control mode, a desired motor angle is specified, and a
+  torque is computed based on the internal motor model. When the torque control
+  is specified, a pwm signal in the range of [-1.0, 1.0] is converted to the
+  torque.
+
+  The internal motor model takes the following factors into consideration:
+  pd gains, viscous friction, back-EMF voltage and current-torque profile.
+  """
+
+  def __init__(self,
+               num_motors: int,
+               voltage_clipping: float = VOLTAGE_CLIPPING,
+               observed_torque_limit: float = OBSERVED_TORQUE_LIMIT,
+               motor_voltage: float = MOTOR_VOLTAGE,
+               motor_resistance: float = MOTOR_RESISTANCE,
+               motor_torque_constant: float = MOTOR_TORQUE_CONSTANT,
+               motor_viscous_damping: float = MOTOR_VISCOUS_DAMPING,
+               motor_pos_lb: float = MOTOR_POS_LB,
+               motor_pos_ub: float = MOTOR_POS_UB,
+               **kwargs):
+    super(MinitaurMotorModel, self).__init__(num_motors, **kwargs)
+    self._voltage_clipping = voltage_clipping
+    self._observed_torque_limit = observed_torque_limit
+    self._voltage = motor_voltage
+    self._resistance = motor_resistance
+    self._torque_constant = motor_torque_constant
+    self._viscous_damping = motor_viscous_damping
+    self._motor_pos_lb = motor_pos_lb
+    self._motor_pos_ub = motor_pos_ub
+    self._current_table = [0, 10, 20, 30, 40, 50, 60]
+    self._torque_table = [0, 1, 1.9, 2.45, 3.0, 3.25, 3.5]
+
+  def set_voltage(self, voltage):
+    self._voltage = voltage
+
+  def get_voltage(self):
+    return self._voltage
+
+  def set_viscous_damping(self, viscous_damping):
+    self._viscous_damping = viscous_damping
+
+  def get_viscous_dampling(self):
+    return self._viscous_damping
+
+  def get_motor_torques(
+      self,
+      motor_commands: np.ndarray,
+      motor_control_mode=None) -> Tuple[np.ndarray, np.ndarray]:
+    """Convert the commands (position control or pwm control) to torque.
+
+    Args:
+      motor_commands: The desired motor angle if the motor is in position
+        control mode. The pwm signal if the motor is in torque control mode.
+      motor_control_mode: A MotorControlMode enum.
+
+    Returns:
+      actual_torque: The torque that needs to be applied to the motor.
+      observed_torque: The torque observed by the sensor.
+    """
+    if not motor_control_mode:
+      motor_control_mode = self._motor_control_mode
+
+    if (motor_control_mode is robot_config.MotorControlMode.TORQUE) or (
+        motor_control_mode is robot_config.MotorControlMode.HYBRID):
+      raise ValueError(
+          "{} is not a supported motor control mode".format(motor_control_mode))
+
+    motor_angle, motor_velocity = self.get_motor_states()
+    _, true_motor_velocity = self.get_motor_states(latency=0)
+
+    kp = self._kp
+    kd = self._kd
+
+    pwm = -1 * kp * (motor_angle - motor_commands) - kd * motor_velocity
+    pwm = np.clip(pwm, -1.0, 1.0)
+    return self._convert_to_torque_from_pwm(pwm, true_motor_velocity)
+
+  def _convert_to_torque_from_pwm(self, pwm: np.ndarray,
+                                  true_motor_velocity: np.ndarray):
+    """Convert the pwm signal to torque.
+
+    Args:
+      pwm: The pulse width modulation.
+      true_motor_velocity: The true motor velocity at the current moment. It is
+        used to compute the back EMF voltage and the viscous damping.
+
+    Returns:
+      actual_torque: The torque that needs to be applied to the motor.
+      observed_torque: The torque observed by the sensor.
+    """
+    observed_torque = np.clip(
+        self._torque_constant *
+        (np.asarray(pwm) * self._voltage / self._resistance),
+        -self._observed_torque_limit, self._observed_torque_limit)
+    if (self._torque_lower_limits is not None or
+        self._torque_upper_limits is not None):
+      observed_torque = np.clip(observed_torque, self._torque_lower_limits,
+                                self._torque_upper_limits)
+
+    # Net voltage is clipped at 50V by diodes on the motor controller.
+    voltage_net = np.clip(
+        np.asarray(pwm) * self._voltage -
+        (self._torque_constant + self._viscous_damping) *
+        np.asarray(true_motor_velocity), -self._voltage_clipping,
+        self._voltage_clipping)
+    current = voltage_net / self._resistance
+    current_sign = np.sign(current)
+    current_magnitude = np.absolute(current)
+    # Saturate torque based on empirical current relation.
+    actual_torque = np.interp(current_magnitude, self._current_table,
+                              self._torque_table)
+    actual_torque = np.multiply(current_sign, actual_torque)
+    actual_torque = np.multiply(self._strength_ratios, actual_torque)
+    if (self._torque_lower_limits is not None or
+        self._torque_upper_limits is not None):
+      actual_torque = np.clip(actual_torque, self._torque_lower_limits,
+                              self._torque_upper_limits)
+    return observed_torque, actual_torque
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py
new file mode 100644
index 0000000000..34d97a50df
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/minitaur_v2.py
@@ -0,0 +1,122 @@
+# Lint as: python3
+"""Pybullet simulation of Minitaur robot."""
+import math
+from typing import Dict, Tuple, Union, Text
+
+from absl import logging
+import gin
+
+from pybullet_envs.minitaur.robots import minitaur_constants
+from pybullet_envs.minitaur.robots import quadruped_base
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots import robot_urdf_loader
+
+
+@gin.configurable
+class Minitaur(quadruped_base.QuadrupedBase):
+  """Minitaur simulation model in pyBullet."""
+
+  def _pre_load(self):
+    try:
+      use_constrained_base = gin.query_parameter(
+          "robot_urdf_loader.RobotUrdfLoader.constrained_base")
+    except ValueError:
+      use_constrained_base = False
+    if use_constrained_base:
+      logging.warn(
+          "use_constrained_base is currently not compatible with Minitaur's "
+          "leg constraints."
+      )
+
+    self._urdf_loader = robot_urdf_loader.RobotUrdfLoader(
+        pybullet_client=self._pybullet_client,
+        enable_self_collision=True,
+        urdf_path=minitaur_constants.MINITAUR_URDF_PATH,
+        init_base_position=minitaur_constants.INIT_POSITION,
+        init_base_orientation_quaternion=minitaur_constants
+        .INIT_ORIENTATION_QUAT,
+        init_base_orientation_rpy=minitaur_constants.INIT_ORIENTATION_RPY,
+        init_joint_angles=minitaur_constants.INIT_JOINT_ANGLES,
+        joint_offsets=minitaur_constants.JOINT_OFFSETS,
+        joint_directions=minitaur_constants.JOINT_DIRECTIONS,
+        motor_names=minitaur_constants.MOTOR_NAMES,
+        end_effector_names=minitaur_constants.END_EFFECTOR_NAMES,
+        user_group=minitaur_constants.MOTOR_GROUP,
+    )
+
+  def _on_load(self):
+    """Add hinge constraint for Minitaur's diamond shaped leg after loading."""
+    half_pi = math.pi / 2.0
+    knee_angle = -2.1834
+    for (leg_id, leg_position) in enumerate(minitaur_constants.LEG_ORDER):
+      self._pybullet_client.resetJointState(
+          self._urdf_loader.robot_id,
+          self._joint_id_dict["motor_" + leg_position + "L_joint"],
+          self._motor_directions[2 * leg_id] * half_pi,
+          targetVelocity=0)
+      self._pybullet_client.resetJointState(
+          self._urdf_loader.robot_id,
+          self._joint_id_dict["knee_" + leg_position + "L_joint"],
+          self._motor_directions[2 * leg_id] * knee_angle,
+          targetVelocity=0)
+      self._pybullet_client.resetJointState(
+          self._urdf_loader.robot_id,
+          self._joint_id_dict["motor_" + leg_position + "R_joint"],
+          self._motor_directions[2 * leg_id + 1] * half_pi,
+          targetVelocity=0)
+      self._pybullet_client.resetJointState(
+          self._urdf_loader.robot_id,
+          self._joint_id_dict["knee_" + leg_position + "R_joint"],
+          self._motor_directions[2 * leg_id + 1] * knee_angle,
+          targetVelocity=0)
+
+      if leg_id < 2:
+        self._pybullet_client.createConstraint(
+            self._urdf_loader.robot_id,
+            self._joint_id_dict["knee_" + leg_position + "R_joint"],
+            self._urdf_loader.robot_id,
+            self._joint_id_dict["knee_" + leg_position + "L_joint"],
+            self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0],
+            minitaur_constants.KNEE_CONSTRAINT_POINT_SHORT,
+            minitaur_constants.KNEE_CONSTRAINT_POINT_LONG)
+      else:
+        self._pybullet_client.createConstraint(
+            self._urdf_loader.robot_id,
+            self._joint_id_dict["knee_" + leg_position + "R_joint"],
+            self._urdf_loader.robot_id,
+            self._joint_id_dict["knee_" + leg_position + "L_joint"],
+            self._pybullet_client.JOINT_POINT2POINT, [0, 0, 0],
+            minitaur_constants.KNEE_CONSTRAINT_POINT_LONG,
+            minitaur_constants.KNEE_CONSTRAINT_POINT_SHORT)
+    self.receive_observation()
+
+  def _reset_joint_angles(self,
+                          joint_angles: Union[Tuple[float], Dict[Text,
+                                                                 float]] = None,
+                          num_reset_steps: int = 100):
+    """Resets joint angles of the robot.
+
+    Note that since Minitaur has additional leg constraints on the end
+    effectors, directly setting joint angles will lead to constraint violation.
+    Instead, we apply motor commands to move the motors to the desired position.
+
+    Args:
+      joint_angles: the desired joint angles to reset to.
+      num_reset_steps: number of reset steps.
+    """
+    if joint_angles is None:
+      joint_angles = minitaur_constants.INIT_JOINT_ANGLES
+    actions = joint_angles
+    if isinstance(joint_angles, dict):
+      actions = [
+          joint_angles[joint_name]
+          for joint_name in minitaur_constants.JOINT_NAMES
+      ]
+
+    # TODO(b/157786642): since the simulation clock is not stepped here, this
+    # reset behaves slightly different compared to the old robot class.
+    for _ in range(num_reset_steps):
+      self.apply_action(
+          actions, motor_control_mode=robot_config.MotorControlMode.POSITION)
+      self._pybullet_client.stepSimulation()
+      self.receive_observation()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/object_controller.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/object_controller.py
new file mode 100644
index 0000000000..2e7dbae816
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/object_controller.py
@@ -0,0 +1,810 @@
+# Lint as: python3
+"""Module for controllers of autonomous objects."""
+
+import abc
+import bisect
+import enum
+from typing import Any, Dict, Optional, Sequence, Text, Tuple, Union
+
+from absl import logging
+import dataclasses
+import gin
+import numpy as np
+
+
+# A constant to be passed into act as parameter t for initial value.
+INIT_TIME = -1.0
+
+# Distance that is deemed close enough in ChaseController.
+_EPS_DISTANCE = 1e-4
+
+ControllerOutput = Tuple[np.ndarray, np.ndarray, Dict[Text, Any]]
+
+ANIMATION_FRAME_NUMBER_KEY = "animation_frame_number"
+
+
+class ControllerBase(metaclass=abc.ABCMeta):
+  """Base class of object controllers.
+
+  Controller is similar to a policy in that its output controls autonomous
+  object just as policy output controls agent. To reflect this similarity,
+  get_action(), the function that "commands" to autonomous object, is named
+  similar to the counterpart in policy.
+  """
+
+  @abc.abstractmethod
+  def get_action(self,
+                 time_sec: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns position, orientation and pose based on time and observations.
+
+    Args:
+      time_sec: Time since simulation reset in seconds. If time < 0, returns
+        initial values and ignores observations.
+      observations: A dict of all observations.
+
+    Returns:
+      Position, orientation and an extra info dict for robot joints, human
+        skeletal pose, etc.
+    """
+
+
+@gin.configurable
+class StationaryController(ControllerBase):
+  """Controller that keeps constant position and orientation."""
+
+  def __init__(self,
+               position: Sequence[float] = None,
+               orientation: Sequence[float] = None):
+    self._position = np.array(position if position is not None else (0, 0, 0))
+    self._orientation = np.array(
+        orientation if orientation is not None else (0, 0, 0, 1))
+
+  def get_action(self,
+                 t: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns constant position orientation."""
+    del t, observations
+    return self._position, self._orientation, {}
+
+
+@gin.configurable
+class CircularMotionController(ControllerBase):
+  """Controller for circular motion.
+
+  The motion trajectory goes around a center in a circle in xy-plane.
+  """
+
+  def __init__(self,
+               center: Sequence[float],
+               radius: float,
+               angular_velocity: float = np.pi,
+               face_travel_direction: bool = False):
+    """Constructor.
+
+    Args:
+      center: Center of circular motion, [x, y, z] in meters.
+      radius: Radius of the circle in meters.
+      angular_velocity: Angular velocity of motion, unit rad/s, e.g. pi means
+        completing a circle in 2 sec.
+      face_travel_direction: If True, object will face direction of motion.
+    """
+
+    self._center = np.array(center)
+    self._radius = radius
+    self._angular_velocity = angular_velocity
+    self._face_travel_direction = face_travel_direction
+
+  def get_action(self,
+                 t: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns position on the circle based on time and constant orientation."""
+    del observations
+
+    t = max(0.0, t)
+    position = np.array(
+        [np.cos(self._angular_velocity * t),
+         np.sin(self._angular_velocity * t),
+         0]) * self._radius + self._center
+    if self._face_travel_direction:
+      yaw = self._angular_velocity * t + (
+          np.sign(self._angular_velocity) * np.pi / 2)
+      orientation = np.array((0, 0, np.sin(yaw / 2), np.cos(yaw / 2)))
+    else:
+      orientation = np.array((0, 0, 0, 1))
+    return position, orientation, {}
+
+
+class PatrolRepeatMode(enum.Enum):
+  """Enums that defines trajectory repeat mode for patrol type controller."""
+
+  # Trajectory does not repeat.  For 3 points a, b, c, the trajectory moves
+  # along a -> b -> c and then stops at c forever.
+  NO_REPEAT = 0
+
+  # Trajectory repeats as a loop. For 3 points a, b, c, the trajectory moves
+  # along a -> b -> c -> a -> b ...
+  LOOP = 1
+
+  # Trajectory repeats back tracking previous point first. For 3 points a, b, c,
+  # the trajectory moves along a -> b -> c -> b -> a -> b -> c ...
+  BACK_TRACK = 2
+
+  # Trajectory repeats by resetting to the initial position after reaching end.
+  # For 3 points a, b, c, the trajectory moves a -> b -> c then immediately
+  # jumps back to a before continue moving along a -> b -> c again.
+  RESET = 3
+
+
+@dataclasses.dataclass
+class PatrolSegmentData:
+  """A data class that describes a patrol segment."""
+
+  # Time in a single cycle to start this segment, range [0, cycle_time).
+  start_time: float
+
+  # Segment start position.
+  start_position: np.ndarray
+
+  # Segment velocity vector.
+  velocity: np.ndarray
+
+  # Orientation quaternion of this segment.
+  orientation: np.ndarray
+
+
+@gin.configurable
+class WayPointPatrolController(ControllerBase):
+  """Controller for patrolling along define waypoints."""
+
+  def __init__(self,
+               points: Sequence[Sequence[float]],
+               yaw_angle: float = 0,
+               face_travel_direction: bool = True,
+               repeat_mode: Union[
+                   PatrolRepeatMode, Text] = PatrolRepeatMode.NO_REPEAT,
+               speed_mps: Optional[float] = 1.0,
+               time_points: Optional[Sequence[float]] = None):
+    """Constructor.
+
+    Args:
+      points: List of waypoints, shape Nx3 or Nx2, N is number of points.
+      yaw_angle: Yaw angle of the object in radians.
+      face_travel_direction: If True, yaw angle 'zero' will be redefined to be
+        object's travel direction. Setting yaw_angle to zero with
+        face_travel_direction == True will results in object always facing its
+        travel direction. Non-zero yaw_angle will cause additional yaw offsets.
+      repeat_mode: Behavior of object after reaching the last way point in list.
+        If the value is Text, it is converted to PatrolRepeatMode.
+      speed_mps: Speed in meters per second.
+      time_points: List of times associated with points. These times
+        represent when the object should arrive at the associated waypoint.
+        Optional, but if provided it must have the same length as 'points'.
+        If 'speed_mps' is None, then 'time_points' will be used as-is and there
+        is no maximum segment speed. If 'speed_mps' is also defined, then it
+        serves as a maximum speed value and time points which would result in a
+        segment speed above this value will be altered such that the maximum
+        segment speed is 'speed_mps'.
+    """
+    self._repeat = (repeat_mode if isinstance(repeat_mode, PatrolRepeatMode)
+                    else PatrolRepeatMode[repeat_mode])
+    self._yaw_angle = yaw_angle
+    self._face_travel_direction = face_travel_direction
+    self._speed_mps = speed_mps
+
+    if len(points) < 2:
+      raise ValueError(
+          f"Need at least two points in 'points', got {len(points)}")
+
+    if time_points is not None and self._repeat is PatrolRepeatMode.LOOP:
+      raise ValueError("Time points are not compatible with LOOP mode.")
+
+    if (self._repeat is PatrolRepeatMode.NO_REPEAT or
+        self._repeat is PatrolRepeatMode.RESET):
+      augmented_points = points
+
+      if time_points is not None:
+        augmented_time_points = time_points
+    elif self._repeat is PatrolRepeatMode.LOOP:
+      augmented_points = list(points) + [points[0]]
+    elif self._repeat is PatrolRepeatMode.BACK_TRACK:
+      augmented_points = list(points) + list(reversed(points[:-1]))
+
+      if time_points is not None:
+        # Time strictly increases, so add the timepoints again on top
+        # of the last entry. We add the difference between the last time
+        # and the previous elements (in reverse order), on top of the last
+        # element where we left off.
+        augmented_time_points = list(time_points) + \
+            list(time_points[-1] + (time_points[-1] - np.array(time_points[1::-1])))
+    else:
+      raise NotImplementedError(
+          f"Repeat mode {self._repeat} is not supported yet.")
+
+    augmented_points = np.array(augmented_points)
+    # For Nx2 inputs, pad it to Nx3 with default z value of 0.
+    if augmented_points.shape[1] == 2:
+      augmented_points = np.hstack(
+          augmented_points, np.zeros(augmented_points.shape[0], 1))
+    elif augmented_points.shape[1] != 3:
+      raise ValueError("Expect 'points' to be Nx2 or Nx3.")
+
+    t = 0
+    self._segments = []
+
+    if time_points is None:
+      for from_point, to_point in zip(
+          augmented_points[:-1], augmented_points[1:]):
+        segment, t = self._get_patrol_segment_by_speed(from_point, to_point, t)
+        self._segments.append(segment)
+    else:
+      for from_point, to_point, from_time, to_time in zip(
+          augmented_points[:-1], augmented_points[1:],
+          augmented_time_points[:-1], augmented_time_points[1:]):
+        segment, t = self._get_patrol_segment_by_time(from_point, to_point, t,
+                                                      t + (to_time - from_time))
+        self._segments.append(segment)
+
+    self._segment_times = [l.start_time for l in self._segments]
+
+    self._cycle_time = t
+
+  def _get_patrol_segment_by_time(self,
+                                  from_point,
+                                  to_point,
+                                  from_time,
+                                  to_time):
+    """Returns a PatrolSegmentData for the given points and times."""
+    unit_vector, length = self._get_vector(from_point, to_point)
+    orientation = self._get_orientation(unit_vector)
+
+    if np.isclose(to_time, from_time):
+      speed_mps = 0
+    else:
+      speed_mps = length / (to_time - from_time)
+
+      if self._speed_mps is not None:
+        speed_mps = np.min([self._speed_mps, speed_mps])
+
+    if np.isclose(0, speed_mps):
+      new_to_time = to_time
+    else:
+      new_to_time = np.max([to_time, from_time + (length / speed_mps)])
+
+    segment = PatrolSegmentData(
+        start_time=from_time,
+        start_position=np.array(from_point),
+        velocity=unit_vector * speed_mps,
+        orientation=orientation)
+
+    return segment, new_to_time
+
+  def _get_patrol_segment_by_speed(self, from_point, to_point, current_time):
+    """Returns a PatrolSegmentData for the given points and a constant speed."""
+    unit_vector, length = self._get_vector(from_point, to_point)
+    orientation = self._get_orientation(unit_vector)
+
+    segment = PatrolSegmentData(
+        start_time=current_time,
+        start_position=np.array(from_point),
+        velocity=unit_vector * self._speed_mps,
+        orientation=orientation)
+    time = current_time + length / self._speed_mps
+
+    return segment, time
+
+  def _get_vector(self, from_point, to_point):
+    """Gets the unit vector and length of a from/to point pair."""
+    vector = np.array(to_point) - np.array(from_point)
+    length = np.linalg.norm(vector)
+
+    if length == 0:
+      raise ValueError(f"Length of patrol segment equal to 0, "
+                       f"from {from_point} to {to_point}.")
+    unit_vector = vector / length
+
+    return unit_vector, length
+
+  def _get_orientation(self, unit_vector):
+    """Gets the orientation quaternion given a unit vector."""
+    yaw = (np.arctan2(unit_vector[1], unit_vector[0])
+           if self._face_travel_direction else 0) + self._yaw_angle
+
+    orientation = np.array((0, 0, np.sin(yaw / 2), np.cos(yaw / 2)))
+
+    return orientation
+
+  def get_action(self,
+                 t: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns position on, and orientation along the patrol segment."""
+    del observations
+
+    # t < 0 means initial condition, which is the same as the value at t = 0.
+    t = max(0, t)
+
+    if t > self._cycle_time:
+      t = (self._cycle_time if self._repeat is PatrolRepeatMode.NO_REPEAT
+           else np.fmod(t, self._cycle_time))
+
+    segment = self._segments[bisect.bisect_right(self._segment_times, t) - 1]
+    position = (
+        segment.start_position + segment.velocity * (t - segment.start_time))
+
+    return position, segment.orientation.copy(), {}
+
+
+@gin.configurable
+class LinearPatrolController(WayPointPatrolController):
+  """Controller for patrolling along a line segment (back and forth)."""
+
+  def __init__(self,
+               from_point: Sequence[float],
+               to_point: Sequence[float],
+               **kwargs):
+    """Constructor.
+
+    Args:
+      from_point: Starting point of motion, [x, y, z] in meters.
+      to_point: Returning point of motion, [x, y, z] in meters.
+      **kwargs: Keyword arguments to pass onto base class.
+    """
+    super().__init__([from_point, to_point],
+                     repeat_mode=PatrolRepeatMode.LOOP,
+                     **kwargs)
+
+
+# TODO(b/156126975): migrates this to use difference equation controller.
+@gin.configurable
+class ChaseController(ControllerBase):
+  """Controller for an object to chase another object at certain speed."""
+
+  def __init__(self,
+               self_key: Text,
+               target_key: Text,
+               initial_position: Sequence[float] = (0, 0, 0),
+               initial_orientation: Sequence[float] = (0, 0, 0, 1),
+               speed_mps: float = 1.0,
+               verbose: bool = False):
+    """Constructor.
+
+    Args:
+      self_key: Observation dict key of position of object being controlled.
+      target_key: Observation dict key of position of target object.
+      initial_position: Initial position of the object.
+      initial_orientation: Initial orientation of the object in xyzw quaternion.
+      speed_mps: Speed in meters per second, always positive.
+      verbose: If True, log details of get_action() calculation for debugging.
+    """
+    self._init_position = np.array(initial_position)
+    self._init_orientation = np.array(initial_orientation)
+    self._previous_orientation = self._init_orientation
+    if speed_mps <= 0:
+      raise ValueError(
+          f"'speed_mps' should be a positive value, got {speed_mps}.")
+    self._speed_mps = speed_mps
+
+    self._self_key = self_key
+    self._target_key = target_key
+    self._verbose = verbose
+
+    self._time_sec = 0
+
+  def get_action(self,
+                 time_sec: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns position and orientation of the object being controlled.
+
+    Args:
+      time_sec: Time since simulation reset in seconds. If time < 0, returns
+        initial values and ignores observations.
+      observations: A dict of all observations.
+    """
+    if time_sec < 0:
+      # Initializes internal time.
+      self._time_sec = 0
+      return self._init_position.copy(), self._init_orientation.copy(), {}
+
+    self_position = observations[self._self_key]
+    target_position = observations[self._target_key]
+
+    # Calculates delta vector and projects it to xy-plane.
+    delta_vector = (target_position - self_position) * (1, 1, 0)
+    delta_t = time_sec - self._time_sec
+
+    # Advances internal time.
+    self._time_sec = time_sec
+
+    if self._verbose:
+      with np.printoptions(precision=3, suppress=True):
+        logging.info("t = %.1f, self %s: %s, target %s: %s, v: %s, dt %.1f.",
+                     self._t,
+                     self._self_key, observations[self._self_key],
+                     self._target_key, observations[self._target_key],
+                     delta_vector, delta_t)
+
+    # Avoids sigularity when it is close enough. Keeps previous orientation.
+    distance = np.linalg.norm(delta_vector)
+    if distance < _EPS_DISTANCE:
+      return target_position.copy(), self._previous_orientation.copy(), {}
+
+    unit_delta_vector = delta_vector / distance
+    new_position = (unit_delta_vector * min(self._speed_mps * delta_t, distance)
+                    + self_position)
+
+    new_yaw = np.arctan2(unit_delta_vector[1], unit_delta_vector[0])
+    new_orientation = np.array((0, 0, np.sin(new_yaw / 2), np.cos(new_yaw / 2)))
+    self._previous_orientation = new_orientation
+
+    return new_position, new_orientation.copy(), {}
+
+
+@gin.configurable
+class AnimationFrameController(ControllerBase):
+  """An extra action controller to control playback of animation sequence."""
+
+  def __init__(self, fps: float = 10.0,
+               pause_between_repeat_sec: float = 0.0,
+               start_time_sec: float = 0.0):
+    """Constructor.
+
+    Args:
+      fps: Frame per second of animation.
+      pause_between_repeat_sec: Pause between repeat in second.
+      start_time_sec: The time when animation starts to play.
+    """
+    self._fps = fps
+    self._total_length = None
+    self._pause_between_repeat_sec = pause_between_repeat_sec
+    self._start_time_sec = start_time_sec
+
+  def set_total_length(self, total_length: int):
+    """Sets total animation frame length."""
+    if total_length <= 0:
+      raise ValueError(
+          f"Total number of frame must be >= 0, got {total_length}.")
+    self._total_length = total_length
+
+  def get_action(self,
+                 time_sec: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Returns animation frame number with default position and orientation.
+
+    Args:
+      time_sec: Time since simulation reset in seconds. If time < 0, returns
+        initial values and ignores observations.
+      observations: A dict of all observations.
+    """
+    time_sec = max(0, time_sec - self._start_time_sec)
+    frame = int(time_sec * self._fps)
+    if self._total_length:
+      frame = frame % (
+          self._total_length + int(self._pause_between_repeat_sec * self._fps))
+      frame = min(frame, self._total_length - 1)
+    return np.ndarray((0, 0, 0)), np.ndarray((0, 0, 0, 1)), {
+        ANIMATION_FRAME_NUMBER_KEY: frame}
+
+
+@gin.configurable
+class ConversationController(ControllerBase):
+  """Controller for an object that mimics conversational behavior.
+
+  A controlled object is arrayed in a conversation about a center point.
+  When a target object reaches a thresholded distance away from the center,
+  the controlled object will face the target object and move away from
+  the target's intended path along an orthogonal direction vector until it
+  passes.
+  """
+
+  def __init__(self,
+               self_key: Text,
+               target_key: Text,
+               position: Sequence[float] = None,
+               orientation: Sequence[float] = None,
+               conversation_center: Sequence[float] = None,
+               proximity_threshold: float = 1.0,
+               speed_mps: float = 0.1):
+    """Constructor.
+
+    Args:
+      self_key: Observation dict key of position of object being controlled.
+      target_key: Observation dict key of position of target object.
+      position: Initial position of the object.
+      orientation: Initial orientation of the object in xyzw quaternion.
+      conversation_center: Position of the center of the conversation group.
+      proximity_threshold: The distance from the conversation center that the
+        target must reach in order to prompt a response from the controlled
+        object.
+      speed_mps: Speed in meters per second, always positive.
+    """
+    self._self_key = self_key
+    self._target_key = target_key
+    self._position = np.array(position or (0, 0, 0))
+    self._orientation = np.array(orientation or (0, 0, 0, 1))
+    self._conversation_center = np.array(conversation_center or (0, 0, 0))
+    self._proximity_threshold = proximity_threshold
+    self._speed_mps = speed_mps
+
+    self._prev_target_position = None
+    self._wait_position = None
+
+  def _get_wait_position(self, self_position, target_position):
+    """Gets the waiting position for the controlled object.
+
+    This returns the position that the controlled object should move towards
+    to create physical space such that the target object may pass through
+    the conversation space.
+
+    Args:
+      self_position: The current position of the controlled object.
+      target_position: The current position of the target object.
+
+    Returns:
+      An xyz position representing the waiting position that the controlled
+      object should move towards to create space.
+    """
+    # Find an orthogonal projection to the target's path
+    target_path = np.array(target_position - self._prev_target_position)
+    self_path = np.array(self_position - self._prev_target_position)
+
+    unit_target_path = target_path / np.linalg.norm(target_path)
+
+    projected_point = np.dot(self_path, unit_target_path) * unit_target_path
+    projected_point += self._prev_target_position
+
+    # Get the position that lies along the orthogonal projection vector
+    # but in the opposite direction from the target's path and exactly
+    # proximity_threshold distance away.
+    return self._get_position(
+        projected_point,
+        self_position,
+        self._proximity_threshold,
+        self._proximity_threshold)
+
+  def _get_orientation(self, source_position, target_position):
+    """Gets orientation required to face target_position from source_position.
+
+    Args:
+      source_position: The source position where an object would be located.
+      target_position: The target position that an object should face.
+
+    Returns:
+      A xyzw quaternion indicating the orientation.
+    """
+    if np.allclose(source_position, target_position):
+      return self._orientation
+
+    delta_vector = (target_position - source_position) * (1, 1, 0)
+
+    new_yaw = np.arctan2(delta_vector[1], delta_vector[0])
+    new_orientation = np.array(
+        (0, 0, np.sin(new_yaw / 2), np.cos(new_yaw / 2)))
+
+    return new_orientation
+
+  def _get_position(self,
+                    source_position,
+                    target_position,
+                    min_delta,
+                    max_delta):
+    """Gets the next position along the vector from source to target.
+
+    This returns the position that should be moved to next which lies along
+    the direction vector from source -> target with a minimum length of
+    min_delta and a maximum distance of max_delta.
+
+    Args:
+      source_position: The current position of the controlled object.
+      target_position: The target position to move to.
+      min_delta: The minimum amount of distance to move.
+      max_delta: The maximum amount of distance to move.
+
+    Returns:
+      An xyz position representing the next position to move to.
+    """
+    delta_vector = (target_position - source_position) * (1, 1, 0)
+    distance = np.linalg.norm(delta_vector)
+
+    # If the distance to the target is greater than the maximum step delta,
+    # then normalize the vector and set it to the max step delta.
+    if distance > max_delta:
+      delta_vector = (delta_vector / distance) * max_delta
+    # If the distance is less than the minimum step delta, then normalize
+    # the vector and set it to the min step delta.
+    elif distance < min_delta:
+      delta_vector = (delta_vector / distance) * min_delta
+
+    new_position = (delta_vector + source_position)
+
+    return new_position
+
+  def _get_target_distance_to_center(self, target_position):
+    """Gets the distance from the target to the conversation center point.
+
+    Args:
+      target_position: The target position.
+
+    Returns:
+      The scalar distance from the target position to the conversation center.
+    """
+    # Calculates delta vector and projects it to xy-plane.
+    delta_vector = (target_position - self._conversation_center) * (1, 1, 0)
+
+    # Compute the length of the delta vector.
+    return np.linalg.norm(delta_vector)
+
+  def get_action(self,
+                 t: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+    """Gets the position and orientation of the controlled object.
+
+    Args:
+      t: The current time step.
+      observations: Dict containing sensor observations for current time step.
+
+    Returns:
+      The new position and orientation for the controlled object.
+    """
+
+    position = self._position
+    orientation = self._orientation
+
+    # Observations are only available for positive time steps.
+    if t >= 0:
+      self_position = observations[self._self_key]
+      target_position = observations[self._target_key]
+
+      target_distance = self._get_target_distance_to_center(target_position)
+
+      # Check if the target is within the threshold distance of the
+      # conversation center.
+      if(target_distance < self._proximity_threshold and
+         self._prev_target_position is not None):
+
+        # If it is, get the position that the controlled object should move to
+        # in order to create space and get the resulting action/orientation.
+        wait_position = self._get_wait_position(self_position, target_position)
+
+        orientation = self._get_orientation(
+            self_position,
+            target_position)
+
+        position = self._get_position(
+            self_position,
+            wait_position,
+            0.0,
+            self._speed_mps)
+      else:
+        # Otherwise, get the position/orientation required to move back to
+        # the original position and face the conversation center.
+        orientation = self._get_orientation(
+            self_position,
+            self._conversation_center)
+
+        position = self._get_position(
+            self_position,
+            self._position,
+            0.0,
+            self._speed_mps)
+
+      self._prev_target_position = target_position
+
+    # Only return a new position along the x/y axis, z should be unaffected.
+    position = np.array([position[0], position[1], self._position[2]])
+    return position, orientation, {}
+
+
+@gin.configurable
+class PauseIfCloseByWrapper(ControllerBase):
+  """A controller wrapper that pauses controller if object is close to others.
+
+  This wrapper works best if the underlying controller is time based. It is
+  intended to be a simple way to stop agent when blocked and is not for
+  reliable collision avoidance.
+  """
+
+  _DEFAULT_PAUSE_DISTANCE_M = 1.0
+
+  def __init__(
+      self,
+      wrapped_controller: ControllerBase,
+      self_pos_key: Text,
+      others_pos_keys: Sequence[Text],
+      pause_distance: Union[float, Sequence[float]] = _DEFAULT_PAUSE_DISTANCE_M,
+      self_yaw_key: Optional[Text] = None,
+      active_front_sector: Optional[float] = None):
+    """Constructor.
+
+    Args:
+      wrapped_controller: The controller being wrapped.
+      self_pos_key: Observation key of self position.
+      others_pos_keys: Observation keys of others' positions.
+      pause_distance: The distance limit before the controller pauses in meters.
+        Can be a float value which applies to all objects specified in
+        others_pos_keys or a Sequence of float values with the same length
+        as others_pos_keys denoting the pause distance for each individual
+        object in the same order in others_pos_keys. Default pause distance is
+        one meter.
+      self_yaw_key: Observation key of self yaw. Required if active_front_sector
+        is specified.
+      active_front_sector: If specified, it defines pie-shaped active region in
+        front of controlled object. The pie-shaped area is symmetric about the
+        forward direction of controlled object with it angle defined by this
+        arg in radians, Only when other objects shows up in this region and
+        pause distance requirement is met, pause is actived.
+    """
+
+    self._controller = wrapped_controller
+    self._pause_start_t = -1
+    self._shift_t = 0
+    self._last_action = None
+    self._self_pos_key = self_pos_key
+    self._others_pos_keys = list(others_pos_keys)  # Make a copy.
+
+    if isinstance(pause_distance, float):
+      pause_distance = [pause_distance] * len(others_pos_keys)
+
+    if len(pause_distance) != len(others_pos_keys):
+      raise ValueError(
+          "pause_distance and others_pos_keys must have the same length.")
+    self._pause_distance = list(pause_distance)  # Make a copy.
+
+    if active_front_sector is not None and self_yaw_key is None:
+      raise ValueError(
+          "self_yaw_key must be specified if active_front_sector is specified.")
+
+    self._self_yaw_key = self_yaw_key
+    self._active_front_sector = active_front_sector
+
+  def get_action(self,
+                 t: float,
+                 observations: Dict[Text, Any]) -> ControllerOutput:
+
+    """Gets the position and orientation of the controlled object.
+
+    Args:
+      t: The current time step.
+      observations: Dict containing sensor observations for current time step.
+
+    Returns:
+      The new position and orientation for the controlled object.
+    """
+    if t < 0:
+      self._pause_start_t = -1
+      self._shift_t = 0
+      self._last_action = self._controller.get_action(
+          t, observations)
+      return self._last_action
+
+    if self._should_pause(observations):
+      # Only record the start time of pause.
+      if self._pause_start_t < 0:
+        self._pause_start_t = t
+      return self._last_action
+    else:
+      if self._pause_start_t >= 0:
+        self._shift_t += t - self._pause_start_t
+        self._pause_start_t = -1
+
+      self._last_action = self._controller.get_action(
+          t - self._shift_t, observations)
+      return self._last_action
+
+  def _should_pause(self, observations) -> bool:
+    """Determines whether the controller should pause."""
+    self_position_2d = observations[self._self_pos_key][:2]
+    for pos_key, pause_distance in zip(
+        self._others_pos_keys, self._pause_distance):
+      position_2d = observations[pos_key][:2]
+      vector_2d = position_2d - self_position_2d
+      distance = np.linalg.norm(vector_2d)
+
+      if self._active_front_sector is None:
+        return distance <= pause_distance
+      else:
+        yaw = observations[self._self_yaw_key][0]
+        dot = np.dot(vector_2d / distance, np.array([np.cos(yaw), np.sin(yaw)]))
+        return (distance <= pause_distance and
+                np.arccos(dot) < self._active_front_sector / 2)
+
+    return False
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py
new file mode 100644
index 0000000000..960c278ed6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/quadruped_base.py
@@ -0,0 +1,724 @@
+# Lint as: python3
+"""The base class for all quadrupeds."""
+from typing import Any, Callable, Dict, Sequence, Tuple, Text, Union
+import gin
+import gym
+import numpy as np
+
+from pybullet_utils import bullet_client
+from pybullet_envs.minitaur.envs_v2.sensors import sensor as sensor_lib
+from pybullet_envs.minitaur.robots import hybrid_motor_model
+from pybullet_envs.minitaur.robots import robot_base
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots import robot_urdf_loader
+from pybullet_envs.minitaur.robots.safety import data_types as safety_data_types
+from pybullet_envs.minitaur.robots.utilities import kinematics_utils
+
+_UNIT_QUATERNION = (0, 0, 0, 1)
+_GRAVITY_ACCELERATION_OFFSET = (0, 0, 10)
+
+
+@gin.configurable
+class QuadrupedBase(robot_base.RobotBase):
+  """The basic quadruped class for both sim and real robots."""
+
+  def __init__(
+      self,
+      pybullet_client: bullet_client.BulletClient,
+      clock: Callable[..., float],
+      motor_control_mode: robot_config.MotorControlMode,
+      motor_limits: robot_config.MotorLimits,
+      motor_model_class: Any = hybrid_motor_model.HybridMotorModel,
+      action_filter: Any = None,
+      sensors: Sequence[sensor_lib.Sensor] = (),
+      safety_config: safety_data_types.SafetyConfig = None,
+      **kwargs,
+  ):
+    """Initializes the class.
+
+    Args:
+      pybullet_client: The PyBullet client.
+      clock: The sim or real clock. The clock function is typically provided by
+        the gym environment.
+      motor_control_mode: Specifies in which mode the motor operates.
+      motor_limits: The motor limits of the robot. Used by the motor_model_class
+        and action space building.
+      motor_model_class: The motor model to use. Not needed for real robots.
+      action_filter: The filter to smooth and/or regulate the actions.
+      sensors: All sensors mounted on the robot.
+      safety_config: The safety setting for the robot.
+      **kwargs: Additional args.
+    """
+
+    self._pybullet_client = pybullet_client
+    self._clock = clock
+    self._motor_control_mode = motor_control_mode
+    self._motor_model_class = motor_model_class
+    self._motor_limits = motor_limits
+    self._action_space = None
+    self._action_names = None
+    self._action_filter = action_filter
+    self._sensors = sensors
+    self._safety_config = safety_config
+    self._urdf_loader = None
+    self._last_base_velocity = np.zeros(3)
+    self._last_observation_time = self._clock()
+    self._last_base_acceleration_world = np.zeros(3)
+    self._last_base_acceleration_accelerometer = np.zeros(3)
+
+    self.load()
+
+  def load(
+      self,
+      base_position: Tuple[float] = None,
+      base_orientation_quaternion: Tuple[float] = None,
+      joint_angles: Union[Dict[Text, float], Tuple[float]] = None,
+  ):
+    """Loads the URDF with the configured pose.
+
+    Args:
+      base_position: The base position after URDF loading. Will use the
+        configured pose in gin if None.
+      base_orientation_quaternion: The base orientation after URDF loading. Will
+        use the configured values in gin if not specified.
+      joint_angles: The desired joint angles after loading. Will use the
+        configured values if None.
+    """
+    # A robot specific pre loading routing.
+    self._pre_load()
+
+    if not self._urdf_loader:
+      self._urdf_loader = robot_urdf_loader.RobotUrdfLoader(
+          pybullet_client=self._pybullet_client)
+
+    # Record the urdf pose at loading, which will be used as the rotation
+    # reference for base rotation computation.
+    self._init_urdf_position, self._init_orientation_quat = (
+        self._pybullet_client.getBasePositionAndOrientation(
+            self._urdf_loader.robot_id))
+    unused_position, self._init_orientation_inv_quat = (
+        self._pybullet_client.invertTransform(
+            position=(0, 0, 0), orientation=self._init_orientation_quat))
+
+    # Joint ids may be different from the motor ids.
+    self._joint_id_dict = self._urdf_loader.get_joint_id_dict()
+    for joint_id in self._joint_id_dict.values():
+      # Disables the default motors in PyBullet.
+      self._pybullet_client.setJointMotorControl2(
+          bodyIndex=self._urdf_loader.robot_id,
+          jointIndex=joint_id,
+          controlMode=self._pybullet_client.VELOCITY_CONTROL,
+          targetVelocity=0,
+          force=0)
+      # Removes the default joint damping in PyBullet.
+      self._pybullet_client.changeDynamics(
+          self._urdf_loader.robot_id,
+          joint_id,
+          linearDamping=0,
+          angularDamping=0)
+
+    # We expect that this is non-empty for all quadrupedes, and should be an
+    # OrderedDict.
+    self._motor_id_dict = self._urdf_loader.get_motor_id_dict()
+    if not self._motor_id_dict:
+      raise ValueError("Motor id dict cannot be empty for quadrupeds.")
+    self._motor_ids = self._motor_id_dict.values()
+    self._num_motors = len(self._motor_id_dict)
+
+    self._build_action_space()
+
+    # Not needed for real robots.
+    if self._motor_model_class:
+      # TODO(b/151664871): Also supports position/velocity limits in the motor
+      # model.
+      self._motor_model = self._motor_model_class(
+          num_motors=self._num_motors,
+          motor_control_mode=self._motor_control_mode,
+          torque_lower_limits=self._motor_limits.torque_lower_limits,
+          torque_upper_limits=self._motor_limits.torque_upper_limits,
+      )
+
+    # Caches the variable for faster computation during stepping.
+    self._motor_direction_dict = self._urdf_loader.get_joint_direction_dict(
+        self._motor_id_dict.keys())
+    self._motor_directions = np.array(list(self._motor_direction_dict.values()))
+
+    self._motor_offset_dict = self._urdf_loader.get_joint_offset_dict(
+        self._motor_id_dict.keys())
+    self._motor_offsets = np.array(list(self._motor_offset_dict.values()))
+
+    # A robot specific routine post loading.
+    self._on_load()
+
+    # Robot sensors may use information from the class. So we initialize them
+    # after the loading is done.
+    for sensor in self._sensors:
+      sensor.set_robot(self)
+
+  def _build_action_space(self):
+    """Builds the action space of the robot using the motor limits."""
+    if self._motor_control_mode == robot_config.MotorControlMode.POSITION:
+      self._action_space = gym.spaces.Box(
+          low=self._motor_limits.angle_lower_limits,
+          high=self._motor_limits.angle_upper_limits,
+          shape=(self._num_motors,),
+          dtype=np.float32)  # TODO(b/159160184) Make dtype configurable.
+      self._action_names = tuple(
+          "POSITION_{}".format(motor) for motor in self._motor_id_dict.keys())
+    elif self._motor_control_mode == robot_config.MotorControlMode.TORQUE:
+      self._action_space = gym.spaces.Box(
+          low=self._motor_limits.torque_lower_limits,
+          high=self._motor_limits.torque_upper_limits,
+          shape=(self._num_motors,),
+          dtype=np.float32)
+      self._action_names = tuple(
+          "TORQUE_{}".format(motor) for motor in self._motor_id_dict.keys())
+    elif self._motor_control_mode == robot_config.MotorControlMode.HYBRID:
+      hybrid_action_limits_low = [
+          self._motor_limits.angle_lower_limits,  # q
+          # q_dot
+          self._motor_limits.velocity_lower_limits,
+          0,  # kp
+          0,  # kd
+          self._motor_limits.torque_lower_limits
+      ]  # tau
+      hybrid_action_limits_high = [
+          self._motor_limits.angle_upper_limits,
+          self._motor_limits.velocity_upper_limits, np.inf, np.inf,
+          self._motor_limits.torque_upper_limits
+      ]
+      space_low = np.full(
+          (self._num_motors, robot_config.HYBRID_ACTION_DIMENSION),
+          hybrid_action_limits_low).ravel()
+      space_high = np.full(
+          (self._num_motors, robot_config.HYBRID_ACTION_DIMENSION),
+          hybrid_action_limits_high).ravel()
+      self._action_space = gym.spaces.Box(
+          low=space_low, high=space_high, dtype=np.float32)
+      self._action_names = tuple(
+          "HYBRID_{}".format(motor) for motor in self._motor_id_dict.keys())
+    else:
+      raise NotImplementedError("Not yet implemented!")
+
+  def _pre_load(self):
+    """Robot specific pre load routine.
+
+    For example, this allows configuration of the URDF loader.
+    """
+    pass
+
+  def _on_load(self):
+    """Robot specific post load routine.
+
+    For example, we need to add add additional hinge constraints to the leg
+    components of Minitaur after loading.
+
+    """
+    pass
+
+  @gin.configurable
+  def reset(
+      self,
+      base_position: Tuple[float] = None,
+      base_orientation_quaternion: Tuple[float] = None,
+      joint_angles: Union[Dict[Text, float], Tuple[float]] = None,
+      save_base_pose: bool = False,
+      **kwargs,
+  ):
+    """Resets the robot base and joint pose without reloading the URDF.
+
+    Base pose resetting only works for simulated robots or visualization of real
+    robots. This routine also updates the initial observation dict.
+
+    Args:
+      base_position: The desired base position. Will use the configured pose in
+        gin if None. Does not affect the position of the real robots in general.
+      base_orientation_quaternion: The base orientation after resetting. Will
+        use the configured values in gin if not specified.
+      joint_angles: The desired joint angles after resetting. Will use the
+        configured values if None.
+      save_base_pose: Save the base position and orientation as the default pose
+        after resetting.
+      **kwargs: Other args for backward compatibility. TODO(b/151975607): Remove
+        after migration.
+    """
+    # Reset the robot's motor model.
+    self._motor_model.reset()
+
+    # Reset the quantities for computing base acceleration.
+    self._last_base_velocity = np.zeros(3)
+    self._last_observation_time = self._clock()
+    self._last_base_acceleration_world = np.zeros(3)
+    self._last_base_acceleration_accelerometer = np.zeros(3)
+
+    # Solves chicken and egg problem. We need to run a control step to obtain
+    # the first motor torques.
+    self._motor_torques = np.zeros(self._num_motors)
+
+    # Receives a set of observation from the robot in case the reset function
+    # needs to use them.
+    self.receive_observation()
+
+    self._reset_base_pose(base_position, base_orientation_quaternion)
+    self._reset_joint_angles(joint_angles)
+
+    if save_base_pose:
+      # Records the base pose at resetting again, in case Reset is called with a
+      # different base orientation. This base pose will be used as zero
+      # rotation reference for base rotation computation.
+      self._init_urdf_position, self._init_orientation_quat = (
+          self._pybullet_client.getBasePositionAndOrientation(
+              self._urdf_loader.robot_id))
+      unused_position, self._init_orientation_inv_quat = (
+          self._pybullet_client.invertTransform(
+              position=(0, 0, 0), orientation=self._init_orientation_quat))
+
+    # Updates the observation at the end of resetting.
+    self.receive_observation()
+    self._time_at_reset = self._clock()
+
+  def GetTimeSinceReset(self):
+    return self._clock() - self._time_at_reset
+
+  def _reset_base_pose(self, position=None, orientation_quat=None):
+    """Resets the pose of the robot's base.
+
+    Base pose resetting only works for simulated robots or visualization of real
+    robots.
+
+    Args:
+      position: The desired base position. Will use the configured pose in gin
+        if None.
+      orientation_quat: The desired base rotation. Will use the configured
+        default pose in None.
+    """
+    self._urdf_loader.reset_base_pose(position, orientation_quat)
+
+  def _reset_joint_angles(self,
+                          joint_angles: Union[Tuple[float],
+                                              Dict[Text, float]] = None):
+    """Resets the joint pose.
+
+    Real robots need to specify their routine to send joint angles. Simulated
+    Minitaur robots also needs to use dynamics to drive the motor joints, due to
+    the additional hinge joints not present in the URDF.
+
+    Args:
+      joint_angles: The joint pose if provided. Will use the robot default pose
+        from configuration.
+    """
+    # TODO(b/148897311): Supports tuple as the input.
+    self._urdf_loader.reset_joint_angles(joint_angles)
+
+  def terminate(self):
+    """The safe exit routine for the robot.
+
+    Only implemented for real robots.
+
+    """
+    pass
+
+  def step(self, action: Any, num_sub_steps: int = 1):
+    """Steps the simulation.
+
+    This is maintained for backward compatibility with the old robot class.
+
+    Args:
+      action: The control command to be executed by the robot.
+      num_sub_steps: Each action can be applied (possibly with interpolation)
+        multiple timesteps, to simulate the elapsed time between two consecutive
+        commands on real robots.
+    """
+    action = self.pre_control_step(action)
+
+    for _ in range(num_sub_steps):
+      # TODO(b/149252003): Add sub sampling.
+      self.apply_action(action)
+      # Timestep is pre-determined at simulation setup.
+      self._pybullet_client.stepSimulation()
+      self.receive_observation()
+
+    self.post_control_step()
+
+  def pre_control_step(self, action: Any, control_timestep: float = None):
+    """Processes the action and updates per control step quantities.
+
+    Args:
+      action: The input control command.
+      control_timestep: The control time step in the environment.
+        TODO(b/153835005), we can remove this once we pass env to the robot.
+
+    Returns:
+      The filtered action.
+    """
+    if self._action_filter:
+      # We assume the filter will create a set of interpolated results.
+      action = self._action_filter.filter(action)
+    return action
+
+  def apply_action(self, motor_commands, motor_control_mode=None):
+
+    # TODO(b/148897311): Supports dict in the future.
+    motor_commands = np.asarray(motor_commands)
+
+    # We always use torque based control at the lowest level for quadrupeds.
+    unused_observed_torques, actual_torques = (
+        self._motor_model.get_motor_torques(motor_commands, motor_control_mode))
+    self._motor_torques = actual_torques
+
+    # Converts the motor torques to URDF joint space, which may have different
+    # directions.
+    applied_motor_torques = np.multiply(actual_torques, self._motor_directions)
+
+    self._pybullet_client.setJointMotorControlArray(
+        bodyIndex=self._urdf_loader.robot_id,
+        jointIndices=self._motor_ids,
+        controlMode=self._pybullet_client.TORQUE_CONTROL,
+        forces=applied_motor_torques)
+
+  def _get_base_roll_pitch_yaw_rate(self):
+    _, angular_velocity = self._pybullet_client.getBaseVelocity(
+        self._urdf_loader.robot_id)
+    return kinematics_utils.rotate_to_base_frame(
+        self._pybullet_client, self.urdf_loader.robot_id, angular_velocity,
+        self._init_orientation_inv_quat)
+
+  def _get_base_velocity(self):
+    base_velocity, _ = self._pybullet_client.getBaseVelocity(
+        self._urdf_loader.robot_id)
+    return base_velocity
+
+  def _update_base_acceleration(self):
+    """Update the base acceleration using finite difference."""
+    if self._last_observation_time < self.timestamp:
+      self._last_base_acceleration_world = (
+          np.array(self._base_velocity) - self._last_base_velocity) / (
+              self.timestamp - self._last_observation_time)
+      _, inv_base_orientation = self.pybullet_client.invertTransform(
+          np.zeros(3), np.array(self.base_orientation_quaternion))
+
+      # An offset is added to the acceleration measured in the world frame
+      # because the accelerometer reading is in the frame of free-falling robot.
+      base_acceleration_accelerometer = self.pybullet_client.multiplyTransforms(
+          np.zeros(3), inv_base_orientation,
+          self._last_base_acceleration_world + _GRAVITY_ACCELERATION_OFFSET,
+          _UNIT_QUATERNION)[0]
+      self._last_base_acceleration_accelerometer = np.array(
+          base_acceleration_accelerometer)
+
+  def receive_observation(self):
+    """Receives the observations for all sensors."""
+    # Update the intrinsic values including the joint angles, joint
+    # velocities, and imu readings.
+    self._base_position, base_orientation_quat = (
+        self._pybullet_client.getBasePositionAndOrientation(
+            self._urdf_loader.robot_id))
+    _, self._base_orientation_quat = self._pybullet_client.multiplyTransforms(
+        positionA=(0, 0, 0),
+        orientationA=self._init_orientation_inv_quat,
+        positionB=(0, 0, 0),
+        orientationB=base_orientation_quat)
+    self._base_velocity = self._get_base_velocity()
+    self._base_roll_pitch_yaw = self._pybullet_client.getEulerFromQuaternion(
+        self._base_orientation_quat)
+
+    self._base_roll_pitch_yaw_rate = self._get_base_roll_pitch_yaw_rate()
+
+    self._joint_states = self._pybullet_client.getJointStates(
+        self._urdf_loader.robot_id, self._motor_ids)
+    self._motor_angles = np.array(
+        [joint_state[0] for joint_state in self._joint_states])
+    self._motor_angles = (self._motor_angles -
+                          self._motor_offsets) * self._motor_directions
+
+    self._motor_velocities = np.array(
+        [joint_state[1] for joint_state in self._joint_states])
+    self._motor_velocities = self._motor_velocities * self._motor_directions
+
+    # We use motor models to track the delayed motor positions and velocities
+    # buffer.
+    if self._motor_model:
+      self._motor_model.update(self._clock(), self._motor_angles,
+                               self._motor_velocities)
+
+    self._update_base_acceleration()
+    # Update the latest base velocity and timestamp at the end of the API.
+    self._last_base_velocity = np.array(self._base_velocity)
+    self._last_observation_time = self.timestamp
+
+  def post_control_step(self):
+    """Called at the end of a control step outside the action repeat loop."""
+    pass
+
+  # TODO(tingnan): Change from "foot_positions" to "feet_positions".
+  def motor_angles_from_foot_positions(self,
+                                       foot_positions,
+                                       position_in_world_frame=False):
+    """Use IK to compute the motor angles, given the feet links' positions.
+
+    Args:
+      foot_positions: The foot links' positions in frame specified by the next
+        parameter. The input is a numpy array of size (4, 3).
+      position_in_world_frame: Whether the foot_positions are specified in the
+        world frame.
+
+    Returns:
+      A tuple. The position indices and the angles for all joints along the
+      leg. The position indices is consistent with the joint orders as returned
+      by GetMotorAngles API.
+    """
+    joint_position_idxs = np.arange(self.num_motors)
+    foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values())
+    joint_angles = kinematics_utils.joint_angles_from_link_positions(
+        pybullet_client=self.pybullet_client,
+        urdf_id=self.robot_id,
+        link_positions=foot_positions,
+        link_ids=foot_link_ids,
+        joint_dof_ids=joint_position_idxs,
+        positions_are_in_world_frame=position_in_world_frame)
+    joint_angles = np.multiply(
+        np.asarray(joint_angles) - np.asarray(self._motor_offsets),
+        self._motor_directions)
+    return joint_position_idxs, joint_angles
+
+  # TODO(tingnan): Change from "foot_positions" to "feet_positions".
+  def foot_positions(self, position_in_world_frame=False):
+    """Returns the robot's foot positions in the base/world frame."""
+    foot_positions = []
+    foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values())
+    for foot_id in foot_link_ids:
+      if not position_in_world_frame:
+        foot_positions.append(
+            kinematics_utils.link_position_in_base_frame(
+                pybullet_client=self.pybullet_client,
+                urdf_id=self.robot_id,
+                link_id=foot_id,
+            ))
+      else:
+        foot_positions.append(
+            kinematics_utils.link_position_in_world_frame(
+                pybullet_client=self.pybullet_client,
+                urdf_id=self.robot_id,
+                link_id=foot_id,
+            ))
+    return np.array(foot_positions)
+
+  def feet_contact_forces(self) -> Sequence[np.ndarray]:
+    """Gets the contact forces on all feet.
+
+    Reals robot may use a robot specific implementation. For example, the
+    Laikago will measure each contact force in the corresponding foot's local
+    frame, and this force will not be the total contact force due to the sensor
+    limitation.
+
+    For simulated robots, we wll always report the force in the base frame.
+
+    Returns:
+      A list of foot contact forces.
+    """
+    foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values())
+    contact_forces = [np.zeros(3) for _ in range(len(foot_link_ids))]
+
+    all_contacts = self._pybullet_client.getContactPoints(
+        bodyA=self._urdf_loader.robot_id)
+
+    for contact in all_contacts:
+      (unused_flag, body_a_id, body_b_id, link_a_id, unused_link_b_id,
+       unused_pos_on_a, unused_pos_on_b, contact_normal_b_to_a, unused_distance,
+       normal_force, friction_1, friction_direction_1, friction_2,
+       friction_direction_2) = contact
+
+      # Ignore self contacts
+      if body_b_id == body_a_id:
+        continue
+
+      if link_a_id in foot_link_ids:
+        normal_force = np.array(contact_normal_b_to_a) * normal_force
+        friction_force = np.array(friction_direction_1) * friction_1 + np.array(
+            friction_direction_2) * friction_2
+        force = normal_force + friction_force
+        local_force = kinematics_utils.rotate_to_base_frame(
+            self._pybullet_client, self.urdf_loader.robot_id, force,
+            self._init_orientation_inv_quat)
+        local_force_norm = np.linalg.norm(local_force)
+        toe_link_order = foot_link_ids.index(link_a_id)
+        if local_force_norm > 0:
+          contact_forces[toe_link_order] += local_force
+      else:
+        continue
+    return contact_forces
+
+  def compute_jacobian_for_one_leg(self, leg_id: int) -> np.ndarray:
+    """Compute the Jacobian for a given leg.
+
+    Args:
+      leg_id: Index of the leg for which the jacobian is computed.
+
+    Returns:
+      The 3 x N transposed Jacobian matrix. where N is the total DoFs of the
+      robot. For a quadruped, the first 6 columns of the matrix corresponds to
+      the CoM translation and rotation. The columns corresponds to a leg can be
+      extracted with indices [6 + leg_id * 3: 6 + leg_id * 3 + 3]. Note that
+      the jacobian is calculated for motors, which takes motor directions into
+      consideration.
+    """
+    com_dof = self._urdf_loader.com_dof
+    foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values())
+    return kinematics_utils.compute_jacobian(
+        pybullet_client=self.pybullet_client,
+        urdf_id=self.robot_id,
+        link_id=foot_link_ids[leg_id],
+        all_joint_positions=[
+            state[0] for state in self._joint_states
+        ]) * np.concatenate([np.ones(com_dof), self._motor_directions])
+
+  def map_contact_force_to_joint_torques(
+      self, leg_id: int, contact_force: np.ndarray) -> Dict[int, float]:
+    """Maps the foot contact force to the leg joint torques.
+
+    Args:
+      leg_id: Index of the leg for which the jacobian is computed.
+      contact_force: Desired contact force experted by the leg.
+
+    Returns:
+      A dict containing the torques for each motor on the leg.
+    """
+    foot_link_ids = tuple(self._urdf_loader.get_end_effector_id_dict().values())
+    jv = self.compute_jacobian_for_one_leg(leg_id)
+    all_motor_torques = np.matmul(contact_force, jv)
+    motor_torques = {}
+    motors_per_leg = self.num_motors // len(foot_link_ids)
+    com_dof = self._urdf_loader.com_dof
+    for joint_id in range(leg_id * motors_per_leg,
+                          (leg_id + 1) * motors_per_leg):
+      motor_torques[joint_id] = all_motor_torques[com_dof + joint_id]
+
+    return motor_torques
+
+  @classmethod
+  def get_constants(cls):
+    raise NotImplementedError("Not yet implemented!")
+
+  @property
+  def timestamp(self):
+    return self._clock()
+
+  @property
+  def action_space(self):
+    return self._action_space
+
+  @property
+  def action_names(self):
+    return self._action_names
+
+  @property
+  def base_orientation_quaternion(self):
+    """Gets the base orientation as a quaternion.
+
+    The base orientation is always relative to the init_orientation, which
+    can be updated by Reset function. This is necessary as many URDF can have an
+    internal frame that is not z-up, so if we don't provide an init_orientation
+    (through Reset), the loaded robot can have its belly facing the horizontal
+    direction.
+
+    Returns:
+      The base orientation in quaternion.
+    """
+    return self._base_orientation_quat
+
+  @property
+  def base_orientation_quaternion_default_frame(self):
+    """Gets the base orientation in the robot's default frame.
+
+    This is the base orientation in whatever frame the robot specifies. For
+    simulated robot this is the URDF's internal frame. For real robot this can
+    be based on the rpy reading determined by the IMU.
+
+    Returns:
+      The base orientation in quaternion in a robot default frame.
+    """
+    _, base_orientation_quat = (
+        self._pybullet_client.getBasePositionAndOrientation(
+            self._urdf_loader.robot_id))
+    return base_orientation_quat
+
+  @property
+  def sensors(self):
+    return self._sensors
+
+  @property
+  def base_roll_pitch_yaw(self):
+    return self._base_roll_pitch_yaw
+
+  @property
+  def base_roll_pitch_yaw_rate(self):
+    return self._base_roll_pitch_yaw_rate
+
+  @property
+  def base_position(self):
+    return self._base_position
+
+  @property
+  def base_velocity(self):
+    return self._base_velocity
+
+  @property
+  def is_safe(self):
+    return True
+
+  @property
+  def num_motors(self):
+    return self._num_motors
+
+  @property
+  def motor_model(self):
+    return self._motor_model
+
+  @property
+  def motor_limits(self) -> robot_config.MotorLimits:
+    return self._motor_limits
+
+  @property
+  def motor_angles(self):
+    return self._motor_angles
+
+  @property
+  def motor_velocities(self):
+    return self._motor_velocities
+
+  @property
+  def motor_torques(self):
+    return self._motor_torques
+
+  @property
+  def pybullet_client(self):
+    return self._pybullet_client
+
+  @property
+  def urdf_loader(self):
+    return self._urdf_loader
+
+  @property
+  def robot_id(self):
+    return self._urdf_loader.robot_id
+
+  @property
+  def initital_orientation_inverse_quaternion(self):
+    return self._init_orientation_inv_quat
+
+  @property
+  def base_acceleration_accelerometer(self):
+    """Get the base acceleration measured by an accelerometer.
+
+    The acceleration is measured in the local frame of a free-falling robot,
+    which is consistent with the robot's IMU measurements. Here the
+    gravitational acceleration is first added to the acceleration in the world
+    frame, which is then converted to the local frame of the robot.
+
+    """
+    return np.array(self._last_base_acceleration_accelerometer)
+
+  @property
+  def base_acceleration(self):
+    """Get the base acceleration in the world frame."""
+    return np.array(self._last_base_acceleration_world)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_base.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_base.py
new file mode 100644
index 0000000000..75dc127cbe
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_base.py
@@ -0,0 +1,133 @@
+# Lint as: python3
+"""The abstract robot class."""
+
+import abc
+from typing import Optional, Sequence
+
+# Action names for robots operating kinematically.
+LINEAR_VELOCITY = "linear_velocity"
+ANGULAR_VELOCITY = "angular_velocity"
+
+
+class RobotBase(metaclass=abc.ABCMeta):
+  """The base class for all robots used in the mobility team."""
+
+  @abc.abstractmethod
+  def reset(
+      self,
+      base_position: Optional[Sequence[float]] = None,
+      base_orientation_quaternion: Optional[Sequence[float]] = None) -> None:
+    """Resets the states (e.g. pose and sensor readings) of the robot.
+
+    This is called at the start of each episode by the environment.
+
+    Args:
+      base_position: Robot base position after reset. If None, robot stay where
+        it was after reset. For robot that does not support reset with position
+        change, a ValueError should be raised.
+      base_orientation_quaternion: Robot base orientation after reset. If None,
+        robot stays in pre-reset orientation. For robot that does not support
+        reset with orientation change, a ValueError should be raised.
+    """
+    pass
+
+  @abc.abstractmethod
+  def terminate(self):
+    """Shuts down the robot."""
+    pass
+
+  @abc.abstractmethod
+  def pre_control_step(self, action):
+    """Processes the input action before the action repeat loop.
+
+    We assume that an action sent to the real robot is sticky, i.e. it will be
+    executed until a new action is received after some time. To simulate this,
+    we introduced the action_repeat parameter, to reflect how many time steps it
+    takes for the policy to generate a new action. That is, for each control
+    step, the simulation contains an inner loop:
+
+      robot.pre_control_step(action)  # Smooth or interpolate the action
+      for i in range(action_repeat):
+        robot.apply_action(action)
+        bullet.stepSimulation(time_step)  # Step the sim for one time step
+        robot.receive_observation()  # Update the sensor observations
+      robot.post_control_step() # Update some internal variables.
+
+    Args:
+      action: Data type depends on the robot. Can be desired motor
+        position/torques for legged robots, or desired velocity/angular velocity
+        for wheeled robots.
+    """
+    pass
+
+  @abc.abstractmethod
+  def apply_action(self, action):
+    """Applies the action to the robot."""
+    pass
+
+  @abc.abstractmethod
+  def receive_observation(self):
+    """Updates the robot sensor readings."""
+    pass
+
+  @abc.abstractmethod
+  def post_control_step(self):
+    """Updates some internal variables such as step counters."""
+    pass
+
+  @property
+  def action_space(self):
+    """The action spec of the robot."""
+    raise NotImplementedError("action_space is not implemented")
+
+  @property
+  @abc.abstractmethod
+  def action_names(self):
+    """Name of each action in the action_space.
+
+    This is a structure of strings with the same shape as the action space,
+    where each string describes the corresponding element of the action space
+    (for example, a kinematic robot might return ("linear_velocity",
+    "angular_velocity")). Used for logging in the safety layer.
+    """
+
+  @property
+  def sensors(self):
+    """Returns the sensors on this robot.
+
+    Sensors are the main interface between the robot class and the gym
+    environment. Sensors can return what the robot can measure (e.g.
+    joint angles, IMU readings), and can represent more general quantities, i.e.
+    the last action taken, that can be part of the observation space.
+    Sensor classes are used by the robot class to the specify its observation
+    space.
+
+    """
+    raise NotImplementedError("sensors property not implemented")
+
+  @property
+  def base_orientation_quaternion(self):
+    """Returns the base pose as a quaternion in format (x, y, z, w).
+
+    These properties differ from the sensor interfaces, as they represent
+    the built-in measurable quantities. We assume most robots have an IMU at
+    its base to measure the base pose. Actually, some sensor classes like the
+    base pose sensor and joint angle sensor will call these built-in methods. In
+    general, how these quantities can be extracted depends on the specific real
+    robots.
+
+    """
+    raise NotImplementedError("base_orientation_quaternion is not implemented")
+
+  @property
+  def base_roll_pitch_yaw(self):
+    """Returns the base roll, pitch, and yaw angles."""
+    raise NotImplementedError("base_roll_pitch_yaw is not implemented")
+
+  @property
+  def base_roll_pitch_yaw_rate(self):
+    raise NotImplementedError("base_roll_pitch_yaw_rate is not implemented")
+
+  @property
+  def base_position(self):
+    raise NotImplementedError("base_position is not implemented")
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_config.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_config.py
new file mode 100644
index 0000000000..255e686d24
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_config.py
@@ -0,0 +1,105 @@
+# Lint as: python3
+"""The configuration parameters for our robots."""
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import enum
+from typing import Sequence, Union
+import dataclasses
+import gin
+import numpy as np
+
+
+@gin.constants_from_enum
+class MotorControlMode(enum.Enum):
+  """The supported motor control modes."""
+  POSITION = 1,
+
+  # Apply motor torques directly.
+  TORQUE = 2,
+
+  # Apply a tuple (q, qdot, kp, kd, tau) for each motor. Here q, qdot are motor
+  # position and velocities. kp and kd are PD gains. tau is the additional
+  # motor torque. This is the most flexible control mode.
+  HYBRID = 3,
+
+  # PWM mode is only availalbe for Minitaur
+  PWM = 4
+
+
+# TODO(b/127675924): Group other parameters in the named attrib class.
+
+# Each hybrid action is a tuple (position, position_gain, velocity,
+# velocity_gain, torque)
+HYBRID_ACTION_DIMENSION = 5
+
+
+class HybridActionIndex(enum.Enum):
+  # The index of each component within the hybrid action tuple.
+  POSITION = 0
+  POSITION_GAIN = 1
+  VELOCITY = 2
+  VELOCITY_GAIN = 3
+  TORQUE = 4
+
+
+@gin.configurable
+class MotorLimits(object):
+  """The data class for motor limits."""
+
+  def __init__(
+      self,
+      angle_lower_limits: Union[float, Sequence[float]] = float('-inf'),
+      angle_upper_limits: Union[float, Sequence[float]] = float('inf'),
+      velocity_lower_limits: Union[float, Sequence[float]] = float('-inf'),
+      velocity_upper_limits: Union[float, Sequence[float]] = float('inf'),
+      torque_lower_limits: Union[float, Sequence[float]] = float('-inf'),
+      torque_upper_limits: Union[float, Sequence[float]] = float('inf'),
+  ):
+    """Initializes the class."""
+    self.angle_lower_limits = angle_lower_limits
+    self.angle_upper_limits = angle_upper_limits
+    self.velocity_lower_limits = velocity_lower_limits
+    self.velocity_upper_limits = velocity_upper_limits
+    self.torque_lower_limits = torque_lower_limits
+    self.torque_upper_limits = torque_upper_limits
+
+
+@gin.constants_from_enum
+class WheeledRobotControlMode(enum.Enum):
+  """The control mode for wheeled robots."""
+  # Controls the base of the robot (i.e. in kinematic mode.) or the base wheels
+  # using motor commands.
+  BASE = 1
+  # Controls arm only
+  ARM = 2
+  # Controls both base and arm
+  BASE_AND_ARM = 3
+  # Controls both base and head
+  BASE_AND_HEAD = 4
+  # Controls the non-wheel motors. This include arms and heads.
+  BODY = 5
+  # Controls all degrees of freedom, i.e. the base and arm/head simultaneously.
+  ALL = 6
+  # High-level navigation target.
+  NAVIGATION_TARGET = 7
+  # Individually addressable actions for body joints, with nested dict actions.
+  ADDRESSABLE = 8
+
+
+@dataclasses.dataclass
+class TwistActionLimits:
+  """The data class for twist action limits.
+
+  Common abbreviations used in variable names suffix:
+    mps = Meters per Second
+    rps = Radians per Second
+  """
+  max_linear_mps: float
+  min_linear_mps: float
+  max_angular_rps: float
+  min_angular_rps: float
+
+
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py
new file mode 100644
index 0000000000..2d4bf710a6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/robot_urdf_loader.py
@@ -0,0 +1,371 @@
+# Lint as: python3
+"""Helper class to load and manage the robot URDF file in simulation."""
+
+import collections
+from typing import Dict, Text, Tuple
+
+import gin
+import numpy as np
+
+from pybullet_utils import bullet_client
+
+# Base link does not have a parent joint. So we just use the string "robot_base"
+# for reference. The corresponding link/joint id is always -1 in pybullet.
+ROBOT_BASE = "robot_base"
+
+
+def _sub_dict(joint_name_to_id: Dict[Text, int],
+              joint_names: Tuple[Text]) -> Dict[Text, int]:
+  sub_dict = collections.OrderedDict()
+  if joint_names is None:
+    return sub_dict
+  for name in joint_names:
+    sub_dict[name] = joint_name_to_id[name]
+  return sub_dict
+
+
+def convert_to_urdf_joint_angles(
+    robot_space_joint_angles: np.ndarray,
+    joint_offsets: np.ndarray,
+    joint_directions: np.ndarray,
+):
+  return robot_space_joint_angles * joint_directions + joint_offsets
+
+
+def convert_to_robot_joint_angles(
+    urdf_space_joint_angles: np.ndarray,
+    joint_offsets: np.ndarray,
+    joint_directions: np.ndarray,
+):
+  return (urdf_space_joint_angles - joint_offsets) * joint_directions
+
+
+@gin.configurable
+class RobotUrdfLoader(object):
+  """A abstract class to manage the robot urdf in sim."""
+
+  def __init__(
+      self,
+      pybullet_client: bullet_client.BulletClient,
+      urdf_path: Text,
+      constrained_base: bool = False,
+      enable_self_collision: bool = True,
+      init_base_position: Tuple[float] = (0, 0, 0),
+      init_base_orientation_quaternion: Tuple[float] = None,
+      init_base_orientation_rpy: Tuple[float] = None,
+      base_names: Tuple[Text] = None,
+      init_joint_angles: Dict[Text, float] = None,
+      joint_offsets: Dict[Text, float] = None,
+      joint_directions: Dict[Text, int] = None,
+      motor_names: Tuple[Text] = None,
+      end_effector_names: Tuple[Text] = None,
+      user_group: Dict[Text, Tuple[Text]] = None,
+  ):
+    """Initialize the class.
+
+    Args:
+      pybullet_client: A pybullet client.
+      urdf_path: The path to the URDF to load.
+      constrained_base: Whether to create a FIXED constraint to the base of the
+        URDF. Needs to be True for kinematic robots. This allows us to "hang"
+        the simulated robot in air, and the hanging point can follow arbitrary
+        provided paths.
+      enable_self_collision: Determines if the robot can collide with itself.
+      init_base_position: The base x, y, z after loading.
+      init_base_orientation_quaternion: The base rotation after loading.
+      init_base_orientation_rpy: The base rotation after loading, presented in
+        roll, pitch, yaw.
+      base_names: The base joint names. Used to find additional links that
+        belong to the base. Optional because the base might only contain a
+        single mesh/block, which always has the id of "-1".
+      init_joint_angles: Maps joint name to the desired joint pose after loading
+        URDF. If not provided, will use the URDF default. This can be a subset
+        of all joints in the URDF. This should be in the robot joint convention,
+        which can be different from the URDF convention.
+      joint_offsets: The "zero" position of joint angles in the URDF space.
+      joint_directions: To convert between robot sdk/control and urdf joint
+        convention.
+      motor_names: The motor joint names in the URDF. Typically a subset of all
+        movable joints/DoFs.
+      end_effector_names: A subset of joints specifying the end-effector
+        joint(s). For example for legged robots the end effectors are the toe
+        joints (if provided). For arms this group includes left and right
+        grippers.
+      user_group: User defined joint groups. For example for quadrupeds, we may
+        want to organize all joints according to which leg they belong to.
+    """
+    self._pybullet_client = pybullet_client
+    self._urdf_path = urdf_path
+    self._init_base_position = init_base_position
+    if init_base_orientation_quaternion is not None:
+      self._init_base_orientation_quaternion = init_base_orientation_quaternion
+    else:
+      if init_base_orientation_rpy is None:
+        raise ValueError("Either init_base_orientation_quaterion "
+                         "or init_base_orientation_rpy is required")
+      self._init_base_orientation_quaternion = (
+          self._pybullet_client.getQuaternionFromEuler(
+              init_base_orientation_rpy))
+    self._constrained_base = constrained_base
+    self._enable_self_collision = enable_self_collision
+    self._base_names = base_names
+    self._init_joint_angles = init_joint_angles
+    self._joint_offsets = joint_offsets
+    self._joint_directions = joint_directions
+    self._motor_names = motor_names
+    self._end_effector_names = end_effector_names
+    self._user_group = user_group
+    self.load(
+        enable_self_collision=enable_self_collision,
+        init_base_position=init_base_position,
+        init_base_orientation_quaternion=init_base_orientation_quaternion,
+        init_joint_angles=init_joint_angles)
+
+  def get_base_id_dict(self, name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._base_dict
+    return _sub_dict(self._base_dict, name)
+
+  def get_joint_id_dict(self, name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._joint_name_to_id
+    return _sub_dict(self._joint_name_to_id, name)
+
+  def get_link_id_dict(self, name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._link_name_to_id
+    return _sub_dict(self._link_name_to_id, name)
+
+  def get_motor_id_dict(self, name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._motor_dict
+    return _sub_dict(self._motor_dict, name)
+
+  def get_joint_direction_dict(self,
+                               name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._joint_directions
+    return _sub_dict(self._joint_directions, name)
+
+  def get_joint_offset_dict(self,
+                            name: Tuple[Text] = None) -> Dict[Text, float]:
+    if name is None:
+      return self._joint_offsets
+    return _sub_dict(self._joint_offsets, name)
+
+  def get_end_effector_id_dict(self,
+                               name: Tuple[Text] = None) -> Dict[Text, int]:
+    if name is None:
+      return self._end_effector_dict
+    return _sub_dict(self._end_effector_dict, name)
+
+  @property
+  def robot_id(self):
+    """Returns the unique object instance id of this loaded URDF in pybullet.
+
+    Note this is different from all other get_{}_id APIs, which returns the
+    joint/link id within this robot instance.
+
+    Returns:
+      The object id as returned by loadURDF.
+    """
+    return self._robot_id
+
+  @property
+  def all_joint_info(self):
+    return self._all_joint_info
+
+  @property
+  def user_dict(self):
+    return self._user_dict
+
+  @property
+  def motor_names(self):
+    return self._motor_names
+
+  @property
+  def constrained_base(self):
+    return self._constrained_base
+
+  def _build_base_dict(self):
+    """Builds the base joints dictionary.
+
+    In pybullet, a link's id within the robot always equal to its parent joint
+    id. So this base joint dict functionaly is equivalent to the base link dict.
+    The dictionary may only contain {ROBOT_BASE: -1} if self._base_names is
+    empty.
+
+    Returns:
+      The base link (joint) ordered dictionary.
+    """
+    base_dict = collections.OrderedDict()
+    if self._base_names is None:
+      base_dict[ROBOT_BASE] = -1
+    else:
+      base_dict.update(_sub_dict(self._joint_name_to_id, self._base_names))
+    return base_dict
+
+  def _build_user_dict(self):
+    """Builds a dictionary using user defined joint groups."""
+    user_dict = collections.OrderedDict()
+    if self._user_group is None:
+      return user_dict
+    for group_name, group_joint_names in self._user_group.items():
+      user_dict[group_name] = collections.OrderedDict()
+      user_dict[group_name].update(
+          _sub_dict(self._joint_name_to_id, group_joint_names))
+    return user_dict
+
+  def _build_all_joint_dict(self):
+    """Extracts all joints from the URDF.
+
+    Finds all joints (fixed or movable) in the URDF and extracts the info. This
+    includes actuated joints (i.e. motors), and non-actuated joints, e.g. the
+    passive joints in Minitaur's four bar mechanism, and fixed joints connecting
+    the toe and the lower legs, etc.
+
+    Returns:
+      number of joints, all joint information as returned by pybullet, and the
+      joint_name_to_id dictionary.
+
+    """
+    num_joints = self._pybullet_client.getNumJoints(self._robot_id)
+    all_joint_info = [
+        self._pybullet_client.getJointInfo(self._robot_id, i)
+        for i in range(num_joints)
+    ]
+
+    # Remove the default joint dampings to increase sim fidelity.
+    for joint_info in all_joint_info:
+      joint_id = joint_info[0]
+      self._pybullet_client.changeDynamics(
+          joint_id, -1, linearDamping=0, angularDamping=0)
+
+    joint_name_to_id = collections.OrderedDict()
+    link_name_to_id = collections.OrderedDict([(ROBOT_BASE, -1)])
+    for joint_info in all_joint_info:
+      joint_name = joint_info[1].decode("UTF-8")
+      joint_id = joint_info[0]
+      joint_name_to_id[joint_name] = joint_id
+      # Index 12 is the name of the joint's child link, and in PyBullet a child
+      # link id is always equal to its parent joint id.
+      link_name_to_id[joint_info[12].decode("UTF-8")] = joint_id
+
+    return num_joints, all_joint_info, joint_name_to_id, link_name_to_id
+
+  def load(
+      self,
+      enable_self_collision: bool = None,
+      init_base_position: Tuple[float] = None,
+      init_base_orientation_quaternion: Tuple[float] = None,
+      init_joint_angles: Dict[Text, float] = None,
+  ):
+    """Reloads the URDF and rebuilds the dictionaries."""
+    if enable_self_collision is None:
+      enable_self_collision = self._enable_self_collision
+    if init_base_position is None:
+      init_base_position = self._init_base_position
+    if init_base_orientation_quaternion is None:
+      init_base_orientation_quaternion = self._init_base_orientation_quaternion
+
+    self._robot_id = self._load_urdf(enable_self_collision, init_base_position,
+                                     init_base_orientation_quaternion)
+
+    (self._num_joints, self._all_joint_info, self._joint_name_to_id,
+     self._link_name_to_id) = self._build_all_joint_dict()
+    self._base_dict = self._build_base_dict()
+    self._motor_dict = _sub_dict(self._joint_name_to_id, self._motor_names)
+    self._end_effector_dict = _sub_dict(self._joint_name_to_id,
+                                        self._end_effector_names)
+    self._user_dict = self._build_user_dict()
+
+    self.reset_base_pose(init_base_position, init_base_orientation_quaternion)
+    self.reset_joint_angles(init_joint_angles)
+
+  def _load_urdf(self, enable_self_collision: bool,
+                 init_base_position: Tuple[float],
+                 init_base_orientation_quaternion: Tuple[float]) -> int:
+    """Loads the URDF and returns the pybullet id."""
+    try:
+      if enable_self_collision:
+        return self._pybullet_client.loadURDF(
+            self._urdf_path,
+            init_base_position,
+            init_base_orientation_quaternion,
+            useFixedBase=self._constrained_base,
+            flags=self._pybullet_client.URDF_USE_SELF_COLLISION)
+      else:
+        return self._pybullet_client.loadURDF(
+            self._urdf_path,
+            init_base_position,
+            init_base_orientation_quaternion,
+            useFixedBase=self._constrained_base,
+        )
+    except:
+      print("!!!!!!!!!!!!!!!!")
+      print("Error: cannot find file:")
+      print(self._urdf_path)
+      import sys
+      sys.exit(0)
+      
+  def reset_joint_angles(self, joint_angles: Dict[Text, float] = None):
+    """Resets the joint angles.
+
+    Resets the joint poses. This is instanteneously and will ignore the physics
+    (e.g. collisions, inertias, etc). Should only be used during the episode
+    reset time. Does not work for real robots (other than changing the
+    visualization). This API has no effect if both the input joint_angles and
+    the self._init_joint_angles are None.
+
+    Args:
+      joint_angles: The joint angles in the robot's joint space.
+
+    Raises:
+      AttributeError if the joint directions and joint offsets are not provided
+      during init.
+    """
+    if self._init_joint_angles is None:
+      return
+
+    if joint_angles is None:
+      joint_angles = self._init_joint_angles
+
+    if self._joint_directions is None or self._joint_offsets is None:
+      raise AttributeError(
+          "joint directions and joint offsets not provided in __init__")
+
+    for joint_name, angle in joint_angles.items():
+      urdf_joint_angle = angle * self._joint_directions[
+          joint_name] + self._joint_offsets[joint_name]
+      self._pybullet_client.resetJointState(
+          self._robot_id,
+          self._joint_name_to_id[joint_name],
+          urdf_joint_angle,
+          targetVelocity=0)
+
+  def reset_base_pose(
+      self,
+      base_position: Tuple[float] = None,
+      base_orientation_quaternion: Tuple[float] = None,
+  ):
+    """Resets the base position and orientation.
+
+    Instanteneously re-position the base pose of the robot. Does not work for
+    real robots except for the visualization.
+
+    Args:
+      base_position: Base x, y, z position.
+      base_orientation_quaternion: Base rotation.
+    """
+    if base_position is None:
+      base_position = self._init_base_position
+    if base_orientation_quaternion is None:
+      base_orientation_quaternion = self._init_base_orientation_quaternion
+    self._pybullet_client.resetBasePositionAndOrientation(
+        self._robot_id, base_position, base_orientation_quaternion)
+    self._pybullet_client.resetBaseVelocity(self._robot_id, (0, 0, 0),
+                                            (0, 0, 0))
+
+  @property
+  def com_dof(self):
+    return 0 if self._constrained_base else 6
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py
new file mode 100644
index 0000000000..853bb567be
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/data_types.py
@@ -0,0 +1,67 @@
+"""Definitions of safety layer data types."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import attr
+
+
+@attr.s
+class Bound(object):
+  """Struct for inclusive lower and upper bounds."""
+  lower = attr.ib(type=float, default=0)
+  upper = attr.ib(type=float, default=0)
+
+  @upper.validator  # pytype: disable=attribute-error
+  def _upper_greator_equal_to_lower(self, attribute, value):
+    del attribute
+    assert value >= self.lower, (
+        "upper bound {} is less than lower bound {}".format(value, self.lower))
+
+
+@attr.s
+class SafetyConfig(object):
+  """Struct to configure the safety module."""
+  motor_position_bound = attr.ib(type=list)
+  motor_position_gain_bound = attr.ib(type=list)
+  motor_velocity_bound = attr.ib(type=list)
+  motor_velocity_gain_bound = attr.ib(type=list)
+  motor_torque_bound = attr.ib(type=list)
+  timestamp_delta_bound = attr.ib(type=Bound)
+  motor_average_abs_velocity_bound = attr.ib(type=list)
+  motor_average_abs_power_bound = attr.ib(type=list)
+  state_action_timestamp_delta_bound = attr.ib(type=float)
+  motor_delta_position_bound = attr.ib(type=list)
+  motor_average_abs_delta_position_bound = attr.ib(type=list)
+
+
+@attr.s
+class MotorState(object):
+  """A generic type for motor state.
+
+  Motor states are what we can potentially read from the motor encoder or
+  firmware APIs.
+
+  """
+  timestamp = attr.ib(type=float, default=None)
+  position = attr.ib(type=float, default=None)
+  position_gain = attr.ib(type=float, default=None)
+  velocity = attr.ib(type=float, default=None)
+  velocity_gain = attr.ib(type=float, default=None)
+  torque = attr.ib(type=float, default=None)
+
+
+@attr.s
+class MotorAction(object):
+  """A generic type for motor action.
+
+   Motor actions are the potential command structure we can send to the motor.
+   While similar to MotorState, they are logically very different entities.
+  """
+  timestamp = attr.ib(type=float, default=None)
+  position = attr.ib(type=float, default=None)
+  position_gain = attr.ib(type=float, default=None)
+  velocity = attr.ib(type=float, default=None)
+  velocity_gain = attr.ib(type=float, default=None)
+  torque = attr.ib(type=float, default=None)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py
new file mode 100644
index 0000000000..567add4148
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_action_validator.py
@@ -0,0 +1,128 @@
+"""Validates the motor commands."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import typing
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots.safety import data_types
+from pybullet_envs.minitaur.robots.safety import utilities
+from pybullet_envs.minitaur.robots.safety.python import moving_window_filter
+
+_DEQUE_SIZE = 200
+
+
+class MotorActionValidator(object):
+  """A safety guard to check motor actions.
+
+  Monitors the commands sent to the motor and detect unsafe behaviors.
+  """
+
+  def __init__(
+      self,
+      motor_id: typing.Any,
+      position_bound: data_types.Bound,
+      position_gain_bound: data_types.Bound,
+      velocity_bound: data_types.Bound,
+      velocity_gain_bound: data_types.Bound,
+      torque_bound: data_types.Bound,
+      timestamp_delta_bound: data_types.Bound,
+      delta_position_bound: data_types.Bound,
+      average_abs_delta_position_bound: data_types.Bound,
+      state_buffer_size: int = _DEQUE_SIZE,
+  ):
+    """Initializes the class.
+
+    Args:
+      motor_id: Unique ID for the motor.
+      position_bound: The lower/upper bound of the motor angle.
+      position_gain_bound: The lower/upper bound of the motor position gain for
+        PD control.
+      velocity_bound: The lower/upper bound of the motor speed.
+      velocity_gain_bound: The lower/upper bound of the motor velocity gain for
+        PD control.
+      torque_bound: The lower/upper bound of the measured motor torque.
+      timestamp_delta_bound: The range of timestamp difference between two
+        consecutively received motor states.
+      delta_position_bound: The bound between the current motor position and the
+        command position, in position control mode.
+      average_abs_delta_position_bound: The bound for average motor position and
+        command poisition difference.
+      state_buffer_size: The buffer size used to calculate the average.
+    """
+    assert state_buffer_size > 1
+    self._last_motor_state = None
+
+    self._motor_id = motor_id
+    self._position_bound = position_bound
+    self._position_gain_bound = position_gain_bound
+    self._velocity_bound = velocity_bound
+    self._velocity_gain_bound = velocity_gain_bound
+    self._torque_bound = torque_bound
+    self._timestamp_delta_bound = timestamp_delta_bound
+    self._delta_position_bound = delta_position_bound
+    self._average_abs_delta_position_bound = average_abs_delta_position_bound
+    self._abs_delta_position_filter = moving_window_filter.MovingWindowFilter(
+        state_buffer_size)
+
+  def on_state(self, new_state: data_types.MotorState):
+    """Updates the last motor state.
+
+    Args:
+      new_state: The latest motor state.
+    """
+    self._last_motor_state = new_state
+
+  def on_action(self, new_action: data_types.MotorAction,
+                control_mode: robot_config.MotorControlMode):
+    """Adds a new motor action and validates it.
+
+    Args:
+      new_action: A new action that will be send to the motor.
+      control_mode: The motor control mode.
+
+    Raises:
+      safety_error.OutOfBoundError: When any of the motor action fields or
+      state-action difference is out of bound.
+    """
+
+    # We first validate the new state.
+
+    motor_str = "motor {} ".format(self._motor_id)
+    if (control_mode == robot_config.MotorControlMode.POSITION or
+        control_mode == robot_config.MotorControlMode.HYBRID):
+      utilities.assert_in_bound(motor_str + "position", new_action.position,
+                                self._position_bound)
+      utilities.assert_in_bound(motor_str + "velocity", new_action.velocity,
+                                self._velocity_bound)
+      utilities.assert_in_bound(motor_str + "position gain",
+                                new_action.position_gain,
+                                self._position_gain_bound)
+      utilities.assert_in_bound(motor_str + "velocity gain",
+                                new_action.velocity_gain,
+                                self._velocity_gain_bound)
+
+    utilities.assert_in_bound(motor_str + "torque", new_action.torque,
+                              self._torque_bound)
+
+    if self._last_motor_state is None:
+      return
+
+    delta_time = new_action.timestamp - self._last_motor_state.timestamp
+    utilities.assert_in_bound(motor_str + "state-action timestamp difference",
+                              delta_time, self._timestamp_delta_bound)
+
+    # To detect the bang-bang type controller behavior.
+    if (control_mode == robot_config.MotorControlMode.POSITION or
+        control_mode == robot_config.MotorControlMode.HYBRID):
+      delta_position = new_action.position - self._last_motor_state.position
+      utilities.assert_in_bound(motor_str + "state-action position difference",
+                                delta_position, self._delta_position_bound)
+
+      average_abs_delta_position = (
+          self._abs_delta_position_filter.CalculateAverage(
+              abs(delta_position)))
+      utilities.assert_in_bound(
+          motor_str + "average state-action position difference",
+          average_abs_delta_position, self._average_abs_delta_position_bound)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py
new file mode 100644
index 0000000000..3ccf34c02c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/motor_state_validator.py
@@ -0,0 +1,137 @@
+"""Software safety layer for robot control.
+
+Validates the motor states received from the motor encoder.
+
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import typing
+
+from pybullet_envs.minitaur.robots.safety import data_types
+from pybullet_envs.minitaur.robots.safety import utilities
+from pybullet_envs.minitaur.robots.safety.python import moving_window_filter
+
+# The default internal buffer size for the MotorStateValidator.
+_DEQUE_SIZE = 200
+
+
+class MotorStateValidator(object):
+  """A safety guard to check motor states.
+
+  Monitors the status of the motor and detects anomalies in the
+  readings. For example, the class will throw safety errors if the motor
+  velocity is too large. Currently we support checking of motor angle, velocity,
+  gain, torque, as well as the timestamp interval.
+
+  Attributes:
+    last_state: The last received motor state.
+  """
+
+  def __init__(
+      self,
+      motor_id: typing.Any,
+      position_bound: data_types.Bound,
+      position_gain_bound: data_types.Bound,
+      velocity_bound: data_types.Bound,
+      velocity_gain_bound: data_types.Bound,
+      torque_bound: data_types.Bound,
+      timestamp_delta_bound: data_types.Bound,
+      average_abs_velocity_bound: data_types.Bound,
+      average_abs_power_bound: data_types.Bound,
+      state_buffer_size: int = _DEQUE_SIZE,
+  ):
+    """Initializes the class.
+
+    Args:
+      motor_id: Unique ID for the motor.
+      position_bound: The lower/upper bound of the motor angle.
+      position_gain_bound: The lower/upper bound of the motor position gain for
+        PD control.
+      velocity_bound: The lower/upper bound of the motor speed.
+      velocity_gain_bound: The lower/upper bound of the motor velocity gain for
+        PD control.
+      torque_bound: The lower/upper bound of the measured motor torque.
+      timestamp_delta_bound: The range of timestamp difference between two
+        consecutively received motor states.
+      average_abs_velocity_bound: The average absolute velocity limit.
+      average_abs_power_bound: The average absolute mechanical power limit.
+      state_buffer_size: The buffer size used to calculate the average.
+    """
+    assert state_buffer_size > 1
+    self.last_state = None
+
+    self._motor_id = motor_id
+    self._position_bound = position_bound
+    self._position_gain_bound = position_gain_bound
+    self._velocity_bound = velocity_bound
+    self._velocity_gain_bound = velocity_gain_bound
+    self._torque_bound = torque_bound
+    self._timestamp_delta_bound = timestamp_delta_bound
+    self._average_abs_velocity_bound = average_abs_velocity_bound
+    self._average_abs_power_bound = average_abs_power_bound
+
+    # For velocity/power, we use a filter to compute their averages
+    # over a small period. This is to avoid the noisy readings giving false
+    # positive.
+    self._abs_velocity_filter = moving_window_filter.MovingWindowFilter(
+        state_buffer_size)
+    self._abs_power_filter = moving_window_filter.MovingWindowFilter(
+        state_buffer_size)
+
+  def on_state(self, new_state: data_types.MotorState):
+    """Adds a new motor state and validates it.
+
+    Will validate both the instantenous state as well as statitical
+    averages.
+
+    Args:
+      new_state: A new state from the motor encoder.
+
+    Raises:
+      safety_error.OutOfBoundError: When any of the motor readings (e.g.
+      position, torque) is out of bound.
+    """
+
+    # We first validate the new state.
+
+    motor_str = "motor {} ".format(self._motor_id)
+    utilities.assert_in_bound(motor_str + "position", new_state.position,
+                              self._position_bound)
+    utilities.assert_in_bound(motor_str + "velocity", new_state.velocity,
+                              self._velocity_bound)
+    utilities.assert_in_bound(motor_str + "position gain",
+                              new_state.position_gain,
+                              self._position_gain_bound)
+    utilities.assert_in_bound(motor_str + "velocity gain",
+                              new_state.velocity_gain,
+                              self._velocity_gain_bound)
+    utilities.assert_in_bound(motor_str + "torque", new_state.torque,
+                              self._torque_bound)
+
+    if not self.last_state:
+      self.last_state = new_state
+      return
+
+    last_state = self.last_state
+
+    # Check if the time interval between two received states are large.
+
+    delta_time = new_state.timestamp - last_state.timestamp
+    utilities.assert_in_bound(motor_str + "timestamp", delta_time,
+                              self._timestamp_delta_bound)
+
+    average_abs_velocity = self._abs_velocity_filter.CalculateAverage(
+        abs(new_state.velocity))
+    utilities.assert_in_bound(motor_str + "average velocity",
+                              average_abs_velocity,
+                              self._average_abs_velocity_bound)
+
+    average_abs_power = self._abs_power_filter.CalculateAverage(
+        abs(new_state.velocity * new_state.torque))
+    utilities.assert_in_bound(motor_str + "average power", average_abs_power,
+                              self._average_abs_power_bound)
+
+    self.last_state = new_state
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py
new file mode 100644
index 0000000000..4249677c53
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/python/moving_window_filter.py
@@ -0,0 +1,68 @@
+"""Moving window filter to smooth out sensor readings."""
+
+import collections
+
+class MovingWindowFilter(object):
+  """A stable O(1) moving filter for incoming data streams.
+
+  We implement the Neumaier's algorithm to calculate the moving window average,
+  which is numerically stable.
+
+  """
+
+  def __init__(self, window_size: int):
+    """Initializes the class.
+
+    Args:
+      window_size: The moving window size.
+    """
+    assert window_size > 0
+    self._window_size = window_size
+    self._value_deque = collections.deque(maxlen=window_size)
+    # The moving window sum.
+    self._sum = 0
+    # The correction term to compensate numerical precision loss during
+    # calculation.
+    self._correction = 0
+
+  def _neumaier_sum(self, value: float):
+    """Update the moving window sum using Neumaier's algorithm.
+
+    For more details please refer to:
+    https://en.wikipedia.org/wiki/Kahan_summation_algorithm#Further_enhancements
+
+    Args:
+      value: The new value to be added to the window.
+    """
+
+    new_sum = self._sum + value
+    if abs(self._sum) >= abs(value):
+      # If self._sum is bigger, low-order digits of value are lost.
+      self._correction += (self._sum - new_sum) + value
+    else:
+      # low-order digits of sum are lost
+      self._correction += (value - new_sum) + self._sum
+
+    self._sum = new_sum
+
+  def calculate_average(self, new_value: float) -> float:
+    """Computes the moving window average in O(1) time.
+
+    Args:
+      new_value: The new value to enter the moving window.
+
+    Returns:
+      The average of the values in the window.
+
+    """
+    deque_len = len(self._value_deque)
+    if deque_len < self._value_deque.maxlen:
+      pass
+    else:
+      # The left most value to be subtracted from the moving sum.
+      self._neumaier_sum(-self._value_deque[0])
+
+    self._neumaier_sum(new_value)
+    self._value_deque.append(new_value)
+
+    return (self._sum + self._correction) / self._window_size
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py
new file mode 100644
index 0000000000..765028c0e8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_checker.py
@@ -0,0 +1,119 @@
+"""The generic safety checking interface.
+
+Defines the generic safety checker class that can detect bad motor states, imu
+states, self-collisions, unsafe motor commands, unusual temperature reading,
+etc. Safety criterions are provided by the robot class.
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import typing
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots.safety import data_types
+from pybullet_envs.minitaur.robots.safety import motor_action_validator
+from pybullet_envs.minitaur.robots.safety import motor_state_validator
+from pybullet_envs.minitaur.robots.safety import utilities
+
+_MOTOR_STATE_BUFFER_SIZE = 500
+
+
+class SafetyChecker(object):
+  """The generic safety checking interface."""
+
+  def __init__(
+      self,
+      robot: typing.Any,
+  ):
+    """Initilaizes the class.
+
+    TODO(b/131377892): Implement other state checkings including the
+    IMU/temperature/contact force if enabled.
+
+    Args:
+      robot: A robot instance such like Minitaur/Laikago/Vision60.
+    """
+    self._robot = robot
+
+    self._motor_state_validators = []
+    self._motor_action_validators = []
+    for i in range(robot.num_motors):
+      self._motor_state_validators.append(
+          motor_state_validator.MotorStateValidator(
+              motor_id=i,
+              position_bound=robot.safety_config.motor_position_bound[i],
+              position_gain_bound=robot.safety_config
+              .motor_position_gain_bound[i],
+              velocity_bound=robot.safety_config.motor_velocity_bound[i],
+              velocity_gain_bound=robot.safety_config
+              .motor_velocity_gain_bound[i],
+              torque_bound=robot.safety_config.motor_torque_bound[i],
+              timestamp_delta_bound=robot.safety_config.timestamp_delta_bound,
+              average_abs_velocity_bound=robot.safety_config
+              .motor_average_abs_velocity_bound[i],
+              average_abs_power_bound=robot.safety_config
+              .motor_average_abs_power_bound[i],
+              state_buffer_size=_MOTOR_STATE_BUFFER_SIZE,
+          ))
+      self._motor_action_validators.append(
+          motor_action_validator.MotorActionValidator(
+              motor_id=i,
+              position_bound=robot.safety_config.motor_position_bound[i],
+              position_gain_bound=robot.safety_config
+              .motor_position_gain_bound[i],
+              velocity_bound=robot.safety_config.motor_velocity_bound[i],
+              velocity_gain_bound=robot.safety_config
+              .motor_velocity_gain_bound[i],
+              torque_bound=robot.safety_config.motor_torque_bound[i],
+              timestamp_delta_bound=robot.safety_config
+              .state_action_timestamp_delta_bound,
+              delta_position_bound=robot.safety_config
+              .motor_delta_position_bound[i],
+              average_abs_delta_position_bound=robot.safety_config
+              .motor_average_abs_delta_position_bound[i],
+              state_buffer_size=_MOTOR_STATE_BUFFER_SIZE,
+          ))
+
+  def check_state(self) -> None:
+    """Validates the state of the robot.
+
+    TODO(b/131377892): Implement other state checkings including the
+    IMU/temperature/contact force if enabled.
+
+    Raises:
+      A safety exception if any state checking (motor/imu/etc) fails.
+    """
+
+    for motor_id, state_validator, action_validator in zip(
+        range(self._robot.num_motors), self._motor_state_validators,
+        self._motor_action_validators):
+      motor_state = data_types.MotorState(
+          timestamp=self._robot.last_state_time,
+          position=self._robot.GetMotorAngles()[motor_id],
+          velocity=self._robot.GetMotorVelocities()[motor_id],
+          position_gain=self._robot.GetMotorPositionGains()[motor_id],
+          velocity_gain=self._robot.GetMotorVelocityGains()[motor_id],
+          torque=self._robot.GetMotorTorques()[motor_id],
+      )
+      state_validator.on_state(motor_state)
+      action_validator.on_state(motor_state)
+
+  def check_motor_action(
+      self,
+      action: typing.Sequence[float],
+      control_mode: robot_config.MotorControlMode,
+  ) -> None:
+    """Validate the action w.r.t to the motor states.
+
+    Args:
+      action: The motor commands sent to the robot.
+      control_mode: The motor control mode.
+
+    Raises:
+      A safety exception if action checking fails.
+    """
+    motor_action_list = utilities.convert_to_motor_action(
+        self._robot, action, control_mode)
+    for motor_id, validator in enumerate(self._motor_action_validators):
+      validator.on_action(motor_action_list[motor_id], control_mode)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py
new file mode 100644
index 0000000000..5ff078a6f1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/safety_error.py
@@ -0,0 +1,11 @@
+"""Exception types for safety related error."""
+
+
+class SafetyError(Exception):
+  """The base safety exception."""
+  pass
+
+
+class OutOfBoundError(SafetyError):
+  """Rasied when values like motor position or velocity is out of bound."""
+  pass
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py
new file mode 100644
index 0000000000..9703b6bf0d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/safety/utilities.py
@@ -0,0 +1,163 @@
+"""Utilities for safety layers."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import collections
+import typing
+from pybullet_envs.minitaur.robots import robot_config
+from pybullet_envs.minitaur.robots.safety import data_types
+from pybullet_envs.minitaur.robots.safety import safety_error
+
+
+def assert_in_bound(name: typing.Text, value: float, bound: data_types.Bound):
+  """Check if the given value is within the provided bound.
+
+  Args:
+    name: The name of the value.
+    value: Number to be checked.
+    bound: Contains the lower and upper bounds. The bound is inclusive.
+
+  Raises:
+    safety_error.OutofBoundError: when the value is outside the bound.
+  """
+  if bound.lower <= value <= bound.upper:
+    return
+  else:
+    raise safety_error.OutOfBoundError("{} is out of bound {} for {}".format(
+        value, bound, name))
+
+
+def convert_to_motor_action(
+    robot: typing.Any,
+    action: typing.Sequence[float],
+    control_mode: robot_config.MotorControlMode,
+):
+  """Converts the input action to generic MotorAction classes.
+
+  Args:
+    robot: An robot instance.
+    action: The motor commands sent to the robot.
+    control_mode: The motor control mode.
+
+  Returns:
+    The list of converted MotorAction instances.
+  """
+  motor_action_list = []
+  if control_mode == robot_config.MotorControlMode.POSITION:
+    for motor_id, position in enumerate(action):
+      motor_action_list.append(
+          data_types.MotorAction(
+              timestamp=robot.last_action_time,
+              position=position,
+              position_gain=robot.GetMotorPositionGains()[motor_id],
+              velocity=0,
+              velocity_gain=robot.GetMotorVelocityGains()[motor_id],
+              torque=0))
+
+  if (control_mode == robot_config.MotorControlMode.TORQUE or
+      control_mode == robot_config.MotorControlMode.PWM):
+    for motor_id, torque in enumerate(action):
+      motor_action_list.append(
+          data_types.MotorAction(
+              timestamp=robot.last_action_time,
+              position=0,
+              position_gain=0,
+              velocity=0,
+              velocity_gain=0,
+              torque=torque))
+
+  if control_mode == robot_config.MotorControlMode.HYBRID:
+    for motor_id in range(robot.num_motors):
+      position_index = (
+          motor_id * robot_config.HYBRID_ACTION_DIMENSION +
+          robot_config.HybridActionIndex.POSITION.value)
+      position_gain_index = (
+          motor_id * robot_config.HYBRID_ACTION_DIMENSION +
+          robot_config.HybridActionIndex.POSITION_GAIN.value)
+      velocity_index = (
+          motor_id * robot_config.HYBRID_ACTION_DIMENSION +
+          robot_config.HybridActionIndex.VELOCITY.value)
+      velocity_gain_index = (
+          motor_id * robot_config.HYBRID_ACTION_DIMENSION +
+          robot_config.HybridActionIndex.VELOCITY_GAIN.value)
+      torque_index = (
+          motor_id * robot_config.HYBRID_ACTION_DIMENSION +
+          robot_config.HybridActionIndex.TORQUE.value)
+      motor_action_list.append(
+          data_types.MotorAction(
+              timestamp=robot.last_action_time,
+              position=action[position_index],
+              position_gain=action[position_gain_index],
+              velocity=action[velocity_index],
+              velocity_gain=action[velocity_gain_index],
+              torque=action[torque_index]))
+
+  return motor_action_list
+
+
+class MovingWindowFilter(object):
+  """A stable O(1) moving filter for incoming data streams.
+
+  We implement the Neumaier's algorithm to calculate the moving window average,
+  which is numerically stable.
+
+  """
+
+  def __init__(self, window_size: int):
+    """Initializes the class.
+
+    Args:
+      window_size: The moving window size.
+    """
+    assert window_size > 0
+    self._window_size = window_size
+    self._value_deque = collections.deque(maxlen=window_size)
+    # The moving window sum.
+    self._sum = 0
+    # The correction term to compensate numerical precision loss during
+    # calculation.
+    self._correction = 0
+
+  def _neumaier_sum(self, value: float):
+    """Update the moving window sum using Neumaier's algorithm.
+
+    For more details please refer to:
+    https://en.wikipedia.org/wiki/Kahan_summation_algorithm#Further_enhancements
+
+    Args:
+      value: The new value to be added to the window.
+    """
+
+    new_sum = self._sum + value
+    if abs(self._sum) >= abs(value):
+      # If self._sum is bigger, low-order digits of value are lost.
+      self._correction += (self._sum - new_sum) + value
+    else:
+      # low-order digits of sum are lost
+      self._correction += (value - new_sum) + self._sum
+
+    self._sum = new_sum
+
+  def calculate_average(self, new_value: float) -> float:
+    """Computes the moving window average in O(1) time.
+
+    Args:
+      new_value: The new value to enter the moving window.
+
+    Returns:
+      The average of the values in the window.
+
+    """
+    deque_len = len(self._value_deque)
+    if deque_len < self._value_deque.maxlen:
+      pass
+    else:
+      # The left most value to be subtracted from the moving sum.
+      self._neumaier_sum(-self._value_deque[0])
+
+    self._neumaier_sum(new_value)
+    self._value_deque.append(new_value)
+
+    return (self._sum + self._correction) / self._window_size
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py
new file mode 100644
index 0000000000..52cf6b86d8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/time_ordered_buffer.py
@@ -0,0 +1,263 @@
+# Lint as: python3
+"""The common class to manage the a stream of past data."""
+
+import collections
+from typing import Any, List, Sequence, Union
+import dataclasses
+import gin
+import numpy as np
+
+
+@dataclasses.dataclass
+class BufferTuple:
+  value_0: Any
+  value_1: Any
+  coeff: float
+
+
+FloatOrArray = Union[float, Sequence[float]]
+BufferTupleOrArray = Union[BufferTuple, Sequence[BufferTuple]]
+TIME_IDX = 0
+VALUE_IDX = 1
+
+
+@gin.configurable
+class TimeOrderedBuffer(object):
+  """A buffer to hold and extract history data."""
+
+  def __init__(self,
+               max_buffer_timespan: float,
+               error_on_timestamp_reversal: bool = True,
+               error_on_duplicate_timestamp: bool = True,
+               replace_value_on_duplicate_timestamp: bool = False,
+               ):
+    """Initializes the class.
+
+    Args:
+      max_buffer_timespan: Maximum amount of buffer by time to keep.
+      error_on_timestamp_reversal: Whether to throw error if inverted timestamps
+        are found.
+      error_on_duplicate_timestamp: Whether to throw error if the incoming
+        data has the same timestamp as the latest timestamp in the buffer.
+      replace_value_on_duplicate_timestamp: Whether to keep the new value when
+        a duplicate timestamp has occurred. This only applies if we are not
+        throwing an error on duplicate timestamps.
+    """
+    if max_buffer_timespan < 0:
+      raise ValueError(
+          "Invalid max_buffer_timespan: {}".format(max_buffer_timespan))
+    self._max_buffer_timespan = max_buffer_timespan
+    self._error_on_timestamp_reversal = error_on_timestamp_reversal
+    self._error_on_duplicate_timestamp = error_on_duplicate_timestamp
+    self._replace_value_on_duplicate_timestamp = (
+        replace_value_on_duplicate_timestamp)
+    # TODO(tsangwei): Look for a ring buffer implementation.
+    self._buffer = collections.deque()
+
+  def reset(self):
+    self._buffer.clear()
+
+  def _compute_coeff(self,
+                     newer_time: float,
+                     older_time: float,
+                     target_time: float,
+                     ) -> float:
+    """Compute the coefficient value between the two timestamps.
+
+    Args:
+      newer_time: The newer timestamp.
+      older_time: The older timestamp.
+      target_time: Target timestamp that is between the newer and older values.
+
+    Returns:
+      The coefficient as a float.
+    """
+    coeff = 0.0
+    # Prevents divide by 0 error.
+    if newer_time != older_time:
+      assert older_time <= target_time <= newer_time
+      coeff = (newer_time - target_time) / (newer_time - older_time)
+    return coeff
+
+  def _pack_data(self,
+                 obs_newer: Any,
+                 obs_older: Any,
+                 target_time: float,
+                 ) -> BufferTuple:
+    """Packs up buffer data as BufferTuple dataclass.
+
+    Args:
+      obs_newer: Timestamp and value of newer observation.
+      obs_older: Timestamp and value of older observation.
+      target_time: Target timestamp of the observation we are looking for.
+
+    Returns:
+      BufferTuple dataclass.
+    """
+    coeff = self._compute_coeff(newer_time=obs_newer[TIME_IDX],
+                                older_time=obs_older[TIME_IDX],
+                                target_time=target_time)
+    return BufferTuple(value_0=obs_newer[VALUE_IDX],
+                       value_1=obs_older[VALUE_IDX],
+                       coeff=coeff)
+
+  def _find_values_at(self, timestamp_targets: Sequence[float]) -> List[Any]:
+    """Get the lower/upper bound values for given target timestamp.
+
+    Args:
+      timestamp_targets: Actual timestamp value to match against.
+
+    Returns:
+      List of BufferTuple dataclass.
+    """
+    results = [None] * len(timestamp_targets)
+    oldest_obs = self._buffer[0]
+    latest_obs = self._buffer[-1]
+
+    search_start_idx = None
+    search_end_idx = None
+
+    # Check to make sure we do not try to search for values outside of the
+    # current buffer.
+    for i in range(len(timestamp_targets)):
+      # Oldest observation have the smallest timestamp.
+      if timestamp_targets[i] <= oldest_obs[TIME_IDX]:
+        results[i] = self._pack_data(obs_newer=oldest_obs,
+                                     obs_older=oldest_obs,
+                                     target_time=timestamp_targets[i])
+      elif timestamp_targets[i] >= latest_obs[TIME_IDX]:
+        results[i] = self._pack_data(obs_newer=latest_obs,
+                                     obs_older=latest_obs,
+                                     target_time=timestamp_targets[i])
+      else:
+        if search_end_idx is None:
+          search_end_idx = i
+        search_start_idx = i
+
+    if search_end_idx is not None:
+      results = self._walkthrough_buffer(timestamp_targets=timestamp_targets,
+                                         search_start_idx=search_start_idx,
+                                         search_end_idx=search_end_idx,
+                                         results=results)
+
+    return results
+
+  def _walkthrough_buffer(self,
+                          timestamp_targets: List[float],
+                          search_start_idx: int,
+                          search_end_idx: int,
+                          results: List[BufferTuple],
+                          ) -> List[BufferTuple]:
+    """Actual method to walk through the buffer looking for requested values.
+
+    Args:
+      timestamp_targets: List of timestamps to search for in buffer.
+      search_start_idx: Index number for timestamp_targets to start searching
+        from.
+      search_end_idx: Index number for timestamp_targets to stop searching at.
+      results: List of BufferTuple values that covers out of bound results.
+
+    Returns:
+      List of BufferTuple values.
+    """
+    value_older = None
+    target_idx = search_start_idx
+    target_timestamp = timestamp_targets[target_idx]
+    value_older = self._buffer[0]
+
+    # Searching from oldest timestamp to latest timestamp.
+    for value_newer in self._buffer:
+      # Catch edge case scenario where multiple timestamp targets are between
+      # the same two buffer timestamps. (b/157104935)
+      while value_newer[TIME_IDX] >= target_timestamp:
+        # Catch special edge case scenario if using older_obs_blender method.
+        obs_older = value_newer if (
+            value_newer[TIME_IDX] == target_timestamp) else value_older
+        results[target_idx] = self._pack_data(obs_newer=value_newer,
+                                              obs_older=obs_older,
+                                              target_time=target_timestamp)
+        if target_idx - 1 >= search_end_idx:
+          target_idx -= 1
+          target_timestamp = timestamp_targets[target_idx]
+        else:
+          return results
+      value_older = value_newer
+
+    return results
+
+  def add(self, timestamp: float, value: Any):
+    """Inserts timestamp and value into buffer.
+
+    Args:
+      timestamp: Timestamp of the data value.
+      value: Data value to be saved into the buffer.
+    """
+    if self._buffer:
+      last_timestamp = self._buffer[-1][TIME_IDX]
+      if last_timestamp == timestamp:
+        if (not np.array_equal(self._buffer[-1][VALUE_IDX], value) and
+            self._error_on_duplicate_timestamp):
+          raise ValueError("Duplicate timestamp detected: {}".format(timestamp))
+        else:
+          # Duplicate message detected.
+          if self._replace_value_on_duplicate_timestamp:
+            self._buffer[-1] = (timestamp, value)
+          return
+      if last_timestamp > timestamp and self._error_on_timestamp_reversal:
+        raise ValueError(
+            "Time reversal detected: new timestamp is {} vs last timestamp {}"
+            .format(timestamp, last_timestamp))
+      # Dropping old buffer data that exceed buffer timespan limit and making
+      # sure the buffer does not go empty.
+      while (len(self._buffer) > 1 and self._max_buffer_timespan <
+             (timestamp - self._buffer[1][TIME_IDX])):
+        self._buffer.popleft()
+    self._buffer.append((timestamp, value))
+
+  def get_delayed_value(self, latency: FloatOrArray) -> BufferTupleOrArray:
+    """Retrieves value in the history buffer according to latency.
+
+    Finds the closest pair of values that are some time (i.e. latency) ago from
+    the most recent timestamp. Suppose the history buffer looks like this:
+
+    [(0, val_x),...,(0.6, val_k-1), (0.7, val_k), (0.8, val_k+1),...,(2, val_0)]
+
+    And the latency is '1.33', then this API will locate the values with
+    timestamps close to 2 - 1.33 = 0.67. So in this case, it will return the
+    pair (0.7, val_k) and (0.6, val_k+1), as well as a blending coefficient
+    which is calculated by (0.7 - 0.67) / (0.7 - 0.6) = 0.3. This blending coeff
+    can be used to linearly interpolate the returned values, i.e. val_1 * (1 -
+    coeff) + val_2 * coeff, if the multiply operator is defined.
+
+    Args:
+      latency: The time interval(s) to look backwards in the history buffer from
+        the most recent timestamp.
+
+    Returns:
+      An array of BufferTuple dataclass.
+
+    Raises:
+      ValueError: if the latency is negative.
+      BufferError: if the buffer is empty.
+    """
+    buffer_len = len(self._buffer)
+    if buffer_len == 0:
+      raise BufferError("The buffer is empty. Have you called 'add'?")
+
+    single_latency = isinstance(latency, (int, float))
+
+    if single_latency:
+      if latency < 0:
+        raise ValueError("Latency cannot be negative.")
+    else:
+      if any(value < 0 for value in latency):
+        raise ValueError("Latency list contains negative values.")
+      if latency != sorted(latency):
+        raise ValueError("Invalid unsorted latency list.")
+
+    target_list = [latency] if single_latency else latency
+    current_time = self._buffer[-1][TIME_IDX]
+    target_list = [current_time - offset for offset in target_list]
+
+    result = self._find_values_at(target_list)
+    return result[0] if single_latency else result
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp.proto b/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp.proto
new file mode 100644
index 0000000000..9c4c75cc35
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp.proto
@@ -0,0 +1,147 @@
+// Protocol Buffers - Google's data interchange format
+// Copyright 2008 Google Inc.  All rights reserved.
+// https://developers.google.com/protocol-buffers/
+//
+// 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.
+
+syntax = "proto3";
+
+package google.protobuf;
+
+option csharp_namespace = "Google.Protobuf.WellKnownTypes";
+option cc_enable_arenas = true;
+option go_package = "google.golang.org/protobuf/types/known/timestamppb";
+option java_package = "com.google.protobuf";
+option java_outer_classname = "TimestampProto";
+option java_multiple_files = true;
+option objc_class_prefix = "GPB";
+
+// A Timestamp represents a point in time independent of any time zone or local
+// calendar, encoded as a count of seconds and fractions of seconds at
+// nanosecond resolution. The count is relative to an epoch at UTC midnight on
+// January 1, 1970, in the proleptic Gregorian calendar which extends the
+// Gregorian calendar backwards to year one.
+//
+// All minutes are 60 seconds long. Leap seconds are "smeared" so that no leap
+// second table is needed for interpretation, using a [24-hour linear
+// smear](https://developers.google.com/time/smear).
+//
+// The range is from 0001-01-01T00:00:00Z to 9999-12-31T23:59:59.999999999Z. By
+// restricting to that range, we ensure that we can convert to and from [RFC
+// 3339](https://www.ietf.org/rfc/rfc3339.txt) date strings.
+//
+// # Examples
+//
+// Example 1: Compute Timestamp from POSIX `time()`.
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(time(NULL));
+//     timestamp.set_nanos(0);
+//
+// Example 2: Compute Timestamp from POSIX `gettimeofday()`.
+//
+//     struct timeval tv;
+//     gettimeofday(&tv, NULL);
+//
+//     Timestamp timestamp;
+//     timestamp.set_seconds(tv.tv_sec);
+//     timestamp.set_nanos(tv.tv_usec * 1000);
+//
+// Example 3: Compute Timestamp from Win32 `GetSystemTimeAsFileTime()`.
+//
+//     FILETIME ft;
+//     GetSystemTimeAsFileTime(&ft);
+//     UINT64 ticks = (((UINT64)ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+//
+//     // A Windows tick is 100 nanoseconds. Windows epoch 1601-01-01T00:00:00Z
+//     // is 11644473600 seconds before Unix epoch 1970-01-01T00:00:00Z.
+//     Timestamp timestamp;
+//     timestamp.set_seconds((INT64) ((ticks / 10000000) - 11644473600LL));
+//     timestamp.set_nanos((INT32) ((ticks % 10000000) * 100));
+//
+// Example 4: Compute Timestamp from Java `System.currentTimeMillis()`.
+//
+//     long millis = System.currentTimeMillis();
+//
+//     Timestamp timestamp = Timestamp.newBuilder().setSeconds(millis / 1000)
+//         .setNanos((int) ((millis % 1000) * 1000000)).build();
+//
+//
+// Example 5: Compute Timestamp from Java `Instant.now()`.
+//
+//     Instant now = Instant.now();
+//
+//     Timestamp timestamp =
+//         Timestamp.newBuilder().setSeconds(now.getEpochSecond())
+//             .setNanos(now.getNano()).build();
+//
+//
+// Example 6: Compute Timestamp from current time in Python.
+//
+//     timestamp = Timestamp()
+//     timestamp.GetCurrentTime()
+//
+// # JSON Mapping
+//
+// In JSON format, the Timestamp type is encoded as a string in the
+// [RFC 3339](https://www.ietf.org/rfc/rfc3339.txt) format. That is, the
+// format is "{year}-{month}-{day}T{hour}:{min}:{sec}[.{frac_sec}]Z"
+// where {year} is always expressed using four digits while {month}, {day},
+// {hour}, {min}, and {sec} are zero-padded to two digits each. The fractional
+// seconds, which can go up to 9 digits (i.e. up to 1 nanosecond resolution),
+// are optional. The "Z" suffix indicates the timezone ("UTC"); the timezone
+// is required. A proto3 JSON serializer should always use UTC (as indicated by
+// "Z") when printing the Timestamp type and a proto3 JSON parser should be
+// able to accept both UTC and other timezones (as indicated by an offset).
+//
+// For example, "2017-01-15T01:30:15.01Z" encodes 15.01 seconds past
+// 01:30 UTC on January 15, 2017.
+//
+// In JavaScript, one can convert a Date object to this format using the
+// standard
+// [toISOString()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Date/toISOString)
+// method. In Python, a standard `datetime.datetime` object can be converted
+// to this format using
+// [`strftime`](https://docs.python.org/2/library/time.html#time.strftime) with
+// the time format spec '%Y-%m-%dT%H:%M:%S.%fZ'. Likewise, in Java, one can use
+// the Joda Time's [`ISODateTimeFormat.dateTime()`](
+// http://www.joda.org/joda-time/apidocs/org/joda/time/format/ISODateTimeFormat.html#dateTime%2D%2D
+// ) to obtain a formatter capable of generating timestamps in this format.
+//
+//
+message Timestamp {
+  // Represents seconds of UTC time since Unix epoch
+  // 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to
+  // 9999-12-31T23:59:59Z inclusive.
+  int64 seconds = 1;
+
+  // Non-negative fractions of a second at nanosecond resolution. Negative
+  // second values with fractions must still have non-negative nanos values
+  // that count forward in time. Must be from 0 to 999,999,999
+  // inclusive.
+  int32 nanos = 2;
+}
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py
new file mode 100644
index 0000000000..b14188991c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/timestamp_pb2.py
@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: timestamp.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='timestamp.proto',
+  package='google.protobuf',
+  syntax='proto3',
+  serialized_options=b'\n\023com.google.protobufB\016TimestampProtoP\001Z2google.golang.org/protobuf/types/known/timestamppb\370\001\001\242\002\003GPB\252\002\036Google.Protobuf.WellKnownTypes',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0ftimestamp.proto\x12\x0fgoogle.protobuf\"+\n\tTimestamp\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x42\x85\x01\n\x13\x63om.google.protobufB\x0eTimestampProtoP\x01Z2google.golang.org/protobuf/types/known/timestamppb\xf8\x01\x01\xa2\x02\x03GPB\xaa\x02\x1eGoogle.Protobuf.WellKnownTypesb\x06proto3'
+)
+
+
+
+
+_TIMESTAMP = _descriptor.Descriptor(
+  name='Timestamp',
+  full_name='google.protobuf.Timestamp',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='seconds', full_name='google.protobuf.Timestamp.seconds', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='nanos', full_name='google.protobuf.Timestamp.nanos', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=36,
+  serialized_end=79,
+)
+
+DESCRIPTOR.message_types_by_name['Timestamp'] = _TIMESTAMP
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Timestamp = _reflection.GeneratedProtocolMessageType('Timestamp', (_message.Message,), {
+  'DESCRIPTOR' : _TIMESTAMP,
+  '__module__' : 'timestamp_pb2'
+  # @@protoc_insertion_point(class_scope:google.protobuf.Timestamp)
+  })
+_sym_db.RegisterMessage(Timestamp)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py
new file mode 100644
index 0000000000..6fb100cb3a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/action_filter.py
@@ -0,0 +1,239 @@
+"""Two types of filters which can be applied to policy output sequences.
+
+1. Simple exponential filter
+2. Butterworth filter - lowpass or bandpass
+
+The implementation of the butterworth filter follows scipy's lfilter
+https://github.com/scipy/scipy/blob/v1.2.1/scipy/signal/signaltools.py
+
+We re-implement the logic in order to explicitly manage the y states
+
+The filter implements::
+       a[0]*y[n] = b[0]*x[n] + b[1]*x[n-1] + ... + b[M]*x[n-M]
+                             - a[1]*y[n-1] - ... - a[N]*y[n-N]
+
+We assume M == N.
+"""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import collections
+from absl import logging
+import gin
+import numpy as np
+from scipy.signal import butter
+
+ACTION_FILTER_ORDER = 2
+ACTION_FILTER_LOW_CUT = 0.0
+ACTION_FILTER_HIGH_CUT = 4.0
+
+
+@gin.configurable
+class ActionFilter(object):
+  """Implements a generic lowpass or bandpass action filter."""
+
+  def __init__(self, a, b, order, num_joints, ftype='lowpass'):
+    """Initializes filter.
+
+    Either one per joint or same for all joints.
+
+    Args:
+      a: filter output history coefficients
+      b: filter input coefficients
+      order: filter order
+      num_joints: robot DOF
+      ftype: filter type. 'lowpass' or 'bandpass'
+    """
+    self.num_joints = num_joints
+    if isinstance(a, list):
+      self.a = a
+      self.b = b
+    else:
+      self.a = [a]
+      self.b = [b]
+
+    # Either a set of parameters per joint must be specified as a list
+    # Or one filter is applied to every joint
+    if not ((len(self.a) == len(self.b) == num_joints) or (
+        len(self.a) == len(self.b) == 1)):
+      raise ValueError('Incorrect number of filter values specified')
+
+    # Normalize by a[0]
+    for i in range(len(self.a)):
+      self.b[i] /= self.a[i][0]
+      self.a[i] /= self.a[i][0]
+
+    # Convert single filter to same format as filter per joint
+    if len(self.a) == 1:
+      self.a *= num_joints
+      self.b *= num_joints
+    self.a = np.stack(self.a)
+    self.b = np.stack(self.b)
+
+    if ftype == 'bandpass':
+      assert len(self.b[0]) == len(self.a[0]) == 2 * order + 1
+      self.hist_len = 2 * order
+    elif ftype == 'lowpass':
+      assert len(self.b[0]) == len(self.a[0]) == order + 1
+      self.hist_len = order
+    else:
+      raise ValueError('%s filter type not supported' % (ftype))
+
+    logging.info('Filter shapes: a: %s, b: %s', self.a.shape, self.b.shape)
+    logging.info('Filter type:%s', ftype)
+
+    self.yhist = collections.deque(maxlen=self.hist_len)
+    self.xhist = collections.deque(maxlen=self.hist_len)
+    self.reset()
+
+  def reset(self):
+    """Resets the history buffers to 0."""
+    self.yhist.clear()
+    self.xhist.clear()
+    for _ in range(self.hist_len):
+      self.yhist.appendleft(np.zeros((self.num_joints, 1)))
+      self.xhist.appendleft(np.zeros((self.num_joints, 1)))
+
+  def filter(self, x):
+    """Returns filtered x."""
+    xs = np.concatenate(list(self.xhist), axis=-1)
+    ys = np.concatenate(list(self.yhist), axis=-1)
+    y = np.multiply(x, self.b[:, 0]) + np.sum(
+        np.multiply(xs, self.b[:, 1:]), axis=-1) - np.sum(
+            np.multiply(ys, self.a[:, 1:]), axis=-1)
+    self.xhist.appendleft(x.reshape((self.num_joints, 1)).copy())
+    self.yhist.appendleft(y.reshape((self.num_joints, 1)).copy())
+    return y
+
+  def init_history(self, x):
+    x = np.expand_dims(x, axis=-1)
+    for i in range(self.hist_len):
+      self.xhist[i] = x
+      self.yhist[i] = x
+    return
+
+
+@gin.configurable
+class ActionFilterButter(ActionFilter):
+  """Butterworth filter."""
+
+  def __init__(self,
+               lowcut=None,
+               highcut=None,
+               sampling_rate=None,
+               order=ACTION_FILTER_ORDER,
+               num_joints=None):
+    """Initializes a butterworth filter.
+
+    Either one per joint or same for all joints.
+
+    Args:
+      lowcut: list of strings defining the low cutoff frequencies.
+        The list must contain either 1 element (same filter for all joints)
+        or num_joints elements
+        0 for lowpass, > 0 for bandpass. Either all values must be 0
+        or all > 0
+      highcut: list of strings defining the high cutoff frequencies.
+        The list must contain either 1 element (same filter for all joints)
+        or num_joints elements
+        All must be > 0
+      sampling_rate: frequency of samples in Hz
+      order: filter order
+      num_joints: robot DOF
+    """
+    self.lowcut = ([float(x) for x in lowcut]
+                   if lowcut is not None else [ACTION_FILTER_LOW_CUT])
+    self.highcut = ([float(x) for x in highcut]
+                    if highcut is not None else [ACTION_FILTER_HIGH_CUT])
+    if len(self.lowcut) != len(self.highcut):
+      raise ValueError('Number of lowcut and highcut filter values should '
+                       'be the same')
+
+    if sampling_rate is None:
+      raise ValueError('sampling_rate should be provided.')
+
+    if num_joints is None:
+      raise ValueError('num_joints should be provided.')
+
+    if np.any(self.lowcut):
+      if not np.all(self.lowcut):
+        raise ValueError('All the filters must be of the same type: '
+                         'lowpass or bandpass')
+      self.ftype = 'bandpass'
+    else:
+      self.ftype = 'lowpass'
+
+    a_coeffs = []
+    b_coeffs = []
+    for i, (l, h) in enumerate(zip(self.lowcut, self.highcut)):
+      if h <= 0.0:
+        raise ValueError('Highcut must be > 0')
+
+      b, a = self.butter_filter(l, h, sampling_rate, order)
+      logging.info(
+          'Butterworth filter: joint: %d, lowcut: %f, highcut: %f, '
+          'sampling rate: %d, order: %d, num joints: %d', i, l, h,
+          sampling_rate, order, num_joints)
+      b_coeffs.append(b)
+      a_coeffs.append(a)
+
+    super(ActionFilterButter, self).__init__(
+        a_coeffs, b_coeffs, order, num_joints, self.ftype)
+
+  def butter_filter(self, lowcut, highcut, fs, order=5):
+    """Returns the coefficients of a butterworth filter.
+
+    If lowcut = 0, the function returns the coefficients of a low pass filter.
+    Otherwise, the coefficients of a band pass filter are returned.
+    Highcut should be > 0
+
+    Args:
+      lowcut: low cutoff frequency
+      highcut: high cutoff frequency
+      fs: sampling rate
+      order: filter order
+    Return:
+      b, a: parameters of a butterworth filter
+    """
+    nyq = 0.5 * fs
+    low = lowcut / nyq
+    high = highcut / nyq
+    if low:
+      b, a = butter(order, [low, high], btype='band')
+    else:
+      b, a = butter(order, [high], btype='low')
+    return b, a
+
+
+class ActionFilterExp(ActionFilter):
+  """Filter by way of simple exponential smoothing.
+
+  y = alpha * x + (1 - alpha) * previous_y
+  """
+
+  def __init__(self, alpha, num_joints):
+    """Initialize the filter.
+
+    Args:
+      alpha: list of strings defining the alphas.
+        The list must contain either 1 element (same filter for all joints)
+        or num_joints elements
+        0 < alpha <= 1
+      num_joints: robot DOF
+    """
+    self.alphas = [float(x) for x in alpha]
+    logging.info('Exponential filter: alpha: %d', self.alphas)
+
+    a_coeffs = []
+    b_coeffs = []
+    for a in self.alphas:
+      a_coeffs.append(np.asarray([1., a - 1.]))
+      b_coeffs.append(np.asarray([a, 0]))
+
+    order = 1
+    self.ftype = 'lowpass'
+
+    super(ActionFilterExp, self).__init__(
+        a_coeffs, b_coeffs, order, num_joints, self.ftype)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py
new file mode 100644
index 0000000000..be5824400e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics.py
@@ -0,0 +1,127 @@
+"""The inverse kinematic utilities."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import numpy as np
+import typing
+
+_IDENTITY_ORIENTATION = (0, 0, 0, 1)
+
+
+def joint_angles_from_link_position(
+    robot: typing.Any,
+    link_position: typing.Sequence[float],
+    link_id: int,
+    joint_ids: typing.Sequence[int],
+    position_in_world_frame=False,
+    base_translation: typing.Sequence[float] = (0, 0, 0),
+    base_rotation: typing.Sequence[float] = (0, 0, 0, 1)):
+  """Uses Inverse Kinematics to calculate joint angles.
+
+  Args:
+    robot: A robot instance.
+    link_position: The (x, y, z) of the link in the body or the world frame,
+      depending on whether the argument position_in_world_frame is true.
+    link_id: The link id as returned from loadURDF.
+    joint_ids: The positional index of the joints. This can be different from
+      the joint unique ids.
+    position_in_world_frame: Whether the input link_position is specified
+      in the world frame or the robot's base frame.
+    base_translation: Additional base translation.
+    base_rotation: Additional base rotation.
+
+  Returns:
+    A list of joint angles.
+  """
+  if not position_in_world_frame:
+    # Projects to local frame.
+    base_position, base_orientation = robot.GetBasePosition(
+    ), robot.GetBaseOrientation()
+    base_position, base_orientation = robot.pybullet_client.multiplyTransforms(
+        base_position, base_orientation, base_translation, base_rotation)
+
+    # Projects to world space.
+    world_link_pos, _ = robot.pybullet_client.multiplyTransforms(
+        base_position, base_orientation, link_position, _IDENTITY_ORIENTATION)
+  else:
+    world_link_pos = link_position
+
+  ik_solver = 0
+  all_joint_angles = robot.pybullet_client.calculateInverseKinematics(
+      robot.quadruped, link_id, world_link_pos, solver=ik_solver)
+
+  # Extract the relevant joint angles.
+  joint_angles = [all_joint_angles[i] for i in joint_ids]
+  return joint_angles
+
+
+def link_position_in_world_frame(
+    robot: typing.Any,
+    link_id: int,
+):
+  """Computes the link's position in the world frame.
+
+  Args:
+    robot: A robot instance.
+    link_id: The link id to calculate its position.
+
+  Returns:
+    The position of the link in the world frame.
+  """
+  return np.array(
+      robot.pybullet_client.getLinkState(robot.quadruped, link_id)[0])
+
+
+def link_position_in_base_frame(
+    robot: typing.Any,
+    link_id: int,
+):
+  """Computes the link's local position in the robot frame.
+
+  Args:
+    robot: A robot instance.
+    link_id: The link to calculate its relative position.
+
+  Returns:
+    The relative position of the link.
+  """
+  base_position, base_orientation = robot.GetBasePosition(
+  ), robot.GetBaseOrientation()
+  inverse_translation, inverse_rotation = robot.pybullet_client.invertTransform(
+      base_position, base_orientation)
+
+  link_state = robot.pybullet_client.getLinkState(robot.quadruped, link_id)
+  link_position = link_state[0]
+  link_local_position, _ = robot.pybullet_client.multiplyTransforms(
+      inverse_translation, inverse_rotation, link_position, (0, 0, 0, 1))
+
+  return np.array(link_local_position)
+
+
+def compute_jacobian(
+    robot: typing.Any,
+    link_id: int,
+):
+  """Computes the Jacobian matrix for the given link.
+
+  Args:
+    robot: A robot instance.
+    link_id: The link id as returned from loadURDF.
+
+  Returns:
+    The 3 x N transposed Jacobian matrix. where N is the total DoFs of the
+    robot. For a quadruped, the first 6 columns of the matrix corresponds to
+    the CoM translation and rotation. The columns corresponds to a leg can be
+    extracted with indices [6 + leg_id * 3: 6 + leg_id * 3 + 3].
+  """
+
+  all_joint_angles = [state[0] for state in robot.joint_states]
+  zero_vec = [0] * len(all_joint_angles)
+  jv, _ = robot.pybullet_client.calculateJacobian(robot.quadruped, link_id,
+                                                  (0, 0, 0), all_joint_angles,
+                                                  zero_vec, zero_vec)
+  jacobian = np.array(jv)
+  assert jacobian.shape[0] == 3
+  return jacobian
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py
new file mode 100644
index 0000000000..088f2bcb96
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/kinematics_utils.py
@@ -0,0 +1,208 @@
+# Lint as: python3
+"""The inverse kinematic utilities."""
+from typing import Optional, Sequence
+
+import numpy as np
+
+from pybullet_utils import bullet_client
+
+_IDENTITY_ROTATION_QUAT = (0, 0, 0, 1)
+_IK_SOLVER_TYPE = 0
+_LINK_POS_INDEX = 0
+
+
+def joint_angles_from_link_positions(
+    pybullet_client: bullet_client.BulletClient,
+    urdf_id: int,
+    link_ids: Sequence[int],
+    link_positions: Sequence[Sequence[float]],
+    positions_are_in_world_frame: bool = False,
+    joint_dof_ids: Optional[Sequence[int]] = None,
+) -> np.ndarray:
+  """Uses Inverse Kinematics to calculate joint angles.
+
+  Args:
+    pybullet_client: The bullet client.
+    urdf_id: The unique id returned after loading URDF.
+    link_ids: The link ids to compute the IK.
+    link_positions: The (x, y, z) of the links in the body or the world frame,
+      depending on whether the argument link_position_in_world_frame is true.
+    positions_are_in_world_frame: Whether the input link positions are specified
+      in the world frame or the robot's base frame.
+    joint_dof_ids: The degrees of freedom index of the joints we want to extract
+      the angles. This can be different from the joint unique ids. For example,
+      a fixed joint will increase the joint unique id but will not increase the
+      number of degree of freedoms. The joint dof id can be extracted in
+      PyBullet by getJointInfo, which corresponds to the "qIndex" in the
+      returned values. If not specified, will return all movable joint angles.
+
+  Returns:
+    A list of joint angles.
+  """
+  if positions_are_in_world_frame:
+    world_link_positions = link_positions
+  else:
+    # The PyBullet inverse Kinematics Calculation depends on the current URDF
+    # position/orientation, and we cannot pass them to the API. So we have to
+    # always query the current base position/orientation to compute world frame
+    # link positions.
+    urdf_base_position, urdf_base_orientation = (
+        pybullet_client.getBasePositionAndOrientation(urdf_id))
+    world_link_positions = []
+    for link_position in link_positions:
+      world_link_position, _ = pybullet_client.multiplyTransforms(
+          urdf_base_position, urdf_base_orientation, link_position,
+          _IDENTITY_ROTATION_QUAT)
+      world_link_positions.append(world_link_position)
+
+  # Notice that the API expects the link positions in the world frame.
+  all_joint_angles = pybullet_client.calculateInverseKinematics2(
+      urdf_id, link_ids, world_link_positions, solver=_IK_SOLVER_TYPE)
+
+  # Extract the relevant joint angles.
+  if joint_dof_ids is None:
+    return np.array(all_joint_angles)
+
+  return np.array([all_joint_angles[i] for i in joint_dof_ids])
+
+
+def link_position_in_world_frame(
+    pybullet_client: bullet_client.BulletClient,
+    urdf_id: int,
+    link_id: int,
+):
+  """Computes the link's position in the world frame.
+
+  Args:
+    pybullet_client: The bullet client.
+    urdf_id: The unique id returned after loading URDF.
+    link_id: The link id to calculate its position.
+
+  Returns:
+    The position of the link in the world frame.
+  """
+  return np.array(pybullet_client.getLinkState(urdf_id, link_id)[0])
+
+
+def link_position_in_base_frame(
+    pybullet_client: bullet_client.BulletClient,
+    urdf_id: int,
+    link_id: int,
+    base_link_id: Optional[int] = None,
+):
+  """Computes the link's local position in the robot frame.
+
+  Args:
+    pybullet_client: The bullet client.
+    urdf_id: The unique id returned after loading URDF.
+    link_id: The link to calculate its relative position.
+    base_link_id: The link id of the base. For the kinematics robot, such as
+      wheeled_robot_base, three additional joints are added to connect the world
+      and the base. The base_link_id is no longer -1, and need to be passed in.
+
+
+  Returns:
+    The relative position of the link.
+  """
+  if base_link_id is None:
+    base_position, base_orientation = (
+        pybullet_client.getBasePositionAndOrientation(urdf_id))
+  else:
+    base_link_state = pybullet_client.getLinkState(urdf_id, base_link_id)
+    base_position, base_orientation = base_link_state[0], base_link_state[1]
+
+  inverse_translation, inverse_rotation = pybullet_client.invertTransform(
+      base_position, base_orientation)
+
+  link_state = pybullet_client.getLinkState(urdf_id, link_id)
+  link_position = link_state[0]
+  link_local_position, _ = pybullet_client.multiplyTransforms(
+      inverse_translation, inverse_rotation, link_position, (0, 0, 0, 1))
+
+  return np.array(link_local_position)
+
+
+def compute_jacobian(
+    pybullet_client: bullet_client.BulletClient,
+    urdf_id: int,
+    link_id: int,
+    all_joint_positions: Sequence[float],
+    additional_translation: Optional[Sequence[float]] = (0, 0, 0),
+) -> np.ndarray:
+  """Computes the Jacobian matrix for the given point on a link.
+
+  CAVEAT: If during URDF loading process additional rotations are provided, the
+  computed Jacobian are also transformed.
+
+  Args:
+    pybullet_client: The bullet client.
+    urdf_id: The unique id returned after loading URDF.
+    link_id: The link id as returned from loadURDF.
+    all_joint_positions: all the joint positions of the robot. This should
+      include the dummy/kinematic drive joints for the wheeled robot.
+    additional_translation: The additional translation of the point in the link
+      CoM frame.
+
+  Returns:
+    The 3 x N transposed Jacobian matrix. where N is the total DoFs of the
+    robot. For a quadruped, the first 6 columns of the matrix corresponds to
+    the CoM translation and rotation. The columns corresponds to a leg can be
+    extracted with indices [6 + leg_id * 3: 6 + leg_id * 3 + 3].
+  """
+
+  zero_vec = [0] * len(all_joint_positions)
+  jv, _ = pybullet_client.calculateJacobian(
+      urdf_id,
+      link_id,
+      additional_translation,
+      all_joint_positions,
+      objVelocities=zero_vec,
+      objAccelerations=zero_vec)
+  jacobian = np.array(jv)
+  assert jacobian.shape[0] == 3
+  return jacobian
+
+
+def rotate_to_base_frame(
+    pybullet_client: bullet_client.BulletClient,
+    urdf_id: int,
+    vector: Sequence[float],
+    init_orientation_inv_quat: Optional[Sequence[float]] = (0, 0, 0, 1)
+) -> np.ndarray:
+  """Rotates the input vector to the base coordinate systems.
+
+  Note: This is different from world frame to base frame transformation, as we
+  do not apply any translation here.
+
+  Args:
+    pybullet_client: The bullet client.
+    urdf_id: The unique id returned after loading URDF.
+    vector: Input vector in the world frame.
+    init_orientation_inv_quat:
+
+  Returns:
+    A rotated vector in the base frame.
+  """
+  _, base_orientation_quat = (
+      pybullet_client.getBasePositionAndOrientation(urdf_id))
+  _, base_orientation_quat_from_init = pybullet_client.multiplyTransforms(
+      positionA=(0, 0, 0),
+      orientationA=init_orientation_inv_quat,
+      positionB=(0, 0, 0),
+      orientationB=base_orientation_quat)
+  _, inverse_base_orientation = pybullet_client.invertTransform(
+      [0, 0, 0], base_orientation_quat_from_init)
+
+  # PyBullet transforms requires simple list/tuple or it may crash.
+  if isinstance(vector, np.ndarray):
+    vector_list = vector.tolist()
+  else:
+    vector_list = vector
+
+  local_vector, _ = pybullet_client.multiplyTransforms(
+      positionA=(0, 0, 0),
+      orientationA=inverse_base_orientation,
+      positionB=vector_list,
+      orientationB=(0, 0, 0, 1),
+  )
+  return np.array(local_vector)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py
new file mode 100644
index 0000000000..f45d4ff86b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/utilities/urdf_utils.py
@@ -0,0 +1,59 @@
+# Lint as: python3
+"""Utilities for robot URDF models."""
+
+from typing import Text
+
+# In the return from pybullet.getJointInfo, the name of the link whose parent is
+# that joint.
+LINK_NAME_INDEX = 12
+# Indication that link_name_to_id should return -1. This is a constant because
+# different URDFs use different names for their base links.
+BASE_LINK = ""
+
+
+def link_name_to_id(link_name: Text, robot_id: int, pybullet_client) -> int:
+  """Returns the pybullet integer link id corresponding to link_name.
+
+  Args:
+    link_name: The name of the link from the URDF. If this is BASE_LINK, returns
+      -1, the link id of the base according to pybullet convention.
+    robot_id: Integer id of the robot to which the link belongs, as returned by
+      pybullet.loadURDF().
+    pybullet_client: Client in which the robot is loaded.
+
+  Returns:
+    Integer id of the link.
+
+  Raises:
+    ValueError if the link_name is not found in the robot.
+  """
+  if link_name == BASE_LINK:
+    return -1
+  link_name_list = []
+  for i in range(pybullet_client.getNumJoints(robot_id)):
+    joint_info = pybullet_client.getJointInfo(robot_id, i)
+    link_name_i = joint_info[LINK_NAME_INDEX].decode("UTF-8")
+    if link_name_i == link_name:
+      return i
+    link_name_list.append(link_name_i)
+  raise ValueError("Link name '{}' not found in URDF. Options are: {}".format(
+      link_name, link_name_list))
+
+
+def set_collision_filter_group_mask(urdf_id: int, group: int, mask: int,
+                                    pybullet_client):
+  """Sets the collision filter group and mask to the robot.
+
+  TODO(tingnan): Check if this has side effects with self collision flags
+  when loading URDF.
+
+  Args:
+    urdf_id: The URDF id as returned by the loadURDF.
+    group: The collision group the robot is in. By default, all dynamics objects
+      in PyBullet use collision group 1.
+    mask: The collision bit mask to use. See go/pybullet for details.
+    pybullet_client: The bullet client to use.
+  """
+  # We includes "-1" for the base link of the URDF.
+  for link_id in range(-1, pybullet_client.getNumJoints(urdf_id)):
+    pybullet_client.setCollisionFilterGroupMask(urdf_id, link_id, group, mask)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector.proto b/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector.proto
new file mode 100644
index 0000000000..92c48f859d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector.proto
@@ -0,0 +1,84 @@
+syntax = "proto3";
+
+package robotics.messages;
+
+option cc_enable_arenas = true;
+
+// A four-dimensional double precision vector.
+message Vector4d {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+  double w = 4;
+}
+
+// A four-dimensional single precision vector.
+message Vector4f {
+  float x = 1;
+  float y = 2;
+  float z = 3;
+  float w = 4;
+}
+
+// A four-dimensional integer vector.
+message Vector4i {
+  int64 x = 1;
+  int64 y = 2;
+  int64 z = 3;
+  int64 w = 4;
+}
+
+// A three-dimensional double precision vector.
+message Vector3d {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+}
+
+// A three-dimensional single precision vector.
+message Vector3f {
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// A three-dimensional integer vector.
+message Vector3i {
+  int64 x = 1;
+  int64 y = 2;
+  int64 z = 3;
+}
+
+// A two-dimensional double precision vector.
+message Vector2d {
+  double x = 1;
+  double y = 2;
+}
+
+// A two-dimensional single precision vector.
+message Vector2f {
+  float x = 1;
+  float y = 2;
+}
+
+// A two-dimensional integer vector.
+message Vector2i {
+  int64 x = 1;
+  int64 y = 2;
+}
+
+// Double precision vector of arbitrary size.
+message Vectord {
+  repeated double data = 1 [packed = true];
+}
+
+// Single precision vector of arbitrary size.
+message Vectorf {
+  repeated float data = 1 [packed = true];
+}
+
+// Integer vector of arbitrary size.
+message Vectori {
+  repeated int64 data = 1 [packed = true];
+}
+
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py b/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py
new file mode 100644
index 0000000000..ccaad55b48
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/robots/vector_pb2.py
@@ -0,0 +1,640 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: vector.proto
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='vector.proto',
+  package='robotics.messages',
+  syntax='proto3',
+  serialized_options=b'\370\001\001',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0cvector.proto\x12\x11robotics.messages\"6\n\x08Vector4d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\t\n\x01w\x18\x04 \x01(\x01\"6\n\x08Vector4f\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\x12\t\n\x01w\x18\x04 \x01(\x02\"6\n\x08Vector4i\x12\t\n\x01x\x18\x01 \x01(\x03\x12\t\n\x01y\x18\x02 \x01(\x03\x12\t\n\x01z\x18\x03 \x01(\x03\x12\t\n\x01w\x18\x04 \x01(\x03\"+\n\x08Vector3d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"+\n\x08Vector3f\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"+\n\x08Vector3i\x12\t\n\x01x\x18\x01 \x01(\x03\x12\t\n\x01y\x18\x02 \x01(\x03\x12\t\n\x01z\x18\x03 \x01(\x03\" \n\x08Vector2d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\" \n\x08Vector2f\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\" \n\x08Vector2i\x12\t\n\x01x\x18\x01 \x01(\x03\x12\t\n\x01y\x18\x02 \x01(\x03\"\x1b\n\x07Vectord\x12\x10\n\x04\x64\x61ta\x18\x01 \x03(\x01\x42\x02\x10\x01\"\x1b\n\x07Vectorf\x12\x10\n\x04\x64\x61ta\x18\x01 \x03(\x02\x42\x02\x10\x01\"\x1b\n\x07Vectori\x12\x10\n\x04\x64\x61ta\x18\x01 \x03(\x03\x42\x02\x10\x01\x42\x03\xf8\x01\x01\x62\x06proto3'
+)
+
+
+
+
+_VECTOR4D = _descriptor.Descriptor(
+  name='Vector4d',
+  full_name='robotics.messages.Vector4d',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector4d.x', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector4d.y', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector4d.z', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='w', full_name='robotics.messages.Vector4d.w', index=3,
+      number=4, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=35,
+  serialized_end=89,
+)
+
+
+_VECTOR4F = _descriptor.Descriptor(
+  name='Vector4f',
+  full_name='robotics.messages.Vector4f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector4f.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector4f.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector4f.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='w', full_name='robotics.messages.Vector4f.w', index=3,
+      number=4, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=91,
+  serialized_end=145,
+)
+
+
+_VECTOR4I = _descriptor.Descriptor(
+  name='Vector4i',
+  full_name='robotics.messages.Vector4i',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector4i.x', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector4i.y', index=1,
+      number=2, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector4i.z', index=2,
+      number=3, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='w', full_name='robotics.messages.Vector4i.w', index=3,
+      number=4, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=147,
+  serialized_end=201,
+)
+
+
+_VECTOR3D = _descriptor.Descriptor(
+  name='Vector3d',
+  full_name='robotics.messages.Vector3d',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector3d.x', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector3d.y', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector3d.z', index=2,
+      number=3, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=203,
+  serialized_end=246,
+)
+
+
+_VECTOR3F = _descriptor.Descriptor(
+  name='Vector3f',
+  full_name='robotics.messages.Vector3f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector3f.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector3f.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector3f.z', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=248,
+  serialized_end=291,
+)
+
+
+_VECTOR3I = _descriptor.Descriptor(
+  name='Vector3i',
+  full_name='robotics.messages.Vector3i',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector3i.x', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector3i.y', index=1,
+      number=2, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='z', full_name='robotics.messages.Vector3i.z', index=2,
+      number=3, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=293,
+  serialized_end=336,
+)
+
+
+_VECTOR2D = _descriptor.Descriptor(
+  name='Vector2d',
+  full_name='robotics.messages.Vector2d',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector2d.x', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector2d.y', index=1,
+      number=2, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=338,
+  serialized_end=370,
+)
+
+
+_VECTOR2F = _descriptor.Descriptor(
+  name='Vector2f',
+  full_name='robotics.messages.Vector2f',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector2f.x', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector2f.y', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=372,
+  serialized_end=404,
+)
+
+
+_VECTOR2I = _descriptor.Descriptor(
+  name='Vector2i',
+  full_name='robotics.messages.Vector2i',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='robotics.messages.Vector2i.x', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='y', full_name='robotics.messages.Vector2i.y', index=1,
+      number=2, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=406,
+  serialized_end=438,
+)
+
+
+_VECTORD = _descriptor.Descriptor(
+  name='Vectord',
+  full_name='robotics.messages.Vectord',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='data', full_name='robotics.messages.Vectord.data', index=0,
+      number=1, type=1, cpp_type=5, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=440,
+  serialized_end=467,
+)
+
+
+_VECTORF = _descriptor.Descriptor(
+  name='Vectorf',
+  full_name='robotics.messages.Vectorf',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='data', full_name='robotics.messages.Vectorf.data', index=0,
+      number=1, type=2, cpp_type=6, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=469,
+  serialized_end=496,
+)
+
+
+_VECTORI = _descriptor.Descriptor(
+  name='Vectori',
+  full_name='robotics.messages.Vectori',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='data', full_name='robotics.messages.Vectori.data', index=0,
+      number=1, type=3, cpp_type=2, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=b'\020\001', file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=498,
+  serialized_end=525,
+)
+
+DESCRIPTOR.message_types_by_name['Vector4d'] = _VECTOR4D
+DESCRIPTOR.message_types_by_name['Vector4f'] = _VECTOR4F
+DESCRIPTOR.message_types_by_name['Vector4i'] = _VECTOR4I
+DESCRIPTOR.message_types_by_name['Vector3d'] = _VECTOR3D
+DESCRIPTOR.message_types_by_name['Vector3f'] = _VECTOR3F
+DESCRIPTOR.message_types_by_name['Vector3i'] = _VECTOR3I
+DESCRIPTOR.message_types_by_name['Vector2d'] = _VECTOR2D
+DESCRIPTOR.message_types_by_name['Vector2f'] = _VECTOR2F
+DESCRIPTOR.message_types_by_name['Vector2i'] = _VECTOR2I
+DESCRIPTOR.message_types_by_name['Vectord'] = _VECTORD
+DESCRIPTOR.message_types_by_name['Vectorf'] = _VECTORF
+DESCRIPTOR.message_types_by_name['Vectori'] = _VECTORI
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Vector4d = _reflection.GeneratedProtocolMessageType('Vector4d', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR4D,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector4d)
+  })
+_sym_db.RegisterMessage(Vector4d)
+
+Vector4f = _reflection.GeneratedProtocolMessageType('Vector4f', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR4F,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector4f)
+  })
+_sym_db.RegisterMessage(Vector4f)
+
+Vector4i = _reflection.GeneratedProtocolMessageType('Vector4i', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR4I,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector4i)
+  })
+_sym_db.RegisterMessage(Vector4i)
+
+Vector3d = _reflection.GeneratedProtocolMessageType('Vector3d', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR3D,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector3d)
+  })
+_sym_db.RegisterMessage(Vector3d)
+
+Vector3f = _reflection.GeneratedProtocolMessageType('Vector3f', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR3F,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector3f)
+  })
+_sym_db.RegisterMessage(Vector3f)
+
+Vector3i = _reflection.GeneratedProtocolMessageType('Vector3i', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR3I,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector3i)
+  })
+_sym_db.RegisterMessage(Vector3i)
+
+Vector2d = _reflection.GeneratedProtocolMessageType('Vector2d', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR2D,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector2d)
+  })
+_sym_db.RegisterMessage(Vector2d)
+
+Vector2f = _reflection.GeneratedProtocolMessageType('Vector2f', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR2F,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector2f)
+  })
+_sym_db.RegisterMessage(Vector2f)
+
+Vector2i = _reflection.GeneratedProtocolMessageType('Vector2i', (_message.Message,), {
+  'DESCRIPTOR' : _VECTOR2I,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vector2i)
+  })
+_sym_db.RegisterMessage(Vector2i)
+
+Vectord = _reflection.GeneratedProtocolMessageType('Vectord', (_message.Message,), {
+  'DESCRIPTOR' : _VECTORD,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vectord)
+  })
+_sym_db.RegisterMessage(Vectord)
+
+Vectorf = _reflection.GeneratedProtocolMessageType('Vectorf', (_message.Message,), {
+  'DESCRIPTOR' : _VECTORF,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vectorf)
+  })
+_sym_db.RegisterMessage(Vectorf)
+
+Vectori = _reflection.GeneratedProtocolMessageType('Vectori', (_message.Message,), {
+  'DESCRIPTOR' : _VECTORI,
+  '__module__' : 'vector_pb2'
+  # @@protoc_insertion_point(class_scope:robotics.messages.Vectori)
+  })
+_sym_db.RegisterMessage(Vectori)
+
+
+DESCRIPTOR._options = None
+_VECTORD.fields_by_name['data']._options = None
+_VECTORF.fields_by_name['data']._options = None
+_VECTORI.fields_by_name['data']._options = None
+# @@protoc_insertion_point(module_scope)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/__init__.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery.proto b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery.proto
new file mode 100644
index 0000000000..ef3a639d7b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery.proto
@@ -0,0 +1,72 @@
+syntax = "proto3";
+
+package robotics.reinforcement_learning.minitaur.vision;
+
+import "google/protobuf/timestamp.proto";
+
+// The basic image protobuf. Used for RPC/IPC transmission.
+message Image {
+  // The buffer that contains the actual image data.
+  bytes content = 1;
+
+  // The image storage format. Can be raw or compressed types.
+  enum ImageFormat {
+    IMAGE_FORMAT_UNSPECIFIED = 0;
+
+    // An 32-bit gray-scale image/matrix with row-major (height, width) memroy
+    // layout. Each pixel is a 32-bit floating-point number.
+    IMAGE_FORMAT_GRAY_HW_32F = 1;
+
+    // An 8-bit BGRA raw image format, with HWC memory layout (e.g. the image is
+    // stored as a row-major matrix (height, width) of pixels, with each pixel
+    // an uint8[num_color_channels] packed array. This is the same format as
+    // CV_8UC4.
+    IMAGE_FORMAT_BGRA_HWC_8U = 2;
+
+    // The 16-bit grayscale images with row-major memory layout. This is the
+    // default depth format for intel RealSense cameras. Each pixel is a 16 bit
+    // unsigned integer.
+    IMAGE_FORMAT_GRAY_HW_16U = 3;
+
+    // An 8-bit RGB raw image format, with HWC memory layout. This is the
+    // default color format for intel RealSense cameras.
+    IMAGE_FORMAT_RGB_HWC_8U = 4;
+
+    // TODO(tingnan): Add supports for different image formats like I420 or
+    // JPEG.
+  }
+
+  ImageFormat image_format = 2;
+
+  // The UTC time at which the image is taken.
+  google.protobuf.Timestamp timestamp = 3;
+
+  // Image width and height in pixels. Critical for decoding raw images and
+  // optional for compressed JPEG/PNGs which already embed these information.
+  int32 width_px = 4;
+  int32 height_px = 5;
+}
+
+// A captured frame from camera can combine multiple images from different
+// streams, IR, depth, VGA.
+message CameraFrame {
+  map<string, Image> images = 1;
+  string camera_id = 2;
+}
+
+// Get the latest raw image from camera.
+message GetFrameRequest {
+  // TODO: Also enable camera id in this proto.
+}
+
+// Stacked frames. The imagery service can decide how many frames to transmit
+// for each GetFrameRequest.
+message CameraFrameCollection {
+  repeated CameraFrame frames = 1;
+}
+
+// The capture session start/stop request.
+message CaptureRequest {
+  string run_id = 1;
+  string logging_path = 2;
+}
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py
new file mode 100644
index 0000000000..ca2a2e6899
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_client.py
@@ -0,0 +1,137 @@
+"""The imagery client to connect to the camera job."""
+
+from typing import Any, Dict, Sequence, Text
+import gin
+
+from pybullet_envs.minitaur.fw_bridge import worker_builder
+from pybullet_envs.minitaur.vision import imagery_pb2
+from pybullet_envs.minitaur.vision import imagery_utils
+from google3.third_party.fluxworks.core.fluxworks.python.genericutil_py import fwassert
+from google3.third_party.fluxworks.core.fluxworks.python.genericutil_py import timeutil
+
+_RPC_TIMEOUT = 1 * timeutil.TimeUtil.SEC
+
+_URI_START_CAPTURE = "fwuri://VisionJob/StartCapture"
+_URI_STOP_CAPTURE = "fwuri://VisionJob/StopCapture"
+_URI_GET_FRAME = "fwuri://VisionJob/GetFrame"
+
+
+@gin.configurable
+class ImageryClient(object):
+  """Sends commands and receives states from cameras."""
+
+  def __init__(
+      self,
+      fw_worker=None,
+      rpc_timeout_sec=_RPC_TIMEOUT,
+      ip_address=None,
+      port=None,
+      async_mode=False,
+      start_capture_uri: Text = _URI_START_CAPTURE,
+      stop_capture_uri: Text = _URI_STOP_CAPTURE,
+      get_frame_uri: Text = _URI_GET_FRAME,
+  ):
+    """Initializes the client.
+
+    Args:
+      fw_worker: A FluxWorks worker instance.
+      rpc_timeout_sec: The timeout for any RPC calls from this client.
+      ip_address: The ip address of the camera/vision process. If vision job is
+        also instantiated in the same FluxWorks worker, both ip address and port
+        are not needed.
+      port: The port of the camera/vision process.
+      async_mode: Whether the RPC calls in this client are async or synchronous.
+        Aync mode is only required when you have multiple workers communicating
+        with each other in the same Python process. If worker A is calling
+        worker B's RPC, worker B's RPC is trying to get GIL from it's thread but
+        caller (worker A) already holds the GIL, and this will cause a dead lock
+        if worker A's calls are synchronous. If worker A is calling its own RPC,
+        the same GIL can be used so there is no dead lock, and there is no need
+        for async mode. Async mode will require context switching and thus is a
+        bit slower.
+      start_capture_uri: The FluxWorks URI to start camera capture.
+      stop_capture_uri: The FluxWorks URI to stop camera capture.
+      get_frame_uri: The FluxWorks URI to get camera frames.
+    """
+    self._rpc_timeout_sec = rpc_timeout_sec
+    if fw_worker is None:
+      fw_worker = worker_builder.GetDefaultWorker()
+    self._worker = fw_worker
+
+    # TODO(tingnan): Use a single address and split the string for FW.
+    if ip_address is not None:
+      self._worker.ConnectToWorker(ip_address, port)
+
+    self._async_mode = async_mode
+    self._start_capture_uri = start_capture_uri
+    self._stop_capture_uri = stop_capture_uri
+    self._get_frame_uri = get_frame_uri
+
+  def _convert_camera_frame_to_image_dict(
+      self, camera_frame: imagery_pb2.CameraFrame):
+    """Converts the camera frame to an image dictionary."""
+    # Each camera frame might contain multiple image channels, such as rgb and
+    # depth.
+    images = {}
+    for image_name, image_proto in camera_frame.images.items():
+      image_array = imagery_utils.convert_image_to_array(image_proto)
+      images[image_name] = image_array
+    return images
+
+  def start_capture(self, run_id: Text = "vision"):
+    """Starts the camera capture session.
+
+    Args:
+      run_id: The capture session id. This id will determine the name of the
+        image logs' sub-direcotry.
+    """
+    capture_request = imagery_pb2.CaptureRequest()
+    capture_request.run_id = run_id
+    fwassert.FwAssert.CheckErrorMessage(
+        self._worker.CallOnewayProtoRpc(
+            self._start_capture_uri,
+            capture_request,
+            async_mode=self._async_mode))
+
+  def stop_capture(self):
+    """Concludes the current capture session."""
+    capture_request = imagery_pb2.CaptureRequest()
+    fwassert.FwAssert.CheckErrorMessage(
+        self._worker.CallOnewayProtoRpc(
+            self._stop_capture_uri,
+            capture_request,
+            async_mode=self._async_mode))
+
+  def get_camera_images(self) -> Dict[Text, Sequence[Any]]:
+    """Gets the latest camera images.
+
+    Camera images can only be obtained after self.start_capture() is called.
+
+    Returns:
+      A dictionary of camera frames, with the camera id as the key. Each camera
+      frame may contain multiple streams. For example, on a realsense camera we
+      may have "rgb" and "depth" streams, depending on the configuration.
+    """
+    get_frame_request = imagery_pb2.GetFrameRequest()
+    frame_collection = imagery_pb2.CameraFrameCollection()
+    fwassert.FwAssert.CheckErrorMessage(
+        self._worker.CallRoundtripProtoRpc(
+            self._get_frame_uri,
+            get_frame_request,
+            frame_collection,
+            self._rpc_timeout_sec,
+            async_mode=self._async_mode))
+
+    images_by_camera = {}
+    for camera_frame in frame_collection.frames:
+      camera_id = camera_frame.camera_id
+      # In case we received multiple frames, we apppend them in the order
+      # received.
+      if camera_id in images_by_camera:
+        images_by_camera[camera_id].append(
+            self._convert_camera_frame_to_image_dict(camera_frame))
+      else:
+        images_by_camera[camera_id] = [
+            self._convert_camera_frame_to_image_dict(camera_frame)
+        ]
+    return images_by_camera
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py
new file mode 100644
index 0000000000..ccf8da044c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils.py
@@ -0,0 +1,43 @@
+"""Utilities to convert imagery protobufs to other formats."""
+
+import numpy as np
+
+from pybullet_envs.minitaur.vision import imagery_pb2
+
+
+# TODO(b/123306148): Support the conversion from image array to the proto.
+def convert_image_to_array(image):
+  """Converts an Image proto into a numpy array.
+
+  Args:
+    image: An instance of the imagery_pb2.Image proto.
+
+  Returns:
+    A numpy array. For color images (e.g. BGRA), the converted ND array
+    has the format [Height, Width, Channel]. For gray images (e.g. depth), the
+    converted ND array has the format [Height, Width].
+  """
+
+  if image.image_format == imagery_pb2.Image.IMAGE_FORMAT_BGRA_HWC_8U:
+    img_buffer = np.fromstring(image.content, dtype=np.uint8)
+    img = np.reshape(
+        img_buffer, [image.height_px, image.width_px, 4], order="C")
+    return img
+
+  if image.image_format == imagery_pb2.Image.IMAGE_FORMAT_RGB_HWC_8U:
+    img_buffer = np.fromstring(image.content, dtype=np.uint8)
+    img = np.reshape(
+        img_buffer, [image.height_px, image.width_px, 3], order="C")
+    return img
+
+  if image.image_format == imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_32F:
+    img_buffer = np.fromstring(image.content, dtype=np.float32)
+    img = np.reshape(img_buffer, [image.height_px, image.width_px], order="C")
+    return img
+
+  if image.image_format == imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_16U:
+    img_buffer = np.fromstring(image.content, dtype=np.uint16)
+    img = np.reshape(img_buffer, [image.height_px, image.width_px], order="C")
+    return img
+
+  raise ValueError("Unsupported image format {}".format(image.image_format))
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py
new file mode 100644
index 0000000000..5b5493f64f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/imagery_utils_test.py
@@ -0,0 +1,84 @@
+"""Tests for imagery_utils."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import struct
+import numpy as np
+
+from pybullet_envs.minitaur.vision import imagery_pb2
+from pybullet_envs.minitaur.vision import imagery_utils
+from google3.testing.pybase import googletest
+
+
+class ImageryUtilsTest(googletest.TestCase):
+
+  def test_convert_bgra_images(self):
+    image = imagery_pb2.Image(
+        height_px=2,
+        width_px=2,
+        image_format=imagery_pb2.Image.IMAGE_FORMAT_BGRA_HWC_8U,
+        content=b'ABCDABCDABCDABCD',
+    )
+
+    image_array = imagery_utils.convert_image_to_array(image)
+
+    self.assertEqual(image_array.dtype, np.uint8)
+    self.assertEqual(image_array.shape, (image.height_px, image.width_px, 4))
+    self.assertEqual(image_array[0, 0, 0], ord('A'))
+    self.assertEqual(image_array[1, 0, 3], ord('D'))
+
+  def test_convert_rgb_images(self):
+    image = imagery_pb2.Image(
+        height_px=2,
+        width_px=2,
+        image_format=imagery_pb2.Image.IMAGE_FORMAT_RGB_HWC_8U,
+        content=b'ABCABCABCABC',
+    )
+
+    image_array = imagery_utils.convert_image_to_array(image)
+
+    self.assertEqual(image_array.dtype, np.uint8)
+    self.assertEqual(image_array.shape, (image.height_px, image.width_px, 3))
+    self.assertEqual(image_array[0, 0, 0], ord('A'))
+    self.assertEqual(image_array[1, 1, 2], ord('C'))
+
+  def test_convert_gray_32bit_images(self):
+    image = imagery_pb2.Image(
+        height_px=2,
+        width_px=3,
+        image_format=imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_32F,
+        content=b'AAAABBBBCCCCAAAABBBBCCCC',
+    )
+
+    image_array = imagery_utils.convert_image_to_array(image)
+
+    self.assertEqual(image_array.dtype, np.float32)
+    self.assertEqual(image_array.shape, (image.height_px, image.width_px))
+    self.assertEqual(image_array[0, 2], struct.unpack(b'<f', b'CCCC'))
+    self.assertEqual(image_array[1, 1], struct.unpack(b'<f', b'BBBB'))
+
+  def test_convert_gray_16bit_images(self):
+    image = imagery_pb2.Image(
+        height_px=3,
+        width_px=2,
+        image_format=imagery_pb2.Image.IMAGE_FORMAT_GRAY_HW_16U,
+        content=b'AABBCCAABBCC',
+    )
+
+    image_array = imagery_utils.convert_image_to_array(image)
+
+    self.assertEqual(image_array.dtype, np.uint16)
+    self.assertEqual(image_array.shape, (image.height_px, image.width_px))
+    self.assertEqual(image_array[0, 1], struct.unpack(b'<H', b'BB'))
+    self.assertEqual(image_array[2, 1], struct.unpack(b'<H', b'CC'))
+
+  def test_unspecified_image_format(self):
+    image = imagery_pb2.Image()
+    with self.assertRaises(ValueError):
+      imagery_utils.convert_image_to_array(image)
+
+
+if __name__ == '__main__':
+  googletest.main()
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py
new file mode 100644
index 0000000000..46a6e66377
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/point_cloud_utils.py
@@ -0,0 +1,60 @@
+# Lint as: python3
+"""Common functionalities to process point clouds."""
+
+import math
+import numpy as np
+
+
+def distance_map_to_point_cloud(distances, fov, width, height):
+  """Converts from a depth map to a point cloud.
+
+  Args:
+    distances: An numpy array which has the shape of (height, width) that
+      denotes a distance map. The unit is meter.
+    fov: The field of view of the camera in the vertical direction. The unit
+      is radian.
+    width: The width of the image resolution of the camera.
+    height: The height of the image resolution of the camera.
+
+  Returns:
+    point_cloud: The converted point cloud from the distance map. It is a numpy
+      array of shape (height, width, 3).
+  """
+  f = height / (2 * math.tan(fov / 2.0))
+  px = np.tile(np.arange(width), [height, 1])
+  x = (2 * (px + 0.5) - width) / f * distances / 2
+  py = np.tile(np.arange(height), [width, 1]).T
+  y = (2 * (py + 0.5) - height) / f * distances / 2
+  point_cloud = np.stack((x, y, distances), axis=-1)
+  return point_cloud
+
+
+def point_cloud_normals(points):
+  """Estimates the normals of a point cloud using cross product.
+
+  Args:
+    points: a point cloud represented as an 2D array of which has the shape of
+      [m, n, 3].
+
+  Returns:
+    normals: a 2D array of normal vectors which has the same shape as the input.
+  """
+  grad = np.gradient(points, axis=(0, 1))  # calculates gradient along x and y
+  normal = np.cross(grad[0], grad[1])
+  norms = np.linalg.norm(normal, axis=2)[:, :, None]  # norms in shape [m,n,1]
+  normalized = normal / (norms + 1e-7)  # adds eps to avoid div by 0
+  return normalized
+
+
+def point_cloud_distances(point, point_cloud):
+  """Estimates the distance of a point to every point in a point cloud.
+
+  Args:
+    point: a 3D vector representing a point.
+    point_cloud: a point cloud represented as an 2D array of which has the shape
+      of [m, n, 3].
+
+  Returns:
+    distances: a distance field represented as a 2D array [m, n].
+  """
+  return np.linalg.norm(point_cloud - point, axis=2)
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto b/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto
new file mode 100644
index 0000000000..f0bda708b1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.proto
@@ -0,0 +1,26 @@
+syntax = "proto3";
+
+package robotics.reinforcement_learning.minitaur.vision;
+
+import "robotics/messages/vector.proto";
+
+// The camera calibration parameters.
+message CameraIntrinsics {
+  // The focal length along x (width) and y (height) directions, in pixels.
+  robotics.messages.Vector2d focal_length_px = 1;
+
+  // The principal point offsets along x and y, in pixels.
+  robotics.messages.Vector2d principal_point_px = 2;
+
+  // TODO(tingnan): Add skew and distortion parameters.
+}
+
+// The Simulated camera configuratrion.
+message SimulatedCameraConfig {
+  CameraIntrinsics camera_intrinsics = 1;
+
+  // We can specify arbitrary resolutions in simulation. The image dimension is
+  // conventionally represented using width/height instead of x/y.
+  int32 image_width_px = 2;
+  int32 image_height_px = 3;
+}
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py b/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py
new file mode 100644
index 0000000000..2cd8056ccf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/vision/sim_camera.py
@@ -0,0 +1,348 @@
+"""Contains APIs to create in sim camera images."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import logging
+import enum
+import gin
+import numpy as np
+from pybullet_envs.minitaur.vision import point_cloud_utils
+
+_DEFAULT_TARGET_DISTANCE = 10
+_DEFAULT_FOV = 60
+_DEFAULT_OPENGL_FRUSTUM_FAR = 100.0
+_DEFAULT_OPENGL_FRUSTUM_NEAR = 0.01
+_PYBULLET_DEFAULT_PROJECTION_MATRIX = (1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
+                                       0.0, 0.0, -1.0000200271606445, -1.0, 0.0,
+                                       0.0, -0.02000020071864128, 0.0)
+# In the camera space, x axis points right, y axis points down and z axis points
+# front. In the world space, x is front, y is left, and z is up. The following
+# transformation rotate the camera coordinate to the world coordinate.
+_CAMERA_Z_TO_WORLD_Z = (0.5, -0.5, 0.5, -0.5)
+
+
+@gin.constants_from_enum
+class CameraMode(enum.Enum):
+  """Different modes that the camera can operate in."""
+
+  RGB = 1
+  DEPTH = 2
+  RGBD = 3
+  # The point cloud in the world frame, where z-axis is the up direction, x-axis
+  # is the front direction, and y axis is the left direction.
+  POINTCLOUD_WORLD_FRAME = 4
+  # The point cloud in the robot's camera frame, where z-axis is the front
+  # direction, x-axis is right direction, and y-axis is the downwards
+  # direction.
+  POINTCLOUD_ROBOT_FRAME = 5
+
+
+def from_opengl_depth_to_distance(depth, near, far):
+  return far * near / (far - (far - near) * depth)
+
+
+def camera_intrinsics_to_projection_matrix(camera_intrinsics,
+                                           width,
+                                           height,
+                                           far=_DEFAULT_OPENGL_FRUSTUM_FAR,
+                                           near=_DEFAULT_OPENGL_FRUSTUM_NEAR):
+  """Converts the camera intrinsics to OpenGL projection matrix.
+
+  Args:
+    camera_intrinsics: A CameraIntrinsics proto.
+    width: Integer. The image width in pixels.
+    height: Integer. The image height in pixels.
+    far: Float. The far clipping plane distance.
+    near: Float. The near clipping plane distance.
+
+  Returns:
+    An OpengGL projection matrix.
+
+  """
+  # first column
+  projection_mat = [2 * camera_intrinsics.focal_length_px.x / width, 0, 0, 0]
+  # second column
+  projection_mat.extend(
+      [0, 2 * camera_intrinsics.focal_length_px.y / height, 0, 0])
+  # third column
+  projection_mat.extend([
+      2 * camera_intrinsics.principal_point_px.x / width - 1,
+      2 * camera_intrinsics.principal_point_px.y / height - 1,
+      -(far + near) / (far - near), -1
+  ])
+  # last column
+  projection_mat.extend([0, 0, 2 * far * near / (near - far), 0])
+
+  return tuple(projection_mat)
+
+
+def create_camera_image(pybullet_client,
+                        camera_position,
+                        camera_orientation,
+                        resolution,
+                        projection_mat,
+                        egl_render=False):
+  """Creates a simulated camera image.
+
+  Args:
+    pybullet_client: A pybullet client.
+    camera_position: A list of three floats. The absolute location of the camera
+      in the simulated world.
+    camera_orientation: A list of four floats. The orientation of the camera in
+      world frame, in quaternion.
+    resolution: A list of two integers. The horizontal and vertical resolution
+      of the camera image in pixels.
+    projection_mat: A list of 16 floats. The OpenGL projection matrix, in row
+      major.
+    egl_render: Whether to use EGL to render the images.
+
+  Returns:
+    A tuple containing the image resolution and the array for the sythesized RGB
+    camera image.
+  """
+
+  orientation_mat = pybullet_client.getMatrixFromQuaternion(camera_orientation)
+
+  # The first column in the orientation matrix.
+  forward_vec = orientation_mat[::3]
+  target_distance = _DEFAULT_TARGET_DISTANCE
+  camera_target = [
+      camera_position[0] + forward_vec[0] * target_distance,
+      camera_position[1] + forward_vec[1] * target_distance,
+      camera_position[2] + forward_vec[2] * target_distance
+  ]
+
+  # The third column in the orientation matrix. We assume camera up vector is
+  # always [0, 0, 1] in its local frame.
+  up_vec = orientation_mat[2::3]
+
+  view_mat = pybullet_client.computeViewMatrix(camera_position, camera_target,
+                                               up_vec)
+  renderer = (
+      pybullet_client.ER_BULLET_HARDWARE_OPENGL
+      if egl_render else pybullet_client.ER_TINY_RENDERER)
+  return pybullet_client.getCameraImage(
+      resolution[0],
+      resolution[1],
+      viewMatrix=view_mat,
+      projectionMatrix=projection_mat,
+      renderer=renderer)
+
+class MountedCamera(object):
+  """A camera that is fixed to a robot's body part.
+
+  Attributes:
+    resolution: A 2-tuple (width, height) that represents the resolution of the
+      camera.
+    fov_degree: A floating point value that represents the field of view of the
+      camera in the vertical direction. The unit is degree.
+  """
+
+  def __init__(self,
+               pybullet_client,
+               body_id,
+               parent_link_id,
+               relative_translation,
+               relative_rotation,
+               resolution,
+               fov_degree=_DEFAULT_FOV,
+               depth_lower_limit=_DEFAULT_OPENGL_FRUSTUM_NEAR,
+               depth_upper_limit=_DEFAULT_OPENGL_FRUSTUM_FAR,
+               stabilized=False,
+               camera_intrinsics=None,
+               camera_mode=CameraMode.RGB,
+               normalize_rgb=False,
+               egl_render=False):
+    """Initializes the MounteeCamera class.
+
+    Args:
+      pybullet_client: A BulletClient instance.
+      body_id: Integer. The unique body ID returned from loadURDF in pybullet.
+      parent_link_id: Integer. The camera is rigidly attached to a body link
+        specified by this ID. For example, camers may be mounted to the base or
+        other moving parts of the robot.
+      relative_translation: A list of three floats. The relative translation
+        between the center of the camera and the link.
+      relative_rotation: A list of four floats. The quaternion specifying the
+        relative rotation of the camera.
+      resolution: A list of two integers.
+      fov_degree: The vertical field of view of this camera. Has no effect if
+        camera_intrinsics is provided.
+      depth_lower_limit: The lower limit of the depth camera.
+      depth_upper_limit: The upper limit of the depth camera.
+      stabilized: Weather the camera's roll and pitch should be stabilized. If
+        turned on, only yaw rotation is applied to the camera.
+      camera_intrinsics: A CameraIntrinsics proto instance.
+      camera_mode: The mode of the camera. It can be set in the following
+        choices [CameraMode.RGB, CameraMode.DEPTH, CameraMode.RGBD].
+      normalize_rgb: Whether to normalize the output image pixel values to [-1,
+        1].
+      egl_render: Whether to use EGL to render the images when the X11 windows
+        are not present.
+    """
+    self._pybullet_client = pybullet_client
+    self._body_id = body_id
+    self._parent_link_id = parent_link_id
+    self._relative_translation = relative_translation
+    self._relative_rotation = relative_rotation
+    self._resolution = resolution
+    self._stabilized = stabilized
+    self._camera_mode = camera_mode
+    self._fov_degree = fov_degree
+    self._near = depth_lower_limit
+    self._far = depth_upper_limit
+    self._egl_render = egl_render
+    self._normalize_rgb = normalize_rgb
+    self._prev_depth = None
+    width, height = resolution
+    if camera_intrinsics is not None:
+      self._projection_mat = camera_intrinsics_to_projection_matrix(
+          camera_intrinsics, width, height, near=self._near, far=self._far)
+    else:
+      self._projection_mat = self._pybullet_client.computeProjectionMatrixFOV(
+          fov_degree,
+          float(width) / float(height), self._near, self._far)
+
+  def __call__(self):
+    return self.render_image()
+
+  def transform_point_cloud_from_camera_to_world_frame(self, point_cloud):
+    """Project a sample in the depth image to a 3D point in the world frame.
+
+    Args:
+      point_cloud: A numpy array of shape (height, width, 3) that represents
+        a point cloud in the camera frame.
+
+    Returns:
+      The transformed point cloud in the world frame.
+    """
+    if self._parent_link_id == -1:
+      camera_link_pos, camera_link_ori = (
+          self._pybullet_client.getBasePositionAndOrientation(self._body_id))
+    else:
+      parent_link_state = self._pybullet_client.getLinkState(
+          self._body_id, self._parent_link_id, computeForwardKinematics=True)
+      camera_link_pos = parent_link_state[0]
+      camera_link_ori = parent_link_state[1]
+
+    camera_position_world, camera_orientation_world = (
+        self._pybullet_client.multiplyTransforms(camera_link_pos,
+                                                 camera_link_ori,
+                                                 self._relative_translation,
+                                                 self._relative_rotation))
+    _, camera_space_to_world_orientation = (
+        self._pybullet_client.multiplyTransforms([0, 0, 0],
+                                                 camera_orientation_world,
+                                                 [0, 0, 0],
+                                                 _CAMERA_Z_TO_WORLD_Z))
+    for i in range(point_cloud.shape[0]):
+      for j in range(point_cloud.shape[1]):
+        point_cloud[i, j, :] = (
+            self._pybullet_client.multiplyTransforms(
+                camera_position_world, camera_space_to_world_orientation,
+                point_cloud[i, j, :], [0, 0, 0, 1])[0])
+    return point_cloud
+
+  def transform_point_cloud_from_camera_to_robot_frame(self, point_cloud):
+    """Project a sample in the depth image to a 3D point in the robot frame.
+
+    Args:
+      point_cloud: A numpy array of shape (height, width, 3) that represents
+        a point cloud in the camera frame.
+
+    Returns:
+      The transformed point cloud in the robot frame.
+    """
+    camera_space_to_robot_translation, camera_space_to_robot_orientation = (
+        self._pybullet_client.multiplyTransforms(self._relative_translation,
+                                                 self._relative_rotation,
+                                                 [0, 0, 0],
+                                                 _CAMERA_Z_TO_WORLD_Z))
+    for i in range(point_cloud.shape[0]):
+      for j in range(point_cloud.shape[1]):
+        point_cloud[i, j, :] = (
+            self._pybullet_client.multiplyTransforms(
+                camera_space_to_robot_translation,
+                camera_space_to_robot_orientation, point_cloud[i, j, :],
+                [0, 0, 0, 1])[0])
+    return point_cloud
+
+  def render_image(self):
+    """Retrieves the camera image.
+
+    Returns:
+      A simulated view from the camera's perspective.
+    """
+    pos = []
+    ori = []
+    if self._parent_link_id == -1:
+      pos, ori = self._pybullet_client.getBasePositionAndOrientation(
+          self._body_id)
+    else:
+      parent_link_state = self._pybullet_client.getLinkState(
+          self._body_id, self._parent_link_id, computeForwardKinematics=True)
+      pos = parent_link_state[0]
+      ori = parent_link_state[1]
+    if self._stabilized:
+      [_, _, yaw] = self._pybullet_client.getEulerFromQuaternion(ori)
+      ori = self._pybullet_client.getQuaternionFromEuler([0, 0, yaw])
+
+    transform = self._pybullet_client.multiplyTransforms(
+        pos, ori, self._relative_translation, self._relative_rotation)
+
+    _, _, rgba, depth, _ = create_camera_image(
+        pybullet_client=self._pybullet_client,
+        camera_position=transform[0],
+        camera_orientation=transform[1],
+        resolution=self._resolution,
+        projection_mat=self._projection_mat,
+        egl_render=self._egl_render)
+    if np.any(np.isnan(depth)):
+      logging.info("depth contained nan: %s, replacing with prev_depth: %s",
+                   depth, self._prev_depth)
+      depth = self._prev_depth
+    self._prev_depth = depth
+    rgba = np.reshape(np.array(rgba, dtype=np.float32), (self._resolution[0], self._resolution[1], -1))
+
+    # Converts from OpenGL depth map to a distance map (unit: meter).
+    distances = from_opengl_depth_to_distance(
+        np.reshape(np.array(depth), (self._resolution[0], self._resolution[1], -1)), self._near, self._far)
+    if self._normalize_rgb:
+      # Does not normalize the depth image.
+      rgba = 2 * rgba / 255.0 - 1
+
+    if self._camera_mode == CameraMode.RGB:
+      return rgba[:, :, 0:3]  # Remove the alpha channel
+    elif self._camera_mode == CameraMode.DEPTH:
+      return distances[:, :, np.newaxis]
+    elif self._camera_mode == CameraMode.RGBD:
+      rgbd_image = rgba
+      rgbd_image[:, :, 3] = distances
+      return rgbd_image
+    elif self._camera_mode == CameraMode.POINTCLOUD_WORLD_FRAME:
+      point_cloud = point_cloud_utils.distance_map_to_point_cloud(
+          distances, self._fov_degree / 180.0 * np.pi, distances.shape[1],
+          distances.shape[0])
+      point_cloud = self.transform_point_cloud_from_camera_to_world_frame(
+          point_cloud)
+      return point_cloud
+    elif self._camera_mode == CameraMode.POINTCLOUD_ROBOT_FRAME:
+      point_cloud = point_cloud_utils.distance_map_to_point_cloud(
+          distances, self._fov_degree / 180.0 * np.pi, distances.shape[1],
+          distances.shape[0])
+      point_cloud = self.transform_point_cloud_from_camera_to_robot_frame(
+          point_cloud)
+      return point_cloud
+    else:
+      raise NotImplementedError("Camera mode {} is not implemented.".format(
+          self._camera_mode))
+
+  @property
+  def resolution(self):
+    return self._resolution
+
+  @property
+  def fov_degree(self):
+    return self._fov_degree
diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py
index 1e22f1bbd4..951470ac39 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py
@@ -22,10 +22,10 @@ def __init__(self, robot_name, action_dim, obs_dim, self_collision):
     self.ordered_joints = None
     self.robot_body = None
 
-    high = np.ones([action_dim])
-    self.action_space = gym.spaces.Box(-high, high)
-    high = np.inf * np.ones([obs_dim])
-    self.observation_space = gym.spaces.Box(-high, high)
+    high = np.ones([action_dim], dtype=np.float32)
+    self.action_space = gym.spaces.Box(-high, high, dtype=np.float32)
+    high = np.inf * np.ones([obs_dim], dtype=np.float32)
+    self.observation_space = gym.spaces.Box(-high, high, dtype=np.float32)
 
     #self.model_xml = model_xml
     self.robot_name = robot_name
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
index 6c429abf7f..d33daabe01 100644
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
@@ -1,56 +1,72 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
+# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
+# it requires stable-baselines3 to be installed
+# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
 # You can run it using: python -m pybullet_envs.stable_baselines.enjoy --algo td3 --env HalfCheetahBulletEnv-v0
 # Author: Antonin RAFFIN
 # MIT License
 import os
 import time
 import argparse
-import multiprocessing
 
 import gym
 import numpy as np
 import pybullet_envs
 
-from stable_baselines import SAC, TD3
-from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser("Enjoy an RL agent trained using Stable Baselines")
-    parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
-                        type=str, required=False, choices=['sac', 'td3'])
-    parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
-    parser.add_argument('-n', '--n-episodes', help='Number of episodes', default=5,
-                        type=int)
-    parser.add_argument('--no-render', action='store_true', default=False,
-                        help='Do not render the environment')
-    parser.add_argument('--load-best', action='store_true', default=False,
-                        help='Load best model instead of last model if available')
+from stable_baselines3 import SAC, TD3
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        "Enjoy an RL agent trained using Stable Baselines3"
+    )
+    parser.add_argument(
+        "--algo",
+        help="RL Algorithm (Soft Actor-Critic by default)",
+        default="sac",
+        type=str,
+        required=False,
+        choices=["sac", "td3"],
+    )
+    parser.add_argument(
+        "--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
+    )
+    parser.add_argument(
+        "-n", "--n-episodes", help="Number of episodes", default=5, type=int
+    )
+    parser.add_argument(
+        "--no-render",
+        action="store_true",
+        default=False,
+        help="Do not render the environment",
+    )
+    parser.add_argument(
+        "--load-best",
+        action="store_true",
+        default=False,
+        help="Load best model instead of last model if available",
+    )
     args = parser.parse_args()
 
     env_id = args.env
     # Create an env similar to the training env
-    env = TimeFeatureWrapper(gym.make(env_id))
+    env = gym.make(env_id)
 
-    # Use SubprocVecEnv for rendering
+    # Enable GUI
     if not args.no_render:
-      env.render(mode='human')
+        env.render(mode="human")
 
     algo = {
-        'sac': SAC,
-        'td3': TD3
+        "sac": SAC,
+        "td3": TD3,
     }[args.algo]
 
     # We assume that the saved model is in the same folder
-    save_path = '{}_{}.zip'.format(args.algo, env_id)
+    save_path = f"{args.algo}_{env_id}.zip"
 
     if not os.path.isfile(save_path) or args.load_best:
         print("Loading best model")
         # Try to load best model
-        save_path = os.path.join('{}_{}'.format(args.algo, env_id), 'best_model.zip')
-
+        save_path = os.path.join(f"{args.algo}_{env_id}", "best_model.zip")
 
     # Load the saved model
     model = algo.load(save_path, env=env)
@@ -70,12 +86,14 @@
 
                 episode_length += 1
                 if not args.no_render:
-                    env.render(mode='human')
-                    dt = 1. / 240.
+                    env.render(mode="human")
+                    dt = 1.0 / 240.0
                     time.sleep(dt)
             episode_rewards.append(episode_reward)
             episode_lengths.append(episode_length)
-            print("Episode {} reward={}, length={}".format(len(episode_rewards), episode_reward, episode_length))
+            print(
+                f"Episode {len(episode_rewards)} reward={episode_reward}, length={episode_length}"
+            )
 
         mean_reward = np.mean(episode_rewards)
         std_reward = np.std(episode_rewards)
@@ -83,10 +101,10 @@
         mean_len, std_len = np.mean(episode_lengths), np.std(episode_lengths)
 
         print("==== Results ====")
-        print("Episode_reward={:.2f} +/- {:.2f}".format(mean_reward, std_reward))
-        print("Episode_length={:.2f} +/- {:.2f}".format(mean_len, std_len))
+        print(f"Episode_reward={mean_reward:.2f} +/- {std_reward:.2f}")
+        print(f"Episode_length={mean_len:.2f} +/- {std_len:.2f}")
     except KeyboardInterrupt:
         pass
 
     # Close process
-    env.close()
\ No newline at end of file
+    env.close()
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
index 260cbbf9d3..1eacc59b4c 100644
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
@@ -1,74 +1,105 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
+# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
+# it requires stable-baselines3 to be installed
+# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
 # You can run it using: python -m pybullet_envs.stable_baselines.train --algo td3 --env HalfCheetahBulletEnv-v0
 # Author: Antonin RAFFIN
 # MIT License
 import argparse
 
-import pybullet_envs
+import pybullet_envs  # register pybullet envs
 
 import gym
 import numpy as np
-from stable_baselines import SAC, TD3
-from stable_baselines.common.noise import NormalActionNoise
-from stable_baselines.common.callbacks import EvalCallback, CheckpointCallback
-from stable_baselines.common.vec_env import DummyVecEnv
-
-from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines")
-    parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
-                        type=str, required=False, choices=['sac', 'td3'])
-    parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
-    parser.add_argument('-n', '--n-timesteps', help='Number of training timesteps', default=int(1e6),
-                        type=int)
-    parser.add_argument('--save-freq', help='Save the model every n steps (if negative, no checkpoint)',
-                    default=-1, type=int)
+from stable_baselines3 import SAC, TD3
+from stable_baselines3.common.noise import NormalActionNoise
+from stable_baselines3.common.callbacks import EvalCallback, CheckpointCallback
+from stable_baselines3.common.monitor import Monitor
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines3")
+    parser.add_argument(
+        "--algo",
+        help="RL Algorithm (Soft Actor-Critic by default)",
+        default="sac",
+        type=str,
+        required=False,
+        choices=["sac", "td3"],
+    )
+    parser.add_argument(
+        "--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
+    )
+    parser.add_argument(
+        "-n",
+        "--n-timesteps",
+        help="Number of training timesteps",
+        default=int(1e6),
+        type=int,
+    )
+    parser.add_argument(
+        "--save-freq",
+        help="Save the model every n steps (if negative, no checkpoint)",
+        default=-1,
+        type=int,
+    )
     args = parser.parse_args()
 
     env_id = args.env
     n_timesteps = args.n_timesteps
-    save_path = '{}_{}'.format(args.algo, env_id)
+    save_path = f"{args.algo}_{env_id}"
 
     # Instantiate and wrap the environment
-    env = TimeFeatureWrapper(gym.make(env_id))
+    env = gym.make(env_id)
 
     # Create the evaluation environment and callbacks
-    eval_env = DummyVecEnv([lambda: TimeFeatureWrapper(gym.make(env_id))])
+    eval_env = Monitor(gym.make(env_id))
 
     callbacks = [EvalCallback(eval_env, best_model_save_path=save_path)]
 
     # Save a checkpoint every n steps
     if args.save_freq > 0:
-        callbacks.append(CheckpointCallback(save_freq=args.save_freq, save_path=save_path,
-                                            name_prefix='rl_model'))
+        callbacks.append(
+            CheckpointCallback(
+                save_freq=args.save_freq, save_path=save_path, name_prefix="rl_model"
+            )
+        )
 
     algo = {
-        'sac': SAC,
-        'td3': TD3
+        "sac": SAC,
+        "td3": TD3,
     }[args.algo]
 
     n_actions = env.action_space.shape[0]
 
-    # Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo
+    # Tuned hyperparameters from https://github.com/DLR-RM/rl-baselines3-zoo
     hyperparams = {
-        'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]),
-                    learning_starts=10000, buffer_size=int(2e5), tau=0.01),
-
-        'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]),
-                    learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6),
-                    train_freq=1000, gradient_steps=1000,
-                    action_noise=NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)))
+        "sac": dict(
+            batch_size=256,
+            gamma=0.98,
+            policy_kwargs=dict(net_arch=[256, 256]),
+            learning_starts=10000,
+            buffer_size=int(3e5),
+            tau=0.01,
+        ),
+        "td3": dict(
+            batch_size=100,
+            policy_kwargs=dict(net_arch=[400, 300]),
+            learning_rate=1e-3,
+            learning_starts=10000,
+            buffer_size=int(1e6),
+            train_freq=1,
+            gradient_steps=1,
+            action_noise=NormalActionNoise(
+                mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)
+            ),
+        ),
     }[args.algo]
 
-    model = algo('MlpPolicy', env, verbose=1, **hyperparams)
+    model = algo("MlpPolicy", env, verbose=1, **hyperparams)
     try:
         model.learn(n_timesteps, callback=callbacks)
     except KeyboardInterrupt:
         pass
 
-    print("Saving to {}.zip".format(save_path))
+    print(f"Saving to {save_path}.zip")
     model.save(save_path)
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
deleted file mode 100644
index fc64da7e7a..0000000000
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Author: Antonin RAFFIN
-# MIT License
-import gym
-import numpy as np
-from gym.wrappers import TimeLimit
-
-
-class TimeFeatureWrapper(gym.Wrapper):
-    """
-    Add remaining time to observation space for fixed length episodes.
-    See https://arxiv.org/abs/1712.00378 and https://github.com/aravindr93/mjrl/issues/13.
-
-    :param env: (gym.Env)
-    :param max_steps: (int) Max number of steps of an episode
-        if it is not wrapped in a TimeLimit object.
-    :param test_mode: (bool) In test mode, the time feature is constant,
-        equal to zero. This allow to check that the agent did not overfit this feature,
-        learning a deterministic pre-defined sequence of actions.
-    """
-    def __init__(self, env, max_steps=1000, test_mode=False):
-        assert isinstance(env.observation_space, gym.spaces.Box)
-        # Add a time feature to the observation
-        low, high = env.observation_space.low, env.observation_space.high
-        low, high = np.concatenate((low, [0])), np.concatenate((high, [1.]))
-        env.observation_space = gym.spaces.Box(low=low, high=high, dtype=np.float32)
-
-        super(TimeFeatureWrapper, self).__init__(env)
-
-        if isinstance(env, TimeLimit):
-            self._max_steps = env._max_episode_steps
-        else:
-            self._max_steps = max_steps
-        self._current_step = 0
-        self._test_mode = test_mode
-
-    def reset(self):
-        self._current_step = 0
-        return self._get_obs(self.env.reset())
-
-    def step(self, action):
-        self._current_step += 1
-        obs, reward, done, info = self.env.step(action)
-        return self._get_obs(obs), reward, done, info
-
-    def _get_obs(self, obs):
-        """
-        Concatenate the time feature to the current observation.
-
-        :param obs: (np.ndarray)
-        :return: (np.ndarray)
-        """
-        # Remaining time is more general
-        time_feature = 1 - (self._current_step / self._max_steps)
-        if self._test_mode:
-            time_feature = 1.0
-        # Optionnaly: concatenate [time_feature, time_feature ** 2]
-        return np.concatenate((obs, [time_feature]))
diff --git a/examples/pybullet/gym/pybullet_examples/__init__.py b/examples/pybullet/gym/pybullet_examples/__init__.py
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/__init__.py
@@ -0,0 +1 @@
+
diff --git a/examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py b/examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py
new file mode 100644
index 0000000000..7ddf7b976c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/biped2d_pybullet.py
@@ -0,0 +1,39 @@
+import pybullet as p
+import pybullet_data
+import os
+import time
+GRAVITY = -9.8
+dt = 1e-3
+iters = 2000
+import pybullet_data
+
+physicsClient = p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.resetSimulation()
+#p.setRealTimeSimulation(True)
+p.setGravity(0, 0, GRAVITY)
+p.setTimeStep(dt)
+planeId = p.loadURDF("plane.urdf")
+cubeStartPos = [0, 0, 1.13]
+cubeStartOrientation = p.getQuaternionFromEuler([0., 0, 0])
+botId = p.loadURDF("biped/biped2d_pybullet.urdf", cubeStartPos, cubeStartOrientation)
+
+#disable the default velocity motors
+#and set some position control with small force to emulate joint friction/return to a rest pose
+jointFrictionForce = 1
+for joint in range(p.getNumJoints(botId)):
+  p.setJointMotorControl2(botId, joint, p.POSITION_CONTROL, force=jointFrictionForce)
+
+#for i in range(10000):
+#     p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
+#     p.stepSimulation()
+#import ipdb
+#ipdb.set_trace()
+import time
+p.setRealTimeSimulation(1)
+while (1):
+  #p.stepSimulation()
+  #p.setJointMotorControl2(botId, 1, p.TORQUE_CONTROL, force=1098.0)
+  p.setGravity(0, 0, GRAVITY)
+  time.sleep(1 / 240.)
+time.sleep(1000)
diff --git a/examples/pybullet/gym/pybullet_examples/collisionFilter.py b/examples/pybullet/gym/pybullet_examples/collisionFilter.py
new file mode 100644
index 0000000000..13abacee98
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/collisionFilter.py
@@ -0,0 +1,21 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+planeId = p.loadURDF("plane.urdf", useMaximalCoordinates=False)
+cubeId = p.loadURDF("cube_collisionfilter.urdf", [0, 0, 3], useMaximalCoordinates=False)
+
+collisionFilterGroup = 0
+collisionFilterMask = 0
+p.setCollisionFilterGroupMask(cubeId, -1, collisionFilterGroup, collisionFilterMask)
+
+enableCollision = 1
+p.setCollisionFilterPair(planeId, cubeId, -1, -1, enableCollision)
+
+p.setRealTimeSimulation(1)
+p.setGravity(0, 0, -10)
+while (p.isConnected()):
+  time.sleep(1. / 240.)
+  p.setGravity(0, 0, -10)
diff --git a/examples/pybullet/gym/pybullet_examples/constraint.py b/examples/pybullet/gym/pybullet_examples/constraint.py
new file mode 100644
index 0000000000..60b883a5cb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/constraint.py
@@ -0,0 +1,27 @@
+import pybullet as p
+import time
+import math
+
+import pybullet_data
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.loadURDF("plane.urdf")
+cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1)
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+cid = p.createConstraint(cubeId, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0, 0, 1])
+print(cid)
+print(p.getConstraintUniqueId(0))
+a = -math.pi
+while 1:
+  a = a + 0.01
+  if (a > math.pi):
+    a = -math.pi
+  time.sleep(.01)
+  p.setGravity(0, 0, -10)
+  pivot = [a, 0, 1]
+  orn = p.getQuaternionFromEuler([a, 0, 0])
+  p.changeConstraint(cid, pivot, jointChildFrameOrientation=orn, maxForce=50)
+
+p.removeConstraint(cid)
diff --git a/examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py b/examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py
new file mode 100644
index 0000000000..87fde9c840
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/createMultiBodyBatch.py
@@ -0,0 +1,143 @@
+import pybullet as p
+import time
+import math
+import pybullet_data
+cid = p.connect(p.SHARED_MEMORY)
+if (cid < 0):
+  p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000")
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
+
+p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
+p.setTimeStep(1. / 120.)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "createMultiBodyBatch.json")
+#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
+p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+p.setPhysicsEngineParameter(contactBreakingThreshold=0.04)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+#disable tinyrenderer, software (CPU) renderer, we don't use it here
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
+
+shift = [0, -0.02, 0]
+meshScale = [0.1, 0.1, 0.1]
+
+vertices = [[-1.000000, -1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
+            [1.000000, 1.000000, 1.000000], [-1.000000, 1.000000, 1.000000],
+            [-1.000000, -1.000000, -1.000000], [1.000000, -1.000000, -1.000000],
+            [1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
+            [-1.000000, -1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
+            [-1.000000, 1.000000, 1.000000], [-1.000000, -1.000000, 1.000000],
+            [1.000000, -1.000000, -1.000000], [1.000000, 1.000000, -1.000000],
+            [1.000000, 1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
+            [-1.000000, -1.000000, -1.000000], [-1.000000, -1.000000, 1.000000],
+            [1.000000, -1.000000, 1.000000], [1.000000, -1.000000, -1.000000],
+            [-1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, 1.000000],
+            [1.000000, 1.000000, 1.000000], [1.000000, 1.000000, -1.000000]]
+
+normals = [[0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
+           [0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
+           [0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
+           [0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
+           [-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
+           [-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
+           [1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
+           [1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
+           [0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
+           [0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
+           [0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000],
+           [0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000]]
+
+uvs = [[0.750000, 0.250000], [1.000000, 0.250000], [1.000000, 0.000000], [0.750000, 0.000000],
+       [0.500000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000], [0.500000, 0.000000],
+       [0.500000, 0.000000], [0.750000, 0.000000], [0.750000, 0.250000], [0.500000, 0.250000],
+       [0.250000, 0.500000], [0.250000, 0.250000], [0.000000, 0.250000], [0.000000, 0.500000],
+       [0.250000, 0.500000], [0.250000, 0.250000], [0.500000, 0.250000], [0.500000, 0.500000],
+       [0.000000, 0.000000], [0.000000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000]]
+indices = [
+    0,
+    1,
+    2,
+    0,
+    2,
+    3,  #//ground face
+    6,
+    5,
+    4,
+    7,
+    6,
+    4,  #//top face
+    10,
+    9,
+    8,
+    11,
+    10,
+    8,
+    12,
+    13,
+    14,
+    12,
+    14,
+    15,
+    18,
+    17,
+    16,
+    19,
+    18,
+    16,
+    20,
+    21,
+    22,
+    20,
+    22,
+    23
+]
+
+#p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,
+                                    rgbaColor=[1, 1, 1, 1],
+                                    specularColor=[0.4, .4, 0],
+                                    visualFramePosition=shift,
+                                    meshScale=meshScale,
+                                    vertices=vertices,
+                                    indices=indices,
+                                    uvs=uvs,
+                                    normals=normals)
+collisionShapeId = p.createCollisionShape(
+    shapeType=p.GEOM_BOX, halfExtents=meshScale
+)  #MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
+
+texUid = p.loadTexture("tex256.png")
+
+batchPositions = []
+
+for x in range(32):
+  for y in range(32):
+    for z in range(10):
+      batchPositions.append(
+          [x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5])
+
+bodyUids = p.createMultiBody(baseMass=0,
+                            baseInertialFramePosition=[0, 0, 0],
+                            baseCollisionShapeIndex=collisionShapeId,
+                            baseVisualShapeIndex=visualShapeId,
+                            basePosition=[0, 0, 2],
+                            batchPositions=batchPositions,
+                            useMaximalCoordinates=True)
+p.changeVisualShape(bodyUids[0], -1, textureUniqueId=texUid)
+
+p.syncBodyInfo()
+print("numBodies=", p.getNumBodies())
+p.stopStateLogging(logId)
+p.setGravity(0, 0, -10)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+
+colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
+currentColor = 0
+
+while (1):
+  p.stepSimulation()
+  #time.sleep(1./120.)
+  #p.getCameraImage(320,200)
diff --git a/examples/pybullet/gym/pybullet_examples/createObstacleCourse.py b/examples/pybullet/gym/pybullet_examples/createObstacleCourse.py
new file mode 100644
index 0000000000..a9ab11908a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/createObstacleCourse.py
@@ -0,0 +1,130 @@
+import pybullet as p
+import time
+import math
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+#don't create a ground plane, to allow for gaps etc
+p.resetSimulation()
+#p.createCollisionShape(p.GEOM_PLANE)
+#p.createMultiBody(0,0)
+#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
+p.resetDebugVisualizerCamera(15, -346, -16, [-15, 0, 1])
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+
+#a few different ways to create a mesh:
+
+#convex mesh from obj
+stoneId = p.createCollisionShape(p.GEOM_MESH, fileName="stone.obj")
+
+boxHalfLength = 0.5
+boxHalfWidth = 2.5
+boxHalfHeight = 0.1
+segmentLength = 5
+
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[boxHalfLength, boxHalfWidth, boxHalfHeight])
+
+mass = 1
+visualShapeId = -1
+
+segmentStart = 0
+
+for i in range(segmentLength):
+  p.createMultiBody(baseMass=0,
+                    baseCollisionShapeIndex=colBoxId,
+                    basePosition=[segmentStart, 0, -0.1])
+  segmentStart = segmentStart - 1
+
+for i in range(segmentLength):
+  height = 0
+  if (i % 2):
+    height = 1
+  p.createMultiBody(baseMass=0,
+                    baseCollisionShapeIndex=colBoxId,
+                    basePosition=[segmentStart, 0, -0.1 + height])
+  segmentStart = segmentStart - 1
+
+baseOrientation = p.getQuaternionFromEuler([math.pi / 2., 0, math.pi / 2.])
+
+for i in range(segmentLength):
+  p.createMultiBody(baseMass=0,
+                    baseCollisionShapeIndex=colBoxId,
+                    basePosition=[segmentStart, 0, -0.1])
+  segmentStart = segmentStart - 1
+  if (i % 2):
+    p.createMultiBody(baseMass=0,
+                      baseCollisionShapeIndex=colBoxId,
+                      basePosition=[segmentStart, i % 3, -0.1 + height + boxHalfWidth],
+                      baseOrientation=baseOrientation)
+
+for i in range(segmentLength):
+  p.createMultiBody(baseMass=0,
+                    baseCollisionShapeIndex=colBoxId,
+                    basePosition=[segmentStart, 0, -0.1])
+  width = 4
+  for j in range(width):
+    p.createMultiBody(baseMass=0,
+                      baseCollisionShapeIndex=stoneId,
+                      basePosition=[segmentStart, 0.5 * (i % 2) + j - width / 2., 0])
+  segmentStart = segmentStart - 1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[1, 0, 0]]
+
+baseOrientation = [0, 0, 0, 1]
+for i in range(segmentLength):
+  boxId = p.createMultiBody(0,
+                            colSphereId,
+                            -1, [segmentStart, 0, -0.1],
+                            baseOrientation,
+                            linkMasses=link_Masses,
+                            linkCollisionShapeIndices=linkCollisionShapeIndices,
+                            linkVisualShapeIndices=linkVisualShapeIndices,
+                            linkPositions=linkPositions,
+                            linkOrientations=linkOrientations,
+                            linkInertialFramePositions=linkInertialFramePositions,
+                            linkInertialFrameOrientations=linkInertialFrameOrientations,
+                            linkParentIndices=indices,
+                            linkJointTypes=jointTypes,
+                            linkJointAxis=axis)
+  p.changeDynamics(boxId, -1, spinningFriction=0.001, rollingFriction=0.001, linearDamping=0.0)
+  print(p.getNumJoints(boxId))
+  for joint in range(p.getNumJoints(boxId)):
+    targetVelocity = 10
+    if (i % 2):
+      targetVelocity = -10
+    p.setJointMotorControl2(boxId,
+                            joint,
+                            p.VELOCITY_CONTROL,
+                            targetVelocity=targetVelocity,
+                            force=100)
+  segmentStart = segmentStart - 1.1
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+while (1):
+  camData = p.getDebugVisualizerCamera()
+  viewMat = camData[2]
+  projMat = camData[3]
+  p.getCameraImage(256,
+                   256,
+                   viewMatrix=viewMat,
+                   projectionMatrix=projMat,
+                   renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  keys = p.getKeyboardEvents()
+  p.stepSimulation()
+  #print(keys)
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py b/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py
new file mode 100644
index 0000000000..6156d808c8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/createVisualShapeArray.py
@@ -0,0 +1,115 @@
+import pybullet as p
+import time
+import math
+import pybullet_data
+
+
+def getRayFromTo(mouseX, mouseY):
+  width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
+  )
+  camPos = [
+      camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
+      camTarget[2] - dist * camForward[2]
+  ]
+  farPlane = 10000
+  rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
+  invLen = farPlane * 1. / (math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] *
+                                      rayForward[1] + rayForward[2] * rayForward[2]))
+  rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
+  rayFrom = camPos
+  oneOverWidth = float(1) / float(width)
+  oneOverHeight = float(1) / float(height)
+  dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
+  dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
+  rayToCenter = [
+      rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
+  ]
+  rayTo = [
+      rayFrom[0] + rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] -
+      float(mouseY) * dVer[0], rayFrom[1] + rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1] +
+      float(mouseX) * dHor[1] - float(mouseY) * dVer[1], rayFrom[2] + rayForward[2] -
+      0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
+  ]
+  return rayFrom, rayTo
+
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid < 0):
+  p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.setTimeStep(1. / 120.)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
+#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
+p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+#disable tinyrenderer, software (CPU) renderer, we don't use it here
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
+
+shift = [0, -0.02, 0]
+shift1 = [0, 0.1, 0]
+shift2 = [0, 0, 0]
+
+meshScale = [0.1, 0.1, 0.1]
+#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
+visualShapeId = p.createVisualShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
+                                         halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
+                                         fileNames=["duck.obj", ""],
+                                         visualFramePositions=[
+                                             shift1,
+                                             shift2,
+                                         ],
+                                         meshScales=[meshScale, meshScale])
+collisionShapeId = p.createCollisionShapeArray(shapeTypes=[p.GEOM_MESH, p.GEOM_BOX],
+                                               halfExtents=[[0, 0, 0], [0.1, 0.1, 0.1]],
+                                               fileNames=["duck_vhacd.obj", ""],
+                                               collisionFramePositions=[
+                                                   shift1,
+                                                   shift2,
+                                               ],
+                                               meshScales=[meshScale, meshScale])
+
+rangex = 2
+rangey = 2
+for i in range(rangex):
+  for j in range(rangey):
+    mb = p.createMultiBody(baseMass=1,
+                           baseInertialFramePosition=[0, 0, 0],
+                           baseCollisionShapeIndex=collisionShapeId,
+                           baseVisualShapeIndex=visualShapeId,
+                           basePosition=[((-rangex / 2) + i * 2) * meshScale[0] * 2,
+                                         (-rangey / 2 + j) * meshScale[1] * 4, 1],
+                           useMaximalCoordinates=False)
+    p.changeVisualShape(mb, -1, rgbaColor=[1, 1, 1, 1])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+p.stopStateLogging(logId)
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
+currentColor = 0
+
+p.getCameraImage(64, 64, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+
+while (1):
+
+  mouseEvents = p.getMouseEvents()
+  for e in mouseEvents:
+    if ((e[0] == 2) and (e[3] == 0) and (e[4] & p.KEY_WAS_TRIGGERED)):
+      mouseX = e[1]
+      mouseY = e[2]
+      rayFrom, rayTo = getRayFromTo(mouseX, mouseY)
+      rayInfo = p.rayTest(rayFrom, rayTo)
+      #p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
+      for l in range(len(rayInfo)):
+        hit = rayInfo[l]
+        objectUid = hit[0]
+        if (objectUid >= 0):
+          #p.removeBody(objectUid)
+          p.changeVisualShape(objectUid, -1, rgbaColor=colors[currentColor])
+          currentColor += 1
+          if (currentColor >= len(colors)):
+            currentColor = 0
diff --git a/examples/pybullet/gym/pybullet_examples/deformable_anchor.py b/examples/pybullet/gym/pybullet_examples/deformable_anchor.py
new file mode 100644
index 0000000000..bf37cdb61d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/deformable_anchor.py
@@ -0,0 +1,55 @@
+import pybullet as p
+from time import sleep
+
+physicsClient = p.connect(p.GUI)
+import pybullet_data
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
+
+gravZ=-10
+p.setGravity(0, 0, gravZ)
+
+planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
+#planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
+
+boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
+
+clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, springDampingAllDirections = 1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
+
+
+p.changeVisualShape(clothId, -1, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
+
+p.createSoftBodyAnchor(clothId  ,24,-1,-1)
+p.createSoftBodyAnchor(clothId ,20,-1,-1)
+p.createSoftBodyAnchor(clothId ,15,boxId,-1, [0.5,-0.5,0])
+p.createSoftBodyAnchor(clothId ,19,boxId,-1, [-0.5,-0.5,0])
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+
+debug = True
+if debug:
+  data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
+  print("--------------")
+  print("data=",data)
+  print(data[0])
+  print(data[1])
+  text_uid = []
+  for i in range(data[0]):
+      pos = data[1][i]
+      uid = p.addUserDebugText(str(i), pos, textColorRGB=[1,1,1])
+      text_uid.append(uid)
+
+while p.isConnected():
+  p.getCameraImage(320,200)
+  
+  if debug:
+    data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
+    for i in range(data[0]):
+      pos = data[1][i]
+      uid = p.addUserDebugText(str(i), pos, textColorRGB=[1,1,1], replaceItemUniqueId=text_uid[i])
+
+  p.setGravity(0,0,gravZ)
+  p.stepSimulation()
+  #p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
+  #sleep(1./240.)
+  
diff --git a/examples/pybullet/gym/pybullet_examples/deformable_torus.py b/examples/pybullet/gym/pybullet_examples/deformable_torus.py
new file mode 100644
index 0000000000..b8d7cb052a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/deformable_torus.py
@@ -0,0 +1,31 @@
+import pybullet as p
+from time import sleep
+import pybullet_data
+
+physicsClient = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
+p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2])
+p.setGravity(0, 0, -10)
+
+tex = p.loadTexture("uvmap.png")
+planeId = p.loadURDF("plane.urdf", [0,0,-2])
+
+boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
+
+bunnyId = p.loadSoftBody("torus/torus_textured.obj", simFileName="torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
+p.changeVisualShape(bunnyId, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
+
+
+bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0.2], flags=p.URDF_USE_SELF_COLLISION)
+
+p.changeVisualShape(bunny2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+p.setRealTimeSimulation(0)
+
+while p.isConnected():
+  p.stepSimulation()
+  p.getCameraImage(320,200)
+  p.setGravity(0,0,-10)
diff --git a/examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py b/examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py
new file mode 100644
index 0000000000..ca7dd664ad
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/experimentalCcdSphereRadius.py
@@ -0,0 +1,55 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setPhysicsEngineParameter(allowedCcdPenetration=0.0)
+
+terrain_mass = 0
+terrain_visual_shape_id = -1
+terrain_position = [0, 0, 0]
+terrain_orientation = [0, 0, 0, 1]
+terrain_collision_shape_id = p.createCollisionShape(shapeType=p.GEOM_MESH,
+                                                    fileName="terrain.obj",
+                                                    flags=p.GEOM_FORCE_CONCAVE_TRIMESH |
+                                                    p.GEOM_CONCAVE_INTERNAL_EDGE,
+                                                    meshScale=[0.5, 0.5, 0.5])
+p.createMultiBody(terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id,
+                  terrain_position, terrain_orientation)
+
+useMaximalCoordinates = True
+sphereRadius = 0.005
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+for i in range(5):
+  for j in range(5):
+    for k in range(5):
+      #if (k&2):
+      sphereUid = p.createMultiBody(
+          mass,
+          colSphereId,
+          visualShapeId, [-i * 5 * sphereRadius, j * 5 * sphereRadius, k * 2 * sphereRadius + 1],
+          useMaximalCoordinates=useMaximalCoordinates)
+      #else:
+      #	sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
+      p.changeDynamics(sphereUid,
+                       -1,
+                       spinningFriction=0.001,
+                       rollingFriction=0.001,
+                       linearDamping=0.0)
+      p.changeDynamics(sphereUid, -1, ccdSweptSphereRadius=0.002)
+
+p.setGravity(0, 0, -10)
+
+pts = p.getContactPoints()
+print("num points=", len(pts))
+print(pts)
+while (p.isConnected()):
+  time.sleep(1. / 240.)
+  p.stepSimulation()
diff --git a/examples/pybullet/gym/pybullet_examples/fileIOPlugin.py b/examples/pybullet/gym/pybullet_examples/fileIOPlugin.py
new file mode 100644
index 0000000000..07f906ec00
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/fileIOPlugin.py
@@ -0,0 +1,23 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+fileIO = p.loadPlugin("fileIOPlugin")
+if (fileIO >= 0):
+  #we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip)
+  p.executePluginCommand(fileIO, pybullet_data.getDataPath()+"/pickup2.zip", [p.AddFileIOAction, p.ZipFileIO])
+  p.executePluginCommand(fileIO, "pickup.zip", [p.AddFileIOAction, p.ZipFileIO])
+  objs = p.loadSDF("pickup/model.sdf")
+  dobot = objs[0]
+  p.changeVisualShape(dobot, -1, rgbaColor=[1, 1, 1, 1])
+
+else:
+  print("fileIOPlugin is disabled.")
+
+p.setPhysicsEngineParameter(enableFileCaching=False)
+
+while (1):
+  p.stepSimulation()
+  time.sleep(1. / 240.)
diff --git a/examples/pybullet/gym/pybullet_examples/getClosestPoints.py b/examples/pybullet/gym/pybullet_examples/getClosestPoints.py
new file mode 100644
index 0000000000..55311f58d0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/getClosestPoints.py
@@ -0,0 +1,75 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+useCollisionShapeQuery = True
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1)
+geomBox = p.createCollisionShape(p.GEOM_BOX, halfExtents=[0.2, 0.2, 0.2])
+baseOrientationB = p.getQuaternionFromEuler([0, 0.3, 0])  #[0,0.5,0.5,0]
+basePositionB = [1.5, 0, 1]
+obA = -1
+obB = -1
+
+obA = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geom, basePosition=[0.5, 0, 1])
+obB = p.createMultiBody(baseMass=0,
+                        baseCollisionShapeIndex=geomBox,
+                        basePosition=basePositionB,
+                        baseOrientation=baseOrientationB)
+
+lineWidth = 3
+colorRGB = [1, 0, 0]
+lineId = p.addUserDebugLine(lineFromXYZ=[0, 0, 0],
+                            lineToXYZ=[0, 0, 0],
+                            lineColorRGB=colorRGB,
+                            lineWidth=lineWidth,
+                            lifeTime=0)
+pitch = 0
+yaw = 0
+
+while (p.isConnected()):
+  pitch += 0.01
+  if (pitch >= 3.1415 * 2.):
+    pitch = 0
+  yaw += 0.01
+  if (yaw >= 3.1415 * 2.):
+    yaw = 0
+
+  baseOrientationB = p.getQuaternionFromEuler([yaw, pitch, 0])
+  if (obB >= 0):
+    p.resetBasePositionAndOrientation(obB, basePositionB, baseOrientationB)
+
+  if (useCollisionShapeQuery):
+    pts = p.getClosestPoints(bodyA=-1,
+                             bodyB=-1,
+                             distance=100,
+                             collisionShapeA=geom,
+                             collisionShapeB=geomBox,
+                             collisionShapePositionA=[0.5, 0, 1],
+                             collisionShapePositionB=basePositionB,
+                             collisionShapeOrientationB=baseOrientationB)
+    #pts = p.getClosestPoints(bodyA=obA, bodyB=-1, distance=100, collisionShapeB=geomBox, collisionShapePositionB=basePositionB, collisionShapeOrientationB=baseOrientationB)
+  else:
+    pts = p.getClosestPoints(bodyA=obA, bodyB=obB, distance=100)
+
+  if len(pts) > 0:
+    #print(pts)
+    distance = pts[0][8]
+    #print("distance=",distance)
+    ptA = pts[0][5]
+    ptB = pts[0][6]
+    p.addUserDebugLine(lineFromXYZ=ptA,
+                       lineToXYZ=ptB,
+                       lineColorRGB=colorRGB,
+                       lineWidth=lineWidth,
+                       lifeTime=0,
+                       replaceItemUniqueId=lineId)
+  #time.sleep(1./240.)
+
+#removeCollisionShape is optional:
+#only use removeCollisionShape if the collision shape is not used to create a body
+#and if you want to keep on creating new collision shapes for different queries (not recommended)
+p.removeCollisionShape(geom)
+p.removeCollisionShape(geomBox)
diff --git a/examples/pybullet/gym/pybullet_examples/getTextureUid.py b/examples/pybullet/gym/pybullet_examples/getTextureUid.py
new file mode 100644
index 0000000000..f4a31b2f07
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/getTextureUid.py
@@ -0,0 +1,21 @@
+import pybullet as p
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+plane = p.loadURDF("plane.urdf")
+visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
+print(visualData)
+curTexUid = visualData[0][8]
+print(curTexUid)
+texUid = p.loadTexture("tex256.png")
+print("texUid=", texUid)
+
+p.changeVisualShape(plane, -1, textureUniqueId=texUid)
+
+for i in range(100):
+  p.getCameraImage(320, 200)
+p.changeVisualShape(plane, -1, textureUniqueId=curTexUid)
+
+for i in range(100):
+  p.getCameraImage(320, 200)
diff --git a/examples/pybullet/gym/pybullet_examples/heightfield.py b/examples/pybullet/gym/pybullet_examples/heightfield.py
new file mode 100644
index 0000000000..b01a5e0bb6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/heightfield.py
@@ -0,0 +1,138 @@
+import pybullet as p
+import pybullet_data as pd
+import math
+import time
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+textureId = -1
+
+useProgrammatic = 0
+useTerrainFromPNG = 1
+useDeepLocoCSV = 2
+updateHeightfield = False
+
+heightfieldSource = useProgrammatic
+import random
+random.seed(10)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+heightPerturbationRange = 0.05
+if heightfieldSource==useProgrammatic:
+  numHeightfieldRows = 256
+  numHeightfieldColumns = 256
+  heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns 
+  for j in range (int(numHeightfieldColumns/2)):
+    for i in range (int(numHeightfieldRows/2) ):
+      height = random.uniform(0,heightPerturbationRange)
+      heightfieldData[2*i+2*j*numHeightfieldRows]=height
+      heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
+      heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
+      heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
+      
+      
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns)
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
+
+if heightfieldSource==useDeepLocoCSV:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
+
+if heightfieldSource==useTerrainFromPNG:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
+  textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
+ 
+ 
+p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
+
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0.11]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[0, 0, 1]]
+
+for i in range(3):
+  for j in range(3):
+    for k in range(3):
+      basePosition = [
+          i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
+      ]
+      baseOrientation = [0, 0, 0, 1]
+      if (k & 2):
+        sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
+                                      baseOrientation)
+      else:
+        sphereUid = p.createMultiBody(mass,
+                                      colBoxId,
+                                      visualShapeId,
+                                      basePosition,
+                                      baseOrientation,
+                                      linkMasses=link_Masses,
+                                      linkCollisionShapeIndices=linkCollisionShapeIndices,
+                                      linkVisualShapeIndices=linkVisualShapeIndices,
+                                      linkPositions=linkPositions,
+                                      linkOrientations=linkOrientations,
+                                      linkInertialFramePositions=linkInertialFramePositions,
+                                      linkInertialFrameOrientations=linkInertialFrameOrientations,
+                                      linkParentIndices=indices,
+                                      linkJointTypes=jointTypes,
+                                      linkJointAxis=axis)
+
+      
+      p.changeDynamics(sphereUid,
+                       -1,
+                       spinningFriction=0.001,
+                       rollingFriction=0.001,
+                       linearDamping=0.0)
+      for joint in range(p.getNumJoints(sphereUid)):
+        p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range(p.getNumJoints(sphereUid)):
+  p.getJointInfo(sphereUid, i)
+
+
+while (p.isConnected()):
+  keys = p.getKeyboardEvents()
+  
+  if updateHeightfield and heightfieldSource==useProgrammatic:
+    for j in range (int(numHeightfieldColumns/2)):
+      for i in range (int(numHeightfieldRows/2) ):
+        height = random.uniform(0,heightPerturbationRange)#+math.sin(time.time())
+        heightfieldData[2*i+2*j*numHeightfieldRows]=height
+        heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
+        heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
+        heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
+    #GEOM_CONCAVE_INTERNAL_EDGE may help avoid getting stuck at an internal (shared) edge of the triangle/heightfield.
+    #GEOM_CONCAVE_INTERNAL_EDGE is a bit slower to build though.
+    #flags = p.GEOM_CONCAVE_INTERNAL_EDGE
+    flags = 0
+    terrainShape2 = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, flags = flags, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, replaceHeightfieldIndex = terrainShape)
+    
+
+  #print(keys)
+  #getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
+  #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py b/examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py
new file mode 100644
index 0000000000..fdc1675e1d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/humanoidMotionCapture.py
@@ -0,0 +1,614 @@
+import pybullet as p
+import json
+import time
+import pybullet_data
+
+
+useGUI = True
+if useGUI:
+  p.connect(p.GUI)
+else:
+  p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+useZUp = False
+useYUp = not useZUp
+showJointMotorTorques = False
+
+if useYUp:
+  p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP, 1)
+
+from pybullet_examples.pdControllerExplicit import PDControllerExplicitMultiDof
+from pybullet_examples.pdControllerStable import PDControllerStableMultiDof
+
+explicitPD = PDControllerExplicitMultiDof(p)
+stablePD = PDControllerStableMultiDof(p)
+
+p.resetDebugVisualizerCamera(cameraDistance=7.4,
+                             cameraYaw=-94,
+                             cameraPitch=-14,
+                             cameraTargetPosition=[0.24, -0.02, -0.09])
+
+import pybullet_data
+p.setTimeOut(10000)
+useMotionCapture = False
+useMotionCaptureReset = False  #not	useMotionCapture
+useExplicitPD = True
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setPhysicsEngineParameter(numSolverIterations=30)
+#p.setPhysicsEngineParameter(solverResidualThreshold=1e-30)
+
+#explicit	PD control requires	small	timestep
+timeStep = 1. / 600.
+#timeStep	=	1./240.
+
+p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
+
+path = pybullet_data.getDataPath() + "/data/motions/humanoid3d_backflip.txt"
+#path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_cartwheel.txt"
+#path	=	pybullet_data.getDataPath()+"/data/motions/humanoid3d_walk.txt"
+
+#p.loadURDF("plane.urdf",[0,0,-1.03])
+print("path	=	", path)
+with open(path, 'r') as f:
+  motion_dict = json.load(f)
+#print("motion_dict	=	", motion_dict)
+print("len motion=", len(motion_dict))
+print(motion_dict['Loop'])
+numFrames = len(motion_dict['Frames'])
+print("#frames = ", numFrames)
+
+frameId = p.addUserDebugParameter("frame", 0, numFrames - 1, 0)
+
+erpId = p.addUserDebugParameter("erp", 0, 1, 0.2)
+
+kpMotorId = p.addUserDebugParameter("kpMotor", 0, 1, .2)
+forceMotorId = p.addUserDebugParameter("forceMotor", 0, 2000, 1000)
+
+jointTypes = [
+    "JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED"
+]
+
+startLocations = [[0, 0, 2], [0, 0, 0], [0, 0, -2], [0, 0, -4], [0, 0, 4]]
+
+p.addUserDebugText("Stable PD",
+                   [startLocations[0][0], startLocations[0][1] + 1, startLocations[0][2]],
+                   [0, 0, 0])
+p.addUserDebugText("Spherical	Drive",
+                   [startLocations[1][0], startLocations[1][1] + 1, startLocations[1][2]],
+                   [0, 0, 0])
+p.addUserDebugText("Explicit PD",
+                   [startLocations[2][0], startLocations[2][1] + 1, startLocations[2][2]],
+                   [0, 0, 0])
+p.addUserDebugText("Kinematic",
+                   [startLocations[3][0], startLocations[3][1] + 1, startLocations[3][2]],
+                   [0, 0, 0])
+p.addUserDebugText("Stable PD (Py)",
+                   [startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
+                   [0, 0, 0])
+flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
+humanoid = p.loadURDF("humanoid/humanoid.urdf",
+                      startLocations[0],
+                      globalScaling=0.25,
+                      useFixedBase=False,
+                      flags=flags)
+humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
+                       startLocations[1],
+                       globalScaling=0.25,
+                       useFixedBase=False,
+                       flags=flags)
+humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
+                       startLocations[2],
+                       globalScaling=0.25,
+                       useFixedBase=False,
+                       flags=flags)
+humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
+                       startLocations[3],
+                       globalScaling=0.25,
+                       useFixedBase=False,
+                       flags=flags)
+humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
+                      startLocations[4],
+                      globalScaling=0.25,
+                      useFixedBase=False,
+                      flags=flags)
+
+humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
+                                  startLocations[0], [0, 0, 0, 1])
+humanoid2_fix = p.createConstraint(humanoid2, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
+                                   startLocations[1], [0, 0, 0, 1])
+humanoid3_fix = p.createConstraint(humanoid3, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
+                                   startLocations[2], [0, 0, 0, 1])
+humanoid3_fix = p.createConstraint(humanoid4, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
+                                   startLocations[3], [0, 0, 0, 1])
+humanoid4_fix = p.createConstraint(humanoid5, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
+                                   startLocations[4], [0, 0, 0, 1])
+
+startPose = [
+    2, 0.847532, 0, 0.9986781045, 0.01410400148, -0.0006980000731, -0.04942300517, 0.9988133229,
+    0.009485003066, -0.04756001538, -0.004475001447, 1, 0, 0, 0, 0.9649395871, 0.02436898957,
+    -0.05755497537, 0.2549218909, -0.249116, 0.9993661511, 0.009952001505, 0.03265400494,
+    0.01009800153, 0.9854981188, -0.06440700776, 0.09324301124, -0.1262970152, 0.170571,
+    0.9927545808, -0.02090099117, 0.08882396249, -0.07817796699, -0.391532, 0.9828788495,
+    0.1013909845, -0.05515999155, 0.143618978, 0.9659421276, 0.1884590249, -0.1422460188,
+    0.105854014, 0.581348
+]
+
+startVel = [
+    1.235314324, -0.008525509087, 0.1515293946, -1.161516553, 0.1866449799, -0.1050802848, 0,
+    0.935706195, 0.08277326387, 0.3002461862, 0, 0, 0, 0, 0, 1.114409628, 0.3618553952,
+    -0.4505575061, 0, -1.725374735, -0.5052852598, -0.8555179722, -0.2221173515, 0, -0.1837617357,
+    0.00171895706, 0.03912837591, 0, 0.147945294, 1.837653345, 0.1534535548, 1.491385941, 0,
+    -4.632454387, -0.9111172777, -1.300648184, -1.345694622, 0, -1.084238535, 0.1313680236,
+    -0.7236998534, 0, -0.5278312973
+]
+
+p.resetBasePositionAndOrientation(humanoid, startLocations[0], [0, 0, 0, 1])
+p.resetBasePositionAndOrientation(humanoid2, startLocations[1], [0, 0, 0, 1])
+p.resetBasePositionAndOrientation(humanoid3, startLocations[2], [0, 0, 0, 1])
+p.resetBasePositionAndOrientation(humanoid4, startLocations[3], [0, 0, 0, 1])
+p.resetBasePositionAndOrientation(humanoid5, startLocations[4], [0, 0, 0, 1])
+
+index0 = 7
+for j in range(p.getNumJoints(humanoid)):
+  ji = p.getJointInfo(humanoid, j)
+  targetPosition = [0]
+  jointType = ji[2]
+  if (jointType == p.JOINT_SPHERICAL):
+    targetPosition = [
+        startPose[index0 + 1], startPose[index0 + 2], startPose[index0 + 3], startPose[index0 + 0]
+    ]
+    targetVel = [startVel[index0 + 0], startVel[index0 + 1], startVel[index0 + 2]]
+    index0 += 4
+    print("spherical position: ", targetPosition)
+    print("spherical velocity: ", targetVel)
+    p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
+    p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
+    p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
+  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+    targetPosition = [startPose[index0]]
+    targetVel = [startVel[index0]]
+    index0 += 1
+    print("revolute:", targetPosition)
+    print("revolute	velocity:", targetVel)
+    p.resetJointStateMultiDof(humanoid, j, targetValue=targetPosition, targetVelocity=targetVel)
+    p.resetJointStateMultiDof(humanoid5, j, targetValue=targetPosition, targetVelocity=targetVel)
+    p.resetJointStateMultiDof(humanoid2, j, targetValue=targetPosition, targetVelocity=targetVel)
+
+for j in range(p.getNumJoints(humanoid)):
+  ji = p.getJointInfo(humanoid, j)
+  targetPosition = [0]
+  jointType = ji[2]
+  if (jointType == p.JOINT_SPHERICAL):
+    targetPosition = [0, 0, 0, 1]
+    p.setJointMotorControlMultiDof(humanoid,
+                                   j,
+                                   p.POSITION_CONTROL,
+                                   targetPosition,
+                                   targetVelocity=[0, 0, 0],
+                                   positionGain=0,
+                                   velocityGain=1,
+                                   force=[0, 0, 0])
+    p.setJointMotorControlMultiDof(humanoid5,
+                                   j,
+                                   p.POSITION_CONTROL,
+                                   targetPosition,
+                                   targetVelocity=[0, 0, 0],
+                                   positionGain=0,
+                                   velocityGain=1,
+                                   force=[0, 0, 0])
+    p.setJointMotorControlMultiDof(humanoid3,
+                                   j,
+                                   p.POSITION_CONTROL,
+                                   targetPosition,
+                                   targetVelocity=[0, 0, 0],
+                                   positionGain=0,
+                                   velocityGain=1,
+                                   force=[31, 31, 31])
+    p.setJointMotorControlMultiDof(humanoid4,
+                                   j,
+                                   p.POSITION_CONTROL,
+                                   targetPosition,
+                                   targetVelocity=[0, 0, 0],
+                                   positionGain=0,
+                                   velocityGain=1,
+                                   force=[1, 1, 1])
+
+  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+    p.setJointMotorControl2(humanoid, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
+    p.setJointMotorControl2(humanoid3, j, p.VELOCITY_CONTROL, targetVelocity=0, force=31)
+    p.setJointMotorControl2(humanoid4, j, p.VELOCITY_CONTROL, targetVelocity=0, force=10)
+    p.setJointMotorControl2(humanoid5, j, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
+
+  #print(ji)
+  print("joint[", j, "].type=", jointTypes[ji[2]])
+  print("joint[", j, "].name=", ji[1])
+
+jointIds = []
+paramIds = []
+for j in range(p.getNumJoints(humanoid)):
+  #p.changeDynamics(humanoid,j,linearDamping=0,	angularDamping=0)
+  p.changeVisualShape(humanoid, j, rgbaColor=[1, 1, 1, 1])
+  info = p.getJointInfo(humanoid, j)
+  #print(info)
+  if (not useMotionCapture):
+    jointName = info[1]
+    jointType = info[2]
+    if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+      jointIds.append(j)
+      #paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,0))
+      #print("jointName=",jointName, "at ",	j)
+
+p.changeVisualShape(humanoid, 2, rgbaColor=[1, 0, 0, 1])
+chest = 1
+neck = 2
+rightHip = 3
+rightKnee = 4
+rightAnkle = 5
+rightShoulder = 6
+rightElbow = 7
+leftHip = 9
+leftKnee = 10
+leftAnkle = 11
+leftShoulder = 12
+leftElbow = 13
+
+#rightShoulder=3
+#rightElbow=4
+#leftShoulder=6
+#leftElbow = 7
+#rightHip	=	9
+#rightKnee=10
+#rightAnkle=11
+#leftHip = 12
+#leftKnee=13
+#leftAnkle=14
+
+import time
+
+kpOrg = [
+    0, 0, 0, 0, 0, 0, 0, 1000, 1000, 1000, 1000, 100, 100, 100, 100, 500, 500, 500, 500, 500, 400,
+    400, 400, 400, 400, 400, 400, 400, 300, 500, 500, 500, 500, 500, 400, 400, 400, 400, 400, 400,
+    400, 400, 300
+]
+kdOrg = [
+    0, 0, 0, 0, 0, 0, 0, 100, 100, 100, 100, 10, 10, 10, 10, 50, 50, 50, 50, 50, 40, 40, 40, 40,
+    40, 40, 40, 40, 30, 50, 50, 50, 50, 50, 40, 40, 40, 40, 40, 40, 40, 40, 30
+]
+
+once = True
+p.getCameraImage(320, 200)
+
+while (p.isConnected()):
+
+  if useGUI:
+    erp = p.readUserDebugParameter(erpId)
+    kpMotor = p.readUserDebugParameter(kpMotorId)
+    maxForce = p.readUserDebugParameter(forceMotorId)
+    frameReal = p.readUserDebugParameter(frameId)
+  else:
+    erp = 0.2
+    kpMotor = 0.2
+    maxForce = 1000
+    frameReal = 0
+
+  kp = kpMotor
+
+  frame = int(frameReal)
+  frameNext = frame + 1
+  if (frameNext >= numFrames):
+    frameNext = frame
+
+  frameFraction = frameReal - frame
+  #print("frameFraction=",frameFraction)
+  #print("frame=",frame)
+  #print("frameNext=", frameNext)
+
+  #getQuaternionSlerp
+
+  frameData = motion_dict['Frames'][frame]
+  frameDataNext = motion_dict['Frames'][frameNext]
+
+  #print("duration=",frameData[0])
+  #print(pos=[frameData])
+
+  basePos1Start = [frameData[1], frameData[2], frameData[3]]
+  basePos1End = [frameDataNext[1], frameDataNext[2], frameDataNext[3]]
+  basePos1 = [
+      basePos1Start[0] + frameFraction * (basePos1End[0] - basePos1Start[0]),
+      basePos1Start[1] + frameFraction * (basePos1End[1] - basePos1Start[1]),
+      basePos1Start[2] + frameFraction * (basePos1End[2] - basePos1Start[2])
+  ]
+  baseOrn1Start = [frameData[5], frameData[6], frameData[7], frameData[4]]
+  baseOrn1Next = [frameDataNext[5], frameDataNext[6], frameDataNext[7], frameDataNext[4]]
+  baseOrn1 = p.getQuaternionSlerp(baseOrn1Start, baseOrn1Next, frameFraction)
+  #pre-rotate	to make	z-up
+  if (useZUp):
+    y2zPos = [0, 0, 0.0]
+    y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
+    basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
+    p.resetBasePositionAndOrientation(humanoid, basePos, baseOrn)
+
+    y2zPos = [0, 2, 0.0]
+    y2zOrn = p.getQuaternionFromEuler([1.57, 0, 0])
+    basePos, baseOrn = p.multiplyTransforms(y2zPos, y2zOrn, basePos1, baseOrn1)
+    p.resetBasePositionAndOrientation(humanoid2, basePos, baseOrn)
+
+  chestRotStart = [frameData[9], frameData[10], frameData[11], frameData[8]]
+  chestRotEnd = [frameDataNext[9], frameDataNext[10], frameDataNext[11], frameDataNext[8]]
+  chestRot = p.getQuaternionSlerp(chestRotStart, chestRotEnd, frameFraction)
+
+  neckRotStart = [frameData[13], frameData[14], frameData[15], frameData[12]]
+  neckRotEnd = [frameDataNext[13], frameDataNext[14], frameDataNext[15], frameDataNext[12]]
+  neckRot = p.getQuaternionSlerp(neckRotStart, neckRotEnd, frameFraction)
+
+  rightHipRotStart = [frameData[17], frameData[18], frameData[19], frameData[16]]
+  rightHipRotEnd = [frameDataNext[17], frameDataNext[18], frameDataNext[19], frameDataNext[16]]
+  rightHipRot = p.getQuaternionSlerp(rightHipRotStart, rightHipRotEnd, frameFraction)
+
+  rightKneeRotStart = [frameData[20]]
+  rightKneeRotEnd = [frameDataNext[20]]
+  rightKneeRot = [
+      rightKneeRotStart[0] + frameFraction * (rightKneeRotEnd[0] - rightKneeRotStart[0])
+  ]
+
+  rightAnkleRotStart = [frameData[22], frameData[23], frameData[24], frameData[21]]
+  rightAnkleRotEnd = [frameDataNext[22], frameDataNext[23], frameDataNext[24], frameDataNext[21]]
+  rightAnkleRot = p.getQuaternionSlerp(rightAnkleRotStart, rightAnkleRotEnd, frameFraction)
+
+  rightShoulderRotStart = [frameData[26], frameData[27], frameData[28], frameData[25]]
+  rightShoulderRotEnd = [
+      frameDataNext[26], frameDataNext[27], frameDataNext[28], frameDataNext[25]
+  ]
+  rightShoulderRot = p.getQuaternionSlerp(rightShoulderRotStart, rightShoulderRotEnd,
+                                          frameFraction)
+
+  rightElbowRotStart = [frameData[29]]
+  rightElbowRotEnd = [frameDataNext[29]]
+  rightElbowRot = [
+      rightElbowRotStart[0] + frameFraction * (rightElbowRotEnd[0] - rightElbowRotStart[0])
+  ]
+
+  leftHipRotStart = [frameData[31], frameData[32], frameData[33], frameData[30]]
+  leftHipRotEnd = [frameDataNext[31], frameDataNext[32], frameDataNext[33], frameDataNext[30]]
+  leftHipRot = p.getQuaternionSlerp(leftHipRotStart, leftHipRotEnd, frameFraction)
+
+  leftKneeRotStart = [frameData[34]]
+  leftKneeRotEnd = [frameDataNext[34]]
+  leftKneeRot = [leftKneeRotStart[0] + frameFraction * (leftKneeRotEnd[0] - leftKneeRotStart[0])]
+
+  leftAnkleRotStart = [frameData[36], frameData[37], frameData[38], frameData[35]]
+  leftAnkleRotEnd = [frameDataNext[36], frameDataNext[37], frameDataNext[38], frameDataNext[35]]
+  leftAnkleRot = p.getQuaternionSlerp(leftAnkleRotStart, leftAnkleRotEnd, frameFraction)
+
+  leftShoulderRotStart = [frameData[40], frameData[41], frameData[42], frameData[39]]
+  leftShoulderRotEnd = [frameDataNext[40], frameDataNext[41], frameDataNext[42], frameDataNext[39]]
+  leftShoulderRot = p.getQuaternionSlerp(leftShoulderRotStart, leftShoulderRotEnd, frameFraction)
+  leftElbowRotStart = [frameData[43]]
+  leftElbowRotEnd = [frameDataNext[43]]
+  leftElbowRot = [
+      leftElbowRotStart[0] + frameFraction * (leftElbowRotEnd[0] - leftElbowRotStart[0])
+  ]
+
+  if (0):  #if (once):
+    p.resetJointStateMultiDof(humanoid, chest, chestRot)
+    p.resetJointStateMultiDof(humanoid, neck, neckRot)
+    p.resetJointStateMultiDof(humanoid, rightHip, rightHipRot)
+    p.resetJointStateMultiDof(humanoid, rightKnee, rightKneeRot)
+    p.resetJointStateMultiDof(humanoid, rightAnkle, rightAnkleRot)
+    p.resetJointStateMultiDof(humanoid, rightShoulder, rightShoulderRot)
+    p.resetJointStateMultiDof(humanoid, rightElbow, rightElbowRot)
+    p.resetJointStateMultiDof(humanoid, leftHip, leftHipRot)
+    p.resetJointStateMultiDof(humanoid, leftKnee, leftKneeRot)
+    p.resetJointStateMultiDof(humanoid, leftAnkle, leftAnkleRot)
+    p.resetJointStateMultiDof(humanoid, leftShoulder, leftShoulderRot)
+    p.resetJointStateMultiDof(humanoid, leftElbow, leftElbowRot)
+  once = False
+  #print("chestRot=",chestRot)
+  p.setGravity(0, 0, -10)
+
+  kp = kpMotor
+  if (useExplicitPD):
+    jointDofCounts = [4, 4, 4, 1, 4, 4, 1, 4, 1, 4, 4, 1]
+    #[x,y,z] base	position and [x,y,z,w] base	orientation!
+    totalDofs = 7
+    for dof in jointDofCounts:
+      totalDofs += dof
+
+    jointIndicesAll = [
+        chest, neck, rightHip, rightKnee, rightAnkle, rightShoulder, rightElbow, leftHip, leftKnee,
+        leftAnkle, leftShoulder, leftElbow
+    ]
+    basePos, baseOrn = p.getBasePositionAndOrientation(humanoid)
+    pose = [
+        basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
+        chestRot[0], chestRot[1], chestRot[2], chestRot[3], neckRot[0], neckRot[1], neckRot[2],
+        neckRot[3], rightHipRot[0], rightHipRot[1], rightHipRot[2], rightHipRot[3],
+        rightKneeRot[0], rightAnkleRot[0], rightAnkleRot[1], rightAnkleRot[2], rightAnkleRot[3],
+        rightShoulderRot[0], rightShoulderRot[1], rightShoulderRot[2], rightShoulderRot[3],
+        rightElbowRot[0], leftHipRot[0], leftHipRot[1], leftHipRot[2], leftHipRot[3],
+        leftKneeRot[0], leftAnkleRot[0], leftAnkleRot[1], leftAnkleRot[2], leftAnkleRot[3],
+        leftShoulderRot[0], leftShoulderRot[1], leftShoulderRot[2], leftShoulderRot[3],
+        leftElbowRot[0]
+    ]
+
+    #print("pose=")
+    #for po	in pose:
+    #	print(po)
+    
+    
+    taus = stablePD.computePD(bodyUniqueId=humanoid5,
+                                jointIndices=jointIndicesAll,
+                                desiredPositions=pose,
+                                desiredVelocities=[0] * totalDofs,
+                                kps=kpOrg,
+                                kds=kdOrg,
+                                maxForces=[maxForce] * totalDofs,
+                                timeStep=timeStep)
+    
+    indices = [chest, neck, rightHip, rightKnee,
+              rightAnkle, rightShoulder, rightElbow,
+               leftHip, leftKnee, leftAnkle,
+               leftShoulder, leftElbow]
+    targetPositions = [chestRot,neckRot,rightHipRot, rightKneeRot,
+                      rightAnkleRot, rightShoulderRot, rightElbowRot,
+                      leftHipRot, leftKneeRot, leftAnkleRot,
+                      leftShoulderRot, leftElbowRot]
+    maxForces = [  [maxForce,maxForce,maxForce], [maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
+                  [maxForce,maxForce,maxForce],[maxForce,maxForce,maxForce],[maxForce],
+                  [maxForce,maxForce,maxForce], [maxForce], [maxForce,maxForce,maxForce],
+                  [maxForce,maxForce,maxForce], [maxForce]]
+    
+   
+    kps = [1000]*12
+    kds = [100]*12
+    
+                      
+    p.setJointMotorControlMultiDofArray(humanoid,
+                                   indices,
+                                   p.STABLE_PD_CONTROL,
+                                   targetPositions=targetPositions,
+                                   positionGains=kps,
+                                   velocityGains=kds,
+                                   forces=maxForces)
+
+    taus3 = explicitPD.computePD(bodyUniqueId=humanoid3,
+                                 jointIndices=jointIndicesAll,
+                                 desiredPositions=pose,
+                                 desiredVelocities=[0] * totalDofs,
+                                 kps=kpOrg,
+                                 kds=kdOrg,
+                                 maxForces=[maxForce * 0.05] * totalDofs,
+                                 timeStep=timeStep)
+
+    #taus=[0]*43
+    dofIndex = 7
+    for index in range(len(jointIndicesAll)):
+      jointIndex = jointIndicesAll[index]
+      if jointDofCounts[index] == 4:
+        
+        p.setJointMotorControlMultiDof(
+              humanoid5,
+            jointIndex,
+            p.TORQUE_CONTROL,
+            force=[taus[dofIndex + 0], taus[dofIndex + 1], taus[dofIndex + 2]])
+        p.setJointMotorControlMultiDof(
+            humanoid3,
+            jointIndex,
+            p.TORQUE_CONTROL,
+            force=[taus3[dofIndex + 0], taus3[dofIndex + 1], taus3[dofIndex + 2]])
+
+      if jointDofCounts[index] == 1:
+
+        
+        p.setJointMotorControlMultiDof(humanoid5,
+                                       jointIndex,
+                                       controlMode=p.TORQUE_CONTROL,
+                                       force=[taus[dofIndex]])
+        p.setJointMotorControlMultiDof(humanoid3,
+                                       jointIndex,
+                                       controlMode=p.TORQUE_CONTROL,
+                                       force=[taus3[dofIndex]])
+
+      dofIndex += jointDofCounts[index]
+
+    #print("len(taus)=",len(taus))
+    #print("taus=",taus)
+
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 chest,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=chestRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 neck,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=neckRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 rightHip,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=rightHipRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 rightKnee,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=rightKneeRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 rightAnkle,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=rightAnkleRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 rightShoulder,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=rightShoulderRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 rightElbow,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=rightElbowRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 leftHip,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=leftHipRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 leftKnee,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=leftKneeRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 leftAnkle,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=leftAnkleRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 leftShoulder,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=leftShoulderRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+  p.setJointMotorControlMultiDof(humanoid2,
+                                 leftElbow,
+                                 p.POSITION_CONTROL,
+                                 targetPosition=leftElbowRot,
+                                 positionGain=kp,
+                                 force=[maxForce])
+
+  kinematicHumanoid4 = True
+  if (kinematicHumanoid4):
+    p.resetJointStateMultiDof(humanoid4, chest, chestRot)
+    p.resetJointStateMultiDof(humanoid4, neck, neckRot)
+    p.resetJointStateMultiDof(humanoid4, rightHip, rightHipRot)
+    p.resetJointStateMultiDof(humanoid4, rightKnee, rightKneeRot)
+    p.resetJointStateMultiDof(humanoid4, rightAnkle, rightAnkleRot)
+    p.resetJointStateMultiDof(humanoid4, rightShoulder, rightShoulderRot)
+    p.resetJointStateMultiDof(humanoid4, rightElbow, rightElbowRot)
+    p.resetJointStateMultiDof(humanoid4, leftHip, leftHipRot)
+    p.resetJointStateMultiDof(humanoid4, leftKnee, leftKneeRot)
+    p.resetJointStateMultiDof(humanoid4, leftAnkle, leftAnkleRot)
+    p.resetJointStateMultiDof(humanoid4, leftShoulder, leftShoulderRot)
+    p.resetJointStateMultiDof(humanoid4, leftElbow, leftElbowRot)
+  p.stepSimulation()
+
+  if showJointMotorTorques:
+    for j in range(p.getNumJoints(humanoid2)):
+      jointState = p.getJointStateMultiDof(humanoid2, j)
+      print("jointStateMultiDof[", j, "].pos=", jointState[0])
+      print("jointStateMultiDof[", j, "].vel=", jointState[1])
+      print("jointStateMultiDof[", j, "].jointForces=", jointState[3])
+  time.sleep(timeStep)
diff --git a/examples/pybullet/gym/pybullet_examples/inverse_dynamics.py b/examples/pybullet/gym/pybullet_examples/inverse_dynamics.py
new file mode 100644
index 0000000000..5ec99aef8b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/inverse_dynamics.py
@@ -0,0 +1,167 @@
+import pybullet as bullet
+import pybullet_data as pd
+
+plot = True
+import time
+
+if (plot):
+  import matplotlib.pyplot as plt
+import math
+verbose = False
+
+# Parameters:
+robot_base = [0., 0., 0.]
+robot_orientation = [0., 0., 0., 1.]
+delta_t = 0.0001
+
+# Initialize Bullet Simulator
+id_simulator = bullet.connect(bullet.GUI)  # or bullet.DIRECT for non-graphical version
+bullet.setTimeStep(delta_t)
+bullet.setAdditionalSearchPath(pd.getDataPath())
+
+# Switch between URDF with/without FIXED joints
+with_fixed_joints = True
+
+if with_fixed_joints:
+  id_revolute_joints = [0, 3]
+  id_robot = bullet.loadURDF("TwoJointRobot_w_fixedJoints.urdf",
+                             robot_base,
+                             robot_orientation,
+                             useFixedBase=True)
+else:
+  id_revolute_joints = [0, 1]
+  id_robot = bullet.loadURDF("TwoJointRobot_wo_fixedJoints.urdf",
+                             robot_base,
+                             robot_orientation,
+                             useFixedBase=True)
+
+bullet.changeDynamics(id_robot, -1, linearDamping=0, angularDamping=0)
+bullet.changeDynamics(id_robot, 0, linearDamping=0, angularDamping=0)
+bullet.changeDynamics(id_robot, 1, linearDamping=0, angularDamping=0)
+
+jointTypeNames = [
+    "JOINT_REVOLUTE", "JOINT_PRISMATIC", "JOINT_SPHERICAL", "JOINT_PLANAR", "JOINT_FIXED",
+    "JOINT_POINT2POINT", "JOINT_GEAR"
+]
+
+# Disable the motors for torque control:
+bullet.setJointMotorControlArray(id_robot,
+                                 id_revolute_joints,
+                                 bullet.VELOCITY_CONTROL,
+                                 forces=[0.0, 0.0])
+
+# Target Positions:
+start = 0.0
+end = 1.0
+
+steps = int((end - start) / delta_t)
+t = [0] * steps
+q_pos_desired = [[0.] * steps, [0.] * steps]
+q_vel_desired = [[0.] * steps, [0.] * steps]
+q_acc_desired = [[0.] * steps, [0.] * steps]
+
+for s in range(steps):
+  t[s] = start + s * delta_t
+  q_pos_desired[0][s] = 1. / (2. * math.pi) * math.sin(2. * math.pi * t[s]) - t[s]
+  q_pos_desired[1][s] = -1. / (2. * math.pi) * (math.cos(2. * math.pi * t[s]) - 1.0)
+
+  q_vel_desired[0][s] = math.cos(2. * math.pi * t[s]) - 1.
+  q_vel_desired[1][s] = math.sin(2. * math.pi * t[s])
+
+  q_acc_desired[0][s] = -2. * math.pi * math.sin(2. * math.pi * t[s])
+  q_acc_desired[1][s] = 2. * math.pi * math.cos(2. * math.pi * t[s])
+
+q_pos = [[0.] * steps, [0.] * steps]
+q_vel = [[0.] * steps, [0.] * steps]
+q_tor = [[0.] * steps, [0.] * steps]
+
+# Do Torque Control:
+for i in range(len(t)):
+
+  # Read Sensor States:
+  joint_states = bullet.getJointStates(id_robot, id_revolute_joints)
+
+  q_pos[0][i] = joint_states[0][0]
+  a = joint_states[1][0]
+  if (verbose):
+    print("joint_states[1][0]")
+    print(joint_states[1][0])
+  q_pos[1][i] = a
+
+  q_vel[0][i] = joint_states[0][1]
+  q_vel[1][i] = joint_states[1][1]
+
+  # Computing the torque from inverse dynamics:
+  obj_pos = [q_pos[0][i], q_pos[1][i]]
+  obj_vel = [q_vel[0][i], q_vel[1][i]]
+  obj_acc = [q_acc_desired[0][i], q_acc_desired[1][i]]
+
+  if (verbose):
+    print("calculateInverseDynamics")
+    print("id_robot")
+    print(id_robot)
+    print("obj_pos")
+    print(obj_pos)
+    print("obj_vel")
+    print(obj_vel)
+    print("obj_acc")
+    print(obj_acc)
+
+  torque = bullet.calculateInverseDynamics(id_robot, obj_pos, obj_vel, obj_acc)
+  q_tor[0][i] = torque[0]
+  q_tor[1][i] = torque[1]
+  if (verbose):
+    print("torque=")
+    print(torque)
+
+  # Set the Joint Torques:
+  bullet.setJointMotorControlArray(id_robot,
+                                   id_revolute_joints,
+                                   bullet.TORQUE_CONTROL,
+                                   forces=[torque[0], torque[1]])
+
+  # Step Simulation
+  bullet.stepSimulation()
+
+# Plot the Position, Velocity and Acceleration:
+if plot:
+  figure = plt.figure(figsize=[15, 4.5])
+  figure.subplots_adjust(left=0.05, bottom=0.11, right=0.97, top=0.9, wspace=0.4, hspace=0.55)
+
+  ax_pos = figure.add_subplot(141)
+  ax_pos.set_title("Joint Position")
+  ax_pos.plot(t, q_pos_desired[0], '--r', lw=4, label='Desired q0')
+  ax_pos.plot(t, q_pos_desired[1], '--b', lw=4, label='Desired q1')
+  ax_pos.plot(t, q_pos[0], '-r', lw=1, label='Measured q0')
+  ax_pos.plot(t, q_pos[1], '-b', lw=1, label='Measured q1')
+  ax_pos.set_ylim(-1., 1.)
+  ax_pos.legend()
+
+  ax_vel = figure.add_subplot(142)
+  ax_vel.set_title("Joint Velocity")
+  ax_vel.plot(t, q_vel_desired[0], '--r', lw=4, label='Desired q0')
+  ax_vel.plot(t, q_vel_desired[1], '--b', lw=4, label='Desired q1')
+  ax_vel.plot(t, q_vel[0], '-r', lw=1, label='Measured q0')
+  ax_vel.plot(t, q_vel[1], '-b', lw=1, label='Measured q1')
+  ax_vel.set_ylim(-2., 2.)
+  ax_vel.legend()
+
+  ax_acc = figure.add_subplot(143)
+  ax_acc.set_title("Joint Acceleration")
+  ax_acc.plot(t, q_acc_desired[0], '--r', lw=4, label='Desired q0')
+  ax_acc.plot(t, q_acc_desired[1], '--b', lw=4, label='Desired q1')
+  ax_acc.set_ylim(-10., 10.)
+  ax_acc.legend()
+
+  ax_tor = figure.add_subplot(144)
+  ax_tor.set_title("Executed Torque")
+  ax_tor.plot(t, q_tor[0], '-r', lw=2, label='Torque q0')
+  ax_tor.plot(t, q_tor[1], '-b', lw=2, label='Torque q1')
+  ax_tor.set_ylim(-20., 20.)
+  ax_tor.legend()
+
+  plt.pause(0.01)
+
+while (1):
+  bullet.stepSimulation()
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics.py b/examples/pybullet/gym/pybullet_examples/inverse_kinematics.py
new file mode 100644
index 0000000000..bf198ff32b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/inverse_kinematics.py
@@ -0,0 +1,125 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+import pybullet_data
+
+clid = p.connect(p.SHARED_MEMORY)
+if (clid < 0):
+  p.connect(p.GUI)
+  #p.connect(p.SHARED_MEMORY_GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.loadURDF("plane.urdf", [0, 0, -0.3])
+kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
+p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
+kukaEndEffectorIndex = 6
+numJoints = p.getNumJoints(kukaId)
+if (numJoints != 7):
+  exit()
+
+#lower limits for null space
+ll = [-.967, -2, -2.96, 0.19, -2.96, -2.09, -3.05]
+#upper limits for null space
+ul = [.967, 2, 2.96, 2.29, 2.96, 2.09, 3.05]
+#joint ranges for null space
+jr = [5.8, 4, 5.8, 4, 5.8, 4, 6]
+#restposes for null space
+rp = [0, 0, 0, 0.5 * math.pi, 0, -math.pi * 0.5 * 0.66, 0]
+#joint damping coefficents
+jd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+
+for i in range(numJoints):
+  p.resetJointState(kukaId, i, rp[i])
+
+p.setGravity(0, 0, 0)
+t = 0.
+prevPose = [0, 0, 0]
+prevPose1 = [0, 0, 0]
+hasPrevPose = 0
+useNullSpace = 1
+
+useOrientation = 1
+#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
+#This can be used to test the IK result accuracy.
+useSimulation = 1
+useRealTimeSimulation = 0
+ikSolver = 0
+p.setRealTimeSimulation(useRealTimeSimulation)
+#trailDuration is duration (in seconds) after debug lines will be removed automatically
+#use 0 for no-removal
+trailDuration = 15
+
+i=0
+while 1:
+  i+=1
+  #p.getCameraImage(320,
+  #                 200,
+  #                 flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
+  #                 renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  if (useRealTimeSimulation):
+    dt = datetime.now()
+    t = (dt.second / 60.) * 2. * math.pi
+  else:
+    t = t + 0.01
+
+  if (useSimulation and useRealTimeSimulation == 0):
+    p.stepSimulation()
+
+  for i in range(1):
+    pos = [-0.4, 0.2 * math.cos(t), 0. + 0.2 * math.sin(t)]
+    #end effector points down, not up (in case useOrientation==1)
+    orn = p.getQuaternionFromEuler([0, -math.pi, 0])
+
+    if (useNullSpace == 1):
+      if (useOrientation == 1):
+        jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos, orn, ll, ul,
+                                                  jr, rp)
+      else:
+        jointPoses = p.calculateInverseKinematics(kukaId,
+                                                  kukaEndEffectorIndex,
+                                                  pos,
+                                                  lowerLimits=ll,
+                                                  upperLimits=ul,
+                                                  jointRanges=jr,
+                                                  restPoses=rp)
+    else:
+      if (useOrientation == 1):
+        jointPoses = p.calculateInverseKinematics(kukaId,
+                                                  kukaEndEffectorIndex,
+                                                  pos,
+                                                  orn,
+                                                  jointDamping=jd,
+                                                  solver=ikSolver,
+                                                  maxNumIterations=100,
+                                                  residualThreshold=.01)
+      else:
+        jointPoses = p.calculateInverseKinematics(kukaId,
+                                                  kukaEndEffectorIndex,
+                                                  pos,
+                                                  solver=ikSolver)
+
+    if (useSimulation):
+      for i in range(numJoints):
+        p.setJointMotorControl2(bodyIndex=kukaId,
+                                jointIndex=i,
+                                controlMode=p.POSITION_CONTROL,
+                                targetPosition=jointPoses[i],
+                                targetVelocity=0,
+                                force=500,
+                                positionGain=0.03,
+                                velocityGain=1)
+    else:
+      #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
+      for i in range(numJoints):
+        p.resetJointState(kukaId, i, jointPoses[i])
+
+  ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
+  if (hasPrevPose):
+    p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
+    p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
+  prevPose = pos
+  prevPose1 = ls[4]
+  hasPrevPose = 1
+p.disconnect()
diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py b/examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py
new file mode 100644
index 0000000000..bb0e26eaaf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/inverse_kinematics_husky_kuka.py
@@ -0,0 +1,202 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+from datetime import datetime
+import pybullet_data
+
+clid = p.connect(p.SHARED_MEMORY)
+
+
+if (clid < 0):
+  p.connect(p.GUI)
+
+p.setPhysicsEngineParameter(enableConeFriction=0)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+
+p.loadURDF("plane.urdf", [0, 0, -0.3])
+husky = p.loadURDF("husky/husky.urdf", [0.290388, 0.329902, -0.310270],
+                   [0.002328, -0.000984, 0.996491, 0.083659])
+for i in range(p.getNumJoints(husky)):
+  print(p.getJointInfo(husky, i))
+kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf", 0.193749, 0.345564, 0.120208, 0.002327,
+                    -0.000988, 0.996491, 0.083659)
+ob = kukaId
+jointPositions = [3.559609, 0.411182, 0.862129, 1.744441, 0.077299, -1.129685, 0.006001]
+for jointIndex in range(p.getNumJoints(ob)):
+  p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
+
+#put kuka on top of husky
+
+cid = p.createConstraint(husky, -1, kukaId, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0], [0., 0., -.5],
+                         [0, 0, 0, 1])
+
+baseorn = p.getQuaternionFromEuler([3.1415, 0, 0.3])
+baseorn = [0, 0, 0, 1]
+#[0, 0, 0.707, 0.707]
+
+#p.resetBasePositionAndOrientation(kukaId,[0,0,0],baseorn)#[0,0,0,1])
+kukaEndEffectorIndex = 6
+numJoints = p.getNumJoints(kukaId)
+if (numJoints != 7):
+  exit()
+
+#lower limits for null space
+ll = [-.967, -2, -2.96, 0.19, -2.96, -2.09, -3.05]
+#upper limits for null space
+ul = [.967, 2, 2.96, 2.29, 2.96, 2.09, 3.05]
+#joint ranges for null space
+jr = [5.8, 4, 5.8, 4, 5.8, 4, 6]
+#restposes for null space
+rp = [0, 0, 0, 0.5 * math.pi, 0, -math.pi * 0.5 * 0.66, 0]
+#joint damping coefficents
+jd = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+
+for i in range(numJoints):
+  p.resetJointState(kukaId, i, rp[i])
+
+p.setGravity(0, 0, -10)
+t = 0.
+prevPose = [0, 0, 0]
+prevPose1 = [0, 0, 0]
+hasPrevPose = 0
+useNullSpace = 0
+
+useOrientation = 0
+#If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
+#This can be used to test the IK result accuracy.
+useSimulation = 1
+useRealTimeSimulation = 1
+p.setRealTimeSimulation(useRealTimeSimulation)
+#trailDuration is duration (in seconds) after debug lines will be removed automatically
+#use 0 for no-removal
+trailDuration = 15
+basepos = [0, 0, 0]
+ang = 0
+ang = 0
+
+
+def accurateCalculateInverseKinematics(kukaId, endEffectorId, targetPos, threshold, maxIter):
+  closeEnough = False
+  iter = 0
+  dist2 = 1e30
+  while (not closeEnough and iter < maxIter):
+    jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, targetPos)
+    for i in range(numJoints):
+      p.resetJointState(kukaId, i, jointPoses[i])
+    ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
+    newPos = ls[4]
+    diff = [targetPos[0] - newPos[0], targetPos[1] - newPos[1], targetPos[2] - newPos[2]]
+    dist2 = (diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2])
+    closeEnough = (dist2 < threshold)
+    iter = iter + 1
+  #print ("Num iter: "+str(iter) + "threshold: "+str(dist2))
+  return jointPoses
+
+
+wheels = [2, 3, 4, 5]
+#(2, b'front_left_wheel', 0, 7, 6, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'front_left_wheel_link')
+#(3, b'front_right_wheel', 0, 8, 7, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'front_right_wheel_link')
+#(4, b'rear_left_wheel', 0, 9, 8, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'rear_left_wheel_link')
+#(5, b'rear_right_wheel', 0, 10, 9, 1, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, b'rear_right_wheel_link')
+wheelVelocities = [0, 0, 0, 0]
+wheelDeltasTurn = [1, -1, 1, -1]
+wheelDeltasFwd = [1, 1, 1, 1]
+while 1:
+  keys = p.getKeyboardEvents()
+  shift = 0.01
+  wheelVelocities = [0, 0, 0, 0]
+  speed = 1.0
+  for k in keys:
+    if ord('s') in keys:
+      p.saveWorld("state.py")
+    if ord('a') in keys:
+      basepos = basepos = [basepos[0], basepos[1] - shift, basepos[2]]
+    if ord('d') in keys:
+      basepos = basepos = [basepos[0], basepos[1] + shift, basepos[2]]
+
+    if p.B3G_LEFT_ARROW in keys:
+      for i in range(len(wheels)):
+        wheelVelocities[i] = wheelVelocities[i] - speed * wheelDeltasTurn[i]
+    if p.B3G_RIGHT_ARROW in keys:
+      for i in range(len(wheels)):
+        wheelVelocities[i] = wheelVelocities[i] + speed * wheelDeltasTurn[i]
+    if p.B3G_UP_ARROW in keys:
+      for i in range(len(wheels)):
+        wheelVelocities[i] = wheelVelocities[i] + speed * wheelDeltasFwd[i]
+    if p.B3G_DOWN_ARROW in keys:
+      for i in range(len(wheels)):
+        wheelVelocities[i] = wheelVelocities[i] - speed * wheelDeltasFwd[i]
+
+  baseorn = p.getQuaternionFromEuler([0, 0, ang])
+  for i in range(len(wheels)):
+    p.setJointMotorControl2(husky,
+                            wheels[i],
+                            p.VELOCITY_CONTROL,
+                            targetVelocity=wheelVelocities[i],
+                            force=1000)
+  #p.resetBasePositionAndOrientation(kukaId,basepos,baseorn)#[0,0,0,1])
+  if (useRealTimeSimulation):
+    t = time.time()  #(dt, micro) = datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S.%f').split('.')
+    #t = (dt.second/60.)*2.*math.pi
+  else:
+    t = t + 0.001
+
+  if (useSimulation and useRealTimeSimulation == 0):
+    p.stepSimulation()
+
+  for i in range(1):
+    #pos = [-0.4,0.2*math.cos(t),0.+0.2*math.sin(t)]
+    pos = [0.2 * math.cos(t), 0, 0. + 0.2 * math.sin(t) + 0.7]
+    #end effector points down, not up (in case useOrientation==1)
+    orn = p.getQuaternionFromEuler([0, -math.pi, 0])
+
+    if (useNullSpace == 1):
+      if (useOrientation == 1):
+        jointPoses = p.calculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos, orn, ll, ul,
+                                                  jr, rp)
+      else:
+        jointPoses = p.calculateInverseKinematics(kukaId,
+                                                  kukaEndEffectorIndex,
+                                                  pos,
+                                                  lowerLimits=ll,
+                                                  upperLimits=ul,
+                                                  jointRanges=jr,
+                                                  restPoses=rp)
+    else:
+      if (useOrientation == 1):
+        jointPoses = p.calculateInverseKinematics(kukaId,
+                                                  kukaEndEffectorIndex,
+                                                  pos,
+                                                  orn,
+                                                  jointDamping=jd)
+      else:
+        threshold = 0.001
+        maxIter = 100
+        jointPoses = accurateCalculateInverseKinematics(kukaId, kukaEndEffectorIndex, pos,
+                                                        threshold, maxIter)
+
+    if (useSimulation):
+      for i in range(numJoints):
+        p.setJointMotorControl2(bodyIndex=kukaId,
+                                jointIndex=i,
+                                controlMode=p.POSITION_CONTROL,
+                                targetPosition=jointPoses[i],
+                                targetVelocity=0,
+                                force=500,
+                                positionGain=1,
+                                velocityGain=0.1)
+    else:
+      #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
+      for i in range(numJoints):
+        p.resetJointState(kukaId, i, jointPoses[i])
+
+  ls = p.getLinkState(kukaId, kukaEndEffectorIndex)
+  if (hasPrevPose):
+    p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
+    p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
+  prevPose = pos
+  prevPose1 = ls[4]
+  hasPrevPose = 1
diff --git a/examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py b/examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py
new file mode 100644
index 0000000000..653581a0e5
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/inverse_kinematics_pole.py
@@ -0,0 +1,66 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+import pybullet_data
+
+clid = p.connect(p.SHARED_MEMORY)
+if (clid < 0):
+  p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.loadURDF("plane.urdf", [0, 0, -1.3])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+sawyerId = p.loadURDF("pole.urdf", [0, 0, 0])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+p.resetBasePositionAndOrientation(sawyerId, [0, 0, 0], [0, 0, 0, 1])
+
+sawyerEndEffectorIndex = 3
+numJoints = p.getNumJoints(sawyerId)
+#joint damping coefficents
+jd = [0.1, 0.1, 0.1, 0.1]
+
+p.setGravity(0, 0, 0)
+t = 0.
+prevPose = [0, 0, 0]
+prevPose1 = [0, 0, 0]
+hasPrevPose = 0
+
+ikSolver = 0
+useRealTimeSimulation = 0
+p.setRealTimeSimulation(useRealTimeSimulation)
+#trailDuration is duration (in seconds) after debug lines will be removed automatically
+#use 0 for no-removal
+trailDuration = 1
+
+while 1:
+  if (useRealTimeSimulation):
+    dt = datetime.now()
+    t = (dt.second / 60.) * 2. * math.pi
+  else:
+    t = t + 0.01
+    time.sleep(0.01)
+
+  for i in range(1):
+    pos = [2. * math.cos(t), 2. * math.cos(t), 0. + 2. * math.sin(t)]
+    jointPoses = p.calculateInverseKinematics(sawyerId,
+                                              sawyerEndEffectorIndex,
+                                              pos,
+                                              jointDamping=jd,
+                                              solver=ikSolver,
+                                              maxNumIterations=100)
+
+    #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
+    for i in range(numJoints):
+      jointInfo = p.getJointInfo(sawyerId, i)
+      qIndex = jointInfo[3]
+      if qIndex > -1:
+        p.resetJointState(sawyerId, i, jointPoses[qIndex - 7])
+
+  ls = p.getLinkState(sawyerId, sawyerEndEffectorIndex)
+  if (hasPrevPose):
+    p.addUserDebugLine(prevPose, pos, [0, 0, 0.3], 1, trailDuration)
+    p.addUserDebugLine(prevPose1, ls[4], [1, 0, 0], 1, trailDuration)
+  prevPose = pos
+  prevPose1 = ls[4]
+  hasPrevPose = 1
diff --git a/examples/pybullet/gym/pybullet_examples/jacobian.py b/examples/pybullet/gym/pybullet_examples/jacobian.py
new file mode 100644
index 0000000000..4a7e9725cb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/jacobian.py
@@ -0,0 +1,102 @@
+import pybullet as p
+import pybullet_data
+
+
+
+def getJointStates(robot):
+  joint_states = p.getJointStates(robot, range(p.getNumJoints(robot)))
+  joint_positions = [state[0] for state in joint_states]
+  joint_velocities = [state[1] for state in joint_states]
+  joint_torques = [state[3] for state in joint_states]
+  return joint_positions, joint_velocities, joint_torques
+
+
+def getMotorJointStates(robot):
+  joint_states = p.getJointStates(robot, range(p.getNumJoints(robot)))
+  joint_infos = [p.getJointInfo(robot, i) for i in range(p.getNumJoints(robot))]
+  joint_states = [j for j, i in zip(joint_states, joint_infos) if i[3] > -1]
+  joint_positions = [state[0] for state in joint_states]
+  joint_velocities = [state[1] for state in joint_states]
+  joint_torques = [state[3] for state in joint_states]
+  return joint_positions, joint_velocities, joint_torques
+
+
+def setJointPosition(robot, position, kp=1.0, kv=0.3):
+  num_joints = p.getNumJoints(robot)
+  zero_vec = [0.0] * num_joints
+  if len(position) == num_joints:
+    p.setJointMotorControlArray(robot,
+                                range(num_joints),
+                                p.POSITION_CONTROL,
+                                targetPositions=position,
+                                targetVelocities=zero_vec,
+                                positionGains=[kp] * num_joints,
+                                velocityGains=[kv] * num_joints)
+  else:
+    print("Not setting torque. "
+          "Expected torque vector of "
+          "length {}, got {}".format(num_joints, len(torque)))
+
+
+def multiplyJacobian(robot, jacobian, vector):
+  result = [0.0, 0.0, 0.0]
+  i = 0
+  for c in range(len(vector)):
+    if p.getJointInfo(robot, c)[3] > -1:
+      for r in range(3):
+        result[r] += jacobian[r][i] * vector[c]
+      i += 1
+  return result
+
+
+clid = p.connect(p.SHARED_MEMORY)
+if (clid < 0):
+  p.connect(p.DIRECT)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+time_step = 0.001
+gravity_constant = -9.81
+p.resetSimulation()
+p.setTimeStep(time_step)
+p.setGravity(0.0, 0.0, gravity_constant)
+
+p.loadURDF("plane.urdf", [0, 0, -0.3])
+
+kukaId = p.loadURDF("TwoJointRobot_w_fixedJoints.urdf", useFixedBase=True)
+#kukaId = p.loadURDF("TwoJointRobot_w_fixedJoints.urdf",[0,0,0])
+#kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
+#kukaId = p.loadURDF("kuka_lwr/kuka.urdf",[0,0,0])
+#kukaId = p.loadURDF("humanoid/nao.urdf",[0,0,0])
+p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
+numJoints = p.getNumJoints(kukaId)
+kukaEndEffectorIndex = numJoints - 1
+
+# Set a joint target for the position control and step the sim.
+setJointPosition(kukaId, [0.1] * numJoints)
+p.stepSimulation()
+
+# Get the joint and link state directly from Bullet.
+pos, vel, torq = getJointStates(kukaId)
+mpos, mvel, mtorq = getMotorJointStates(kukaId)
+
+result = p.getLinkState(kukaId,
+                        kukaEndEffectorIndex,
+                        computeLinkVelocity=1,
+                        computeForwardKinematics=1)
+link_trn, link_rot, com_trn, com_rot, frame_pos, frame_rot, link_vt, link_vr = result
+# Get the Jacobians for the CoM of the end-effector link.
+# Note that in this example com_rot = identity, and we would need to use com_rot.T * com_trn.
+# The localPosition is always defined in terms of the link frame coordinates.
+
+zero_vec = [0.0] * len(mpos)
+jac_t, jac_r = p.calculateJacobian(kukaId, kukaEndEffectorIndex, com_trn, mpos, zero_vec, zero_vec)
+
+print("Link linear velocity of CoM from getLinkState:")
+print(link_vt)
+print("Link linear velocity of CoM from linearJacobian * q_dot:")
+print(multiplyJacobian(kukaId, jac_t, vel))
+print("Link angular velocity of CoM from getLinkState:")
+print(link_vr)
+print("Link angular velocity of CoM from angularJacobian * q_dot:")
+print(multiplyJacobian(kukaId, jac_r, vel))
diff --git a/examples/pybullet/gym/pybullet_examples/manyspheres.py b/examples/pybullet/gym/pybullet_examples/manyspheres.py
new file mode 100644
index 0000000000..4c6e5197ca
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/manyspheres.py
@@ -0,0 +1,38 @@
+import pybullet as p
+import time
+import pybullet_data
+
+
+conid = p.connect(p.SHARED_MEMORY)
+if (conid < 0):
+  p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setInternalSimFlags(0)
+p.resetSimulation()
+
+p.loadURDF("plane.urdf", useMaximalCoordinates=True)
+p.loadURDF("tray/traybox.urdf", useMaximalCoordinates=True)
+
+gravXid = p.addUserDebugParameter("gravityX", -10, 10, 0)
+gravYid = p.addUserDebugParameter("gravityY", -10, 10, 0)
+gravZid = p.addUserDebugParameter("gravityZ", -10, 10, -10)
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+for i in range(10):
+  for j in range(10):
+    for k in range(10):
+      ob = p.loadURDF("sphere_1cm.urdf", [0.02 * i, 0.02 * j, 0.2 + 0.02 * k],
+                      useMaximalCoordinates=True)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+p.setGravity(0, 0, -10)
+
+p.setRealTimeSimulation(1)
+while True:
+  gravX = p.readUserDebugParameter(gravXid)
+  gravY = p.readUserDebugParameter(gravYid)
+  gravZ = p.readUserDebugParameter(gravZid)
+  p.setGravity(gravX, gravY, gravZ)
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py b/examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py
new file mode 100644
index 0000000000..7a54f5c10f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/mimicJointConstraint.py
@@ -0,0 +1,50 @@
+#a mimic joint can act as a gear between two joints
+#you can control the gear ratio in magnitude and sign (>0 reverses direction)
+
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.loadURDF("plane.urdf", 0, 0, -2)
+wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
+for i in range(p.getNumJoints(wheelA)):
+  print(p.getJointInfo(wheelA, i))
+  p.setJointMotorControl2(wheelA, i, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
+
+c = p.createConstraint(wheelA,
+                       1,
+                       wheelA,
+                       3,
+                       jointType=p.JOINT_GEAR,
+                       jointAxis=[0, 1, 0],
+                       parentFramePosition=[0, 0, 0],
+                       childFramePosition=[0, 0, 0])
+p.changeConstraint(c, gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(wheelA,
+                       2,
+                       wheelA,
+                       4,
+                       jointType=p.JOINT_GEAR,
+                       jointAxis=[0, 1, 0],
+                       parentFramePosition=[0, 0, 0],
+                       childFramePosition=[0, 0, 0])
+p.changeConstraint(c, gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(wheelA,
+                       1,
+                       wheelA,
+                       4,
+                       jointType=p.JOINT_GEAR,
+                       jointAxis=[0, 1, 0],
+                       parentFramePosition=[0, 0, 0],
+                       childFramePosition=[0, 0, 0])
+p.changeConstraint(c, gearRatio=-1, maxForce=10000)
+
+p.setRealTimeSimulation(1)
+while (1):
+  p.setGravity(0, 0, -10)
+  time.sleep(0.01)
+#p.removeConstraint(c)
diff --git a/examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py b/examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py
new file mode 100644
index 0000000000..95a0c1e39e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/motorMaxVelocity.py
@@ -0,0 +1,22 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+cartpole = p.loadURDF("cartpole.urdf")
+p.setRealTimeSimulation(1)
+p.setJointMotorControl2(cartpole,
+                        1,
+                        p.POSITION_CONTROL,
+                        targetPosition=1000,
+                        targetVelocity=0,
+                        force=1000,
+                        positionGain=1,
+                        velocityGain=0,
+                        maxVelocity=0.5)
+while (1):
+  p.setGravity(0, 0, -10)
+  js = p.getJointState(cartpole, 1)
+  print("position=", js[0], "velocity=", js[1])
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/pdControl.py b/examples/pybullet/gym/pybullet_examples/pdControl.py
new file mode 100644
index 0000000000..e9c902e230
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/pdControl.py
@@ -0,0 +1,152 @@
+import pybullet as p
+from pdControllerExplicit import PDControllerExplicitMultiDof
+from pdControllerExplicit import PDControllerExplicit
+from pdControllerStable import PDControllerStable
+
+import time
+
+useMaximalCoordinates = False
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+pole = p.loadURDF("cartpole.urdf", [0, 0, 0], useMaximalCoordinates=useMaximalCoordinates)
+pole2 = p.loadURDF("cartpole.urdf", [0, 1, 0], useMaximalCoordinates=useMaximalCoordinates)
+pole3 = p.loadURDF("cartpole.urdf", [0, 2, 0], useMaximalCoordinates=useMaximalCoordinates)
+pole4 = p.loadURDF("cartpole.urdf", [0, 3, 0], useMaximalCoordinates=useMaximalCoordinates)
+
+exPD = PDControllerExplicitMultiDof(p)
+sPD = PDControllerStable(p)
+
+for i in range(p.getNumJoints(pole2)):
+  #disable default constraint-based motors
+  p.setJointMotorControl2(pole, i, p.POSITION_CONTROL, targetPosition=0, force=0)
+  p.setJointMotorControl2(pole2, i, p.POSITION_CONTROL, targetPosition=0, force=0)
+  p.setJointMotorControl2(pole3, i, p.POSITION_CONTROL, targetPosition=0, force=0)
+  p.setJointMotorControl2(pole4, i, p.POSITION_CONTROL, targetPosition=0, force=0)
+
+  #print("joint",i,"=",p.getJointInfo(pole2,i))
+
+timeStepId = p.addUserDebugParameter("timeStep", 0.001, 0.1, 0.01)
+desiredPosCartId = p.addUserDebugParameter("desiredPosCart", -10, 10, 2)
+desiredVelCartId = p.addUserDebugParameter("desiredVelCart", -10, 10, 0)
+kpCartId = p.addUserDebugParameter("kpCart", 0, 500, 1300)
+kdCartId = p.addUserDebugParameter("kdCart", 0, 300, 150)
+maxForceCartId = p.addUserDebugParameter("maxForceCart", 0, 5000, 1000)
+
+textColor = [1, 1, 1]
+shift = 0.05
+p.addUserDebugText("explicit PD", [shift, 0, .1],
+                   textColor,
+                   parentObjectUniqueId=pole,
+                   parentLinkIndex=1)
+p.addUserDebugText("explicit PD plugin", [shift, 0, -.1],
+                   textColor,
+                   parentObjectUniqueId=pole2,
+                   parentLinkIndex=1)
+p.addUserDebugText("stablePD", [shift, 0, .1],
+                   textColor,
+                   parentObjectUniqueId=pole4,
+                   parentLinkIndex=1)
+p.addUserDebugText("position constraint", [shift, 0, -.1],
+                   textColor,
+                   parentObjectUniqueId=pole3,
+                   parentLinkIndex=1)
+
+desiredPosPoleId = p.addUserDebugParameter("desiredPosPole", -10, 10, 0)
+desiredVelPoleId = p.addUserDebugParameter("desiredVelPole", -10, 10, 0)
+kpPoleId = p.addUserDebugParameter("kpPole", 0, 500, 1200)
+kdPoleId = p.addUserDebugParameter("kdPole", 0, 300, 100)
+maxForcePoleId = p.addUserDebugParameter("maxForcePole", 0, 5000, 1000)
+
+pd = p.loadPlugin("pdControlPlugin")
+
+p.setGravity(0, 0, -10)
+
+useRealTimeSim = False
+
+p.setRealTimeSimulation(useRealTimeSim)
+
+timeStep = 0.001
+
+while p.isConnected():
+  #p.getCameraImage(320,200)
+  timeStep = p.readUserDebugParameter(timeStepId)
+  p.setTimeStep(timeStep)
+
+  desiredPosCart = p.readUserDebugParameter(desiredPosCartId)
+  desiredVelCart = p.readUserDebugParameter(desiredVelCartId)
+  kpCart = p.readUserDebugParameter(kpCartId)
+  kdCart = p.readUserDebugParameter(kdCartId)
+  maxForceCart = p.readUserDebugParameter(maxForceCartId)
+
+  desiredPosPole = p.readUserDebugParameter(desiredPosPoleId)
+  desiredVelPole = p.readUserDebugParameter(desiredVelPoleId)
+  kpPole = p.readUserDebugParameter(kpPoleId)
+  kdPole = p.readUserDebugParameter(kdPoleId)
+  maxForcePole = p.readUserDebugParameter(maxForcePoleId)
+
+  basePos, baseOrn = p.getBasePositionAndOrientation(pole)
+
+  baseDof = 7
+  taus = exPD.computePD(pole, [0, 1], [
+      basePos[0], basePos[1], basePos[2], baseOrn[0], baseOrn[1], baseOrn[2], baseOrn[3],
+      desiredPosCart, desiredPosPole
+  ], [0, 0, 0, 0, 0, 0, 0, desiredVelCart, desiredVelPole], [0, 0, 0, 0, 0, 0, 0, kpCart, kpPole],
+                        [0, 0, 0, 0, 0, 0, 0, kdCart, kdPole],
+                        [0, 0, 0, 0, 0, 0, 0, maxForceCart, maxForcePole], timeStep)
+
+  for j in [0, 1]:
+    p.setJointMotorControlMultiDof(pole,
+                                   j,
+                                   controlMode=p.TORQUE_CONTROL,
+                                   force=[taus[j + baseDof]])
+  #p.setJointMotorControlArray(pole, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
+
+  if (pd >= 0):
+    link = 0
+    p.setJointMotorControl2(bodyUniqueId=pole2,
+                            jointIndex=link,
+                            controlMode=p.PD_CONTROL,
+                            targetPosition=desiredPosCart,
+                            targetVelocity=desiredVelCart,
+                            force=maxForceCart,
+                            positionGain=kpCart,
+                            velocityGain=kdCart)
+    link = 1
+    p.setJointMotorControl2(bodyUniqueId=pole2,
+                            jointIndex=link,
+                            controlMode=p.PD_CONTROL,
+                            targetPosition=desiredPosPole,
+                            targetVelocity=desiredVelPole,
+                            force=maxForcePole,
+                            positionGain=kpPole,
+                            velocityGain=kdPole)
+
+  taus = sPD.computePD(pole4, [0, 1], [desiredPosCart, desiredPosPole],
+                       [desiredVelCart, desiredVelPole], [kpCart, kpPole], [kdCart, kdPole],
+                       [maxForceCart, maxForcePole], timeStep)
+  #p.setJointMotorControlArray(pole4, [0,1], controlMode=p.TORQUE_CONTROL, forces=taus)
+  for j in [0, 1]:
+    p.setJointMotorControlMultiDof(pole4, j, controlMode=p.TORQUE_CONTROL, force=[taus[j]])
+
+  p.setJointMotorControl2(pole3,
+                          0,
+                          p.POSITION_CONTROL,
+                          targetPosition=desiredPosCart,
+                          targetVelocity=desiredVelCart,
+                          positionGain=timeStep * (kpCart / 150.),
+                          velocityGain=0.5,
+                          force=maxForceCart)
+  p.setJointMotorControl2(pole3,
+                          1,
+                          p.POSITION_CONTROL,
+                          targetPosition=desiredPosPole,
+                          targetVelocity=desiredVelPole,
+                          positionGain=timeStep * (kpPole / 150.),
+                          velocityGain=0.5,
+                          force=maxForcePole)
+
+  if (not useRealTimeSim):
+    p.stepSimulation()
+    time.sleep(timeStep)
diff --git a/examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py b/examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py
new file mode 100644
index 0000000000..20cd0a65e2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/pdControllerExplicit.py
@@ -0,0 +1,98 @@
+import numpy as np
+
+
+class PDControllerExplicitMultiDof(object):
+
+  def __init__(self, pb):
+    self._pb = pb
+
+  def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
+                maxForces, timeStep):
+
+    numJoints = len(jointIndices)  #self._pb.getNumJoints(bodyUniqueId)
+    curPos, curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
+    q1 = [curPos[0], curPos[1], curPos[2], curOrn[0], curOrn[1], curOrn[2], curOrn[3]]
+    baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
+    qdot1 = [
+        baseLinVel[0], baseLinVel[1], baseLinVel[2], baseAngVel[0], baseAngVel[1], baseAngVel[2], 0
+    ]
+    qError = [0, 0, 0, 0, 0, 0, 0]
+    qIndex = 7
+    qdotIndex = 7
+    zeroAccelerations = [0, 0, 0, 0, 0, 0, 0]
+    for i in range(numJoints):
+      js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
+
+      jointPos = js[0]
+      jointVel = js[1]
+      q1 += jointPos
+
+      if len(js[0]) == 1:
+        desiredPos = desiredPositions[qIndex]
+
+        qdiff = desiredPos - jointPos[0]
+        qError.append(qdiff)
+        zeroAccelerations.append(0.)
+        qdot1 += jointVel
+        qIndex += 1
+        qdotIndex += 1
+      if len(js[0]) == 4:
+        desiredPos = [
+            desiredPositions[qIndex], desiredPositions[qIndex + 1], desiredPositions[qIndex + 2],
+            desiredPositions[qIndex + 3]
+        ]
+        axis = self._pb.getAxisDifferenceQuaternion(desiredPos, jointPos)
+        jointVelNew = [jointVel[0], jointVel[1], jointVel[2], 0]
+        qdot1 += jointVelNew
+        qError.append(axis[0])
+        qError.append(axis[1])
+        qError.append(axis[2])
+        qError.append(0)
+        desiredVel = [
+            desiredVelocities[qdotIndex], desiredVelocities[qdotIndex + 1],
+            desiredVelocities[qdotIndex + 2]
+        ]
+        zeroAccelerations += [0., 0., 0., 0.]
+        qIndex += 4
+        qdotIndex += 4
+
+    q = np.array(q1)
+    qdot = np.array(qdot1)
+    qdotdesired = np.array(desiredVelocities)
+    qdoterr = qdotdesired - qdot
+    Kp = np.diagflat(kps)
+    Kd = np.diagflat(kds)
+    p = Kp.dot(qError)
+    d = Kd.dot(qdoterr)
+    forces = p + d
+    maxF = np.array(maxForces)
+    forces = np.clip(forces, -maxF, maxF)
+    return forces
+
+
+class PDControllerExplicit(object):
+
+  def __init__(self, pb):
+    self._pb = pb
+
+  def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
+                maxForces, timeStep):
+    numJoints = self._pb.getNumJoints(bodyUniqueId)
+    jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
+    q1 = []
+    qdot1 = []
+    for i in range(numJoints):
+      q1.append(jointStates[i][0])
+      qdot1.append(jointStates[i][1])
+    q = np.array(q1)
+    qdot = np.array(qdot1)
+    qdes = np.array(desiredPositions)
+    qdotdes = np.array(desiredVelocities)
+    qError = qdes - q
+    qdotError = qdotdes - qdot
+    Kp = np.diagflat(kps)
+    Kd = np.diagflat(kds)
+    forces = Kp.dot(qError) + Kd.dot(qdotError)
+    maxF = np.array(maxForces)
+    forces = np.clip(forces, -maxF, maxF)
+    return forces
diff --git a/examples/pybullet/gym/pybullet_examples/pdControllerStable.py b/examples/pybullet/gym/pybullet_examples/pdControllerStable.py
new file mode 100644
index 0000000000..bec3356c49
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/pdControllerStable.py
@@ -0,0 +1,147 @@
+import numpy as np
+
+
+class PDControllerStableMultiDof(object):
+
+  def __init__(self, pb):
+    self._pb = pb
+
+  def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
+                maxForces, timeStep):
+
+    numJoints = len(jointIndices)  #self._pb.getNumJoints(bodyUniqueId)
+    curPos, curOrn = self._pb.getBasePositionAndOrientation(bodyUniqueId)
+    #q1 = [desiredPositions[0],desiredPositions[1],desiredPositions[2],desiredPositions[3],desiredPositions[4],desiredPositions[5],desiredPositions[6]]
+    q1 = [curPos[0], curPos[1], curPos[2], curOrn[0], curOrn[1], curOrn[2], curOrn[3]]
+
+    #qdot1 = [0,0,0, 0,0,0,0]
+    baseLinVel, baseAngVel = self._pb.getBaseVelocity(bodyUniqueId)
+
+    qdot1 = [
+        baseLinVel[0], baseLinVel[1], baseLinVel[2], baseAngVel[0], baseAngVel[1], baseAngVel[2], 0
+    ]
+    qError = [0, 0, 0, 0, 0, 0, 0]
+
+    qIndex = 7
+    qdotIndex = 7
+    zeroAccelerations = [0, 0, 0, 0, 0, 0, 0]
+    for i in range(numJoints):
+      js = self._pb.getJointStateMultiDof(bodyUniqueId, jointIndices[i])
+
+      jointPos = js[0]
+      jointVel = js[1]
+      q1 += jointPos
+
+      if len(js[0]) == 1:
+        desiredPos = desiredPositions[qIndex]
+
+        qdiff = desiredPos - jointPos[0]
+        qError.append(qdiff)
+        zeroAccelerations.append(0.)
+        qdot1 += jointVel
+        qIndex += 1
+        qdotIndex += 1
+      if len(js[0]) == 4:
+        desiredPos = [
+            desiredPositions[qIndex], desiredPositions[qIndex + 1], desiredPositions[qIndex + 2],
+            desiredPositions[qIndex + 3]
+        ]
+        axis = self._pb.getAxisDifferenceQuaternion(desiredPos, jointPos)
+        jointVelNew = [jointVel[0], jointVel[1], jointVel[2], 0]
+        qdot1 += jointVelNew
+        qError.append(axis[0])
+        qError.append(axis[1])
+        qError.append(axis[2])
+        qError.append(0)
+        desiredVel = [
+            desiredVelocities[qdotIndex], desiredVelocities[qdotIndex + 1],
+            desiredVelocities[qdotIndex + 2]
+        ]
+        zeroAccelerations += [0., 0., 0., 0.]
+        qIndex += 4
+        qdotIndex += 4
+
+    q = np.array(q1)
+    qdot = np.array(qdot1)
+
+    qdotdesired = np.array(desiredVelocities)
+    qdoterr = qdotdesired - qdot
+
+    Kp = np.diagflat(kps)
+    Kd = np.diagflat(kds)
+
+    # Compute -Kp(q + qdot - qdes)
+    p_term = Kp.dot(qError - qdot*timeStep)
+    # Compute -Kd(qdot - qdotdes)
+    d_term = Kd.dot(qdoterr)
+
+    # Compute Inertia matrix M(q)
+    M = self._pb.calculateMassMatrix(bodyUniqueId, q1, flags=1)
+    M = np.array(M)
+    # Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
+    # Compute Coriolis and External (Gravitational) terms G = C - T_ext
+    G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations, flags=1)
+    G = np.array(G)
+    # Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
+    qddot = np.linalg.solve(a=(M + Kd * timeStep),
+                            b=p_term + d_term - G)
+    # Compute control generalized forces (T_int)
+    tau = p_term + d_term - Kd.dot(qddot) * timeStep
+    # Clip generalized forces to actuator limits
+    maxF = np.array(maxForces)
+    generalized_forces = np.clip(tau, -maxF, maxF)
+    return generalized_forces
+
+
+class PDControllerStable(object):
+  """
+  Implementation based on: Tan, J., Liu, K., & Turk, G. (2011). "Stable proportional-derivative controllers"
+  DOI: 10.1109/MCG.2011.30
+  """
+  def __init__(self, pb):
+    self._pb = pb
+
+  def computePD(self, bodyUniqueId, jointIndices, desiredPositions, desiredVelocities, kps, kds,
+                maxForces, timeStep):
+    numJoints = self._pb.getNumJoints(bodyUniqueId)
+    jointStates = self._pb.getJointStates(bodyUniqueId, jointIndices)
+    q1 = []
+    qdot1 = []
+    zeroAccelerations = []
+    for i in range(numJoints):
+      q1.append(jointStates[i][0])
+      qdot1.append(jointStates[i][1])
+      zeroAccelerations.append(0)
+
+    q = np.array(q1)
+    qdot = np.array(qdot1)
+    qdes = np.array(desiredPositions)
+    qdotdes = np.array(desiredVelocities)
+
+    qError = qdes - q
+    qdotError = qdotdes - qdot
+
+    Kp = np.diagflat(kps)
+    Kd = np.diagflat(kds)
+
+    # Compute -Kp(q + qdot - qdes)
+    p_term = Kp.dot(qError - qdot*timeStep)
+    # Compute -Kd(qdot - qdotdes)
+    d_term = Kd.dot(qdotError)
+
+    # Compute Inertia matrix M(q)
+    M = self._pb.calculateMassMatrix(bodyUniqueId, q1)
+    M = np.array(M)
+    # Given: M(q) * qddot + C(q, qdot) = T_ext + T_int
+    # Compute Coriolis and External (Gravitational) terms G = C - T_ext
+    G = self._pb.calculateInverseDynamics(bodyUniqueId, q1, qdot1, zeroAccelerations)
+    G = np.array(G)
+    # Obtain estimated generalized accelerations, considering Coriolis and Gravitational forces, and stable PD actions
+    qddot = np.linalg.solve(a=(M + Kd * timeStep),
+                            b=(-G + p_term + d_term))
+    # Compute control generalized forces (T_int)
+    tau = p_term + d_term - (Kd.dot(qddot) * timeStep)
+    # Clip generalized forces to actuator limits
+    maxF = np.array(maxForces)
+    generalized_forces = np.clip(tau, -maxF, maxF)
+    return generalized_forces
diff --git a/examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py b/examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py
new file mode 100644
index 0000000000..65d88149c1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/pointCloudFromCameraImage.py
@@ -0,0 +1,138 @@
+import pybullet as p
+import math
+import numpy as np
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+plane = p.loadURDF("plane100.urdf")
+cube = p.loadURDF("cube.urdf", [0, 0, 1])
+
+
+def getRayFromTo(mouseX, mouseY):
+  width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
+  )
+  camPos = [
+      camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
+      camTarget[2] - dist * camForward[2]
+  ]
+  farPlane = 10000
+  rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
+  lenFwd = math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] * rayForward[1] +
+                     rayForward[2] * rayForward[2])
+  invLen = farPlane * 1. / lenFwd
+  rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
+  rayFrom = camPos
+  oneOverWidth = float(1) / float(width)
+  oneOverHeight = float(1) / float(height)
+
+  dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
+  dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
+  rayToCenter = [
+      rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
+  ]
+  ortho = [
+      -0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] - float(mouseY) * dVer[0],
+      -0.5 * horizon[1] + 0.5 * vertical[1] + float(mouseX) * dHor[1] - float(mouseY) * dVer[1],
+      -0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
+  ]
+
+  rayTo = [
+      rayFrom[0] + rayForward[0] + ortho[0], rayFrom[1] + rayForward[1] + ortho[1],
+      rayFrom[2] + rayForward[2] + ortho[2]
+  ]
+  lenOrtho = math.sqrt(ortho[0] * ortho[0] + ortho[1] * ortho[1] + ortho[2] * ortho[2])
+  alpha = math.atan(lenOrtho / farPlane)
+  return rayFrom, rayTo, alpha
+
+
+width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
+)
+camPos = [
+    camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
+    camTarget[2] - dist * camForward[2]
+]
+farPlane = 10000
+rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
+lenFwd = math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] * rayForward[1] +
+                   rayForward[2] * rayForward[2])
+oneOverWidth = float(1) / float(width)
+oneOverHeight = float(1) / float(height)
+dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
+dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
+
+lendHor = math.sqrt(dHor[0] * dHor[0] + dHor[1] * dHor[1] + dHor[2] * dHor[2])
+lendVer = math.sqrt(dVer[0] * dVer[0] + dVer[1] * dVer[1] + dVer[2] * dVer[2])
+
+cornersX = [0, width, width, 0]
+cornersY = [0, 0, height, height]
+corners3D = []
+
+imgW = int(width / 4)
+imgH = int(height / 4)
+
+img = p.getCameraImage(imgW, imgH, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+rgbBuffer = img[2]
+depthBuffer = img[3]
+print("rgbBuffer.shape=", rgbBuffer.shape)
+print("depthBuffer.shape=", depthBuffer.shape)
+
+#disable rendering temporary makes adding objects faster
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_SPHERE, rgbaColor=[1, 1, 1, 1], radius=0.03)
+collisionShapeId = -1  #p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
+
+for i in range(4):
+  w = cornersX[i]
+  h = cornersY[i]
+  rayFrom, rayTo, _ = getRayFromTo(w, h)
+  rf = np.array(rayFrom)
+  rt = np.array(rayTo)
+  vec = rt - rf
+  l = np.sqrt(np.dot(vec, vec))
+  newTo = (0.01 / l) * vec + rf
+  #print("len vec=",np.sqrt(np.dot(vec,vec)))
+
+  p.addUserDebugLine(rayFrom, newTo, [1, 0, 0])
+  corners3D.append(newTo)
+count = 0
+
+stepX = 5
+stepY = 5
+for w in range(0, imgW, stepX):
+  for h in range(0, imgH, stepY):
+    count += 1
+    if ((count % 100) == 0):
+      print(count, "out of ", imgW * imgH / (stepX * stepY))
+    rayFrom, rayTo, alpha = getRayFromTo(w * (width / imgW), h * (height / imgH))
+    rf = np.array(rayFrom)
+    rt = np.array(rayTo)
+    vec = rt - rf
+    l = np.sqrt(np.dot(vec, vec))
+    depthImg = float(depthBuffer[h, w])
+    far = 1000.
+    near = 0.01
+    depth = far * near / (far - (far - near) * depthImg)
+    depth /= math.cos(alpha)
+    newTo = (depth / l) * vec + rf
+    #p.addUserDebugLine(rayFrom, newTo, [1, 0, 0])
+    mb = p.createMultiBody(baseMass=0,
+                           baseCollisionShapeIndex=collisionShapeId,
+                           baseVisualShapeIndex=visualShapeId,
+                           basePosition=newTo,
+                           useMaximalCoordinates=True)
+    color = rgbBuffer[h, w]
+    color = [color[0] / 255., color[1] / 255., color[2] / 255., 1]
+    p.changeVisualShape(mb, -1, rgbaColor=color)
+p.addUserDebugLine(corners3D[0], corners3D[1], [1, 0, 0])
+p.addUserDebugLine(corners3D[1], corners3D[2], [1, 0, 0])
+p.addUserDebugLine(corners3D[2], corners3D[3], [1, 0, 0])
+p.addUserDebugLine(corners3D[3], corners3D[0], [1, 0, 0])
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+print("ready\n")
+#p.removeBody(plane)
+#p.removeBody(cube)
+while (1):
+  p.setGravity(0, 0, -10)
diff --git a/examples/pybullet/gym/pybullet_examples/profileTiming.py b/examples/pybullet/gym/pybullet_examples/profileTiming.py
new file mode 100644
index 0000000000..96c25b3004
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/profileTiming.py
@@ -0,0 +1,25 @@
+import pybullet as p
+import time
+#you can visualize the timings using Google Chrome, visit about://tracing 
+#and load the json file
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+t = time.time() + 3.1
+
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "chrome_about_tracing.json")
+while (time.time() < t):
+  p.stepSimulation()
+  p.submitProfileTiming("pythontest")
+  time.sleep(1./240.)
+  p.submitProfileTiming("nested")
+  for i in range (100):
+    p.submitProfileTiming("deep_nested")
+    p.submitProfileTiming()
+  time.sleep(1./1000.)
+  p.submitProfileTiming()
+  p.submitProfileTiming()
+
+p.stopStateLogging(logId)
diff --git a/examples/pybullet/gym/pybullet_examples/projective_texture.py b/examples/pybullet/gym/pybullet_examples/projective_texture.py
new file mode 100644
index 0000000000..6116c59b0e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/projective_texture.py
@@ -0,0 +1,41 @@
+import pybullet as p
+from time import sleep
+import matplotlib.pyplot as plt
+import numpy as np
+import pybullet_data
+
+physicsClient = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setGravity(0, 0, 0)
+bearStartPos1 = [-3.3, 0, 0]
+bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0])
+bearId1 = p.loadURDF("plane.urdf", bearStartPos1, bearStartOrientation1)
+bearStartPos2 = [0, 0, 0]
+bearStartOrientation2 = p.getQuaternionFromEuler([0, 0, 0])
+bearId2 = p.loadURDF("teddy_large.urdf", bearStartPos2, bearStartOrientation2)
+textureId = p.loadTexture("checker_grid.jpg")
+#p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
+#p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
+
+useRealTimeSimulation = 1
+
+if (useRealTimeSimulation):
+  p.setRealTimeSimulation(1)
+
+while 1:
+  if (useRealTimeSimulation):
+    camera = p.getDebugVisualizerCamera()
+    viewMat = camera[2]
+    projMat = camera[3]
+    #An example of setting the view matrix for the projective texture.
+    #viewMat = p.computeViewMatrix(cameraEyePosition=[7,0,0], cameraTargetPosition=[0,0,0], cameraUpVector=[0,0,1])
+    p.getCameraImage(300,
+                     300,
+                     renderer=p.ER_BULLET_HARDWARE_OPENGL,
+                     flags=p.ER_USE_PROJECTIVE_TEXTURE,
+                     projectiveTextureView=viewMat,
+                     projectiveTextureProj=projMat)
+    p.setGravity(0, 0, 0)
+  else:
+    p.stepSimulation()
diff --git a/examples/pybullet/gym/pybullet_examples/rollPitchYaw.py b/examples/pybullet/gym/pybullet_examples/rollPitchYaw.py
new file mode 100644
index 0000000000..e5dac10ba9
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/rollPitchYaw.py
@@ -0,0 +1,28 @@
+import pybullet as p
+import time
+import pybullet_data
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid < 0):
+  p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True)
+rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0)
+pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0)
+yawId = p.addUserDebugParameter("yaw", -1.5, 1.5, 0)
+fwdxId = p.addUserDebugParameter("fwd_x", -1, 1, 0)
+fwdyId = p.addUserDebugParameter("fwd_y", -1, 1, 0)
+fwdzId = p.addUserDebugParameter("fwd_z", -1, 1, 0)
+
+while True:
+  roll = p.readUserDebugParameter(rollId)
+  pitch = p.readUserDebugParameter(pitchId)
+  yaw = p.readUserDebugParameter(yawId)
+  x = p.readUserDebugParameter(fwdxId)
+  y = p.readUserDebugParameter(fwdyId)
+  z = p.readUserDebugParameter(fwdzId)
+
+  orn = p.getQuaternionFromEuler([roll, pitch, yaw])
+  p.resetBasePositionAndOrientation(q, [x, y, z], orn)
+  #p.stepSimulation()#not really necessary for this demo, no physics used
diff --git a/examples/pybullet/gym/pybullet_examples/satCollision.py b/examples/pybullet/gym/pybullet_examples/satCollision.py
new file mode 100644
index 0000000000..af68e143fc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/satCollision.py
@@ -0,0 +1,21 @@
+import pybullet as p
+import time
+
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setGravity(0, 0, -10)
+p.setPhysicsEngineParameter(enableSAT=1)
+p.loadURDF("cube_concave.urdf", [0, 0, -25],
+           globalScaling=50,
+           useFixedBase=True,
+           flags=p.URDF_INITIALIZE_SAT_FEATURES)
+p.loadURDF("cube.urdf", [0, 0, 1], globalScaling=1, flags=p.URDF_INITIALIZE_SAT_FEATURES)
+p.loadURDF("duck_vhacd.urdf", [1, 0, 1], globalScaling=1, flags=p.URDF_INITIALIZE_SAT_FEATURES)
+
+while (p.isConnected()):
+  p.stepSimulation()
+  pts = p.getContactPoints()
+  #print("num contacts = ", len(pts))
+  time.sleep(1. / 240.)
diff --git a/examples/pybullet/gym/pybullet_examples/sceneAabb.py b/examples/pybullet/gym/pybullet_examples/sceneAabb.py
new file mode 100644
index 0000000000..260fa4f642
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/sceneAabb.py
@@ -0,0 +1,42 @@
+import pybullet as p
+import time
+import numpy as np
+
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.loadURDF("plane.urdf")
+p.loadURDF("sphere2.urdf",[0,0,2])
+
+dt = 1./240.
+p.setTimeStep(dt)
+
+def getSceneAABB():
+  aabbMins=[]
+  aabbMaxs=[]
+
+  for i in range(p.getNumBodies()):
+    uid = p.getBodyUniqueId(i)
+    aabb = p.getAABB(uid)
+    aabbMins.append(np.array(aabb[0]))
+    aabbMaxs.append(np.array(aabb[1]))
+
+  if len(aabbMins):
+    sceneAABBMin = aabbMins[0]
+    sceneAABBMax = aabbMaxs[0]
+
+    for aabb in aabbMins:
+      sceneAABBMin = np.minimum(sceneAABBMin,aabb)
+    for aabb in aabbMaxs:
+      sceneAABBMax = np.maximum(sceneAABBMax,aabb)
+
+    print("sceneAABBMin=",sceneAABBMin)
+    print("sceneAABBMax=",sceneAABBMax)
+ 
+getSceneAABB()
+
+while (1):
+  p.stepSimulation()
+  time.sleep(dt)
+
diff --git a/examples/pybullet/gym/pybullet_examples/signedDistanceField.py b/examples/pybullet/gym/pybullet_examples/signedDistanceField.py
new file mode 100644
index 0000000000..e1f94fc00a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/signedDistanceField.py
@@ -0,0 +1,17 @@
+import pybullet as p
+import pybullet
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.loadURDF("toys/concave_box.urdf")
+p.setGravity(0, 0, -10)
+for i in range(10):
+  p.loadURDF("sphere_1cm.urdf", [i * 0.02, 0, 0.5])
+p.loadURDF("duck_vhacd.urdf")
+timeStep = 1. / 240.
+p.setTimeStep(timeStep)
+while (1):
+  p.stepSimulation()
+  time.sleep(timeStep)
diff --git a/examples/pybullet/gym/pybullet_examples/sleeptest.py b/examples/pybullet/gym/pybullet_examples/sleeptest.py
new file mode 100644
index 0000000000..564d0f74bd
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/sleeptest.py
@@ -0,0 +1,53 @@
+import pybullet as p
+import pybullet_data as pd
+import time
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+objects=[]
+useMaximalCoordinates=False
+
+if 0:
+  collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_SPHERE, radius = 0.1)
+  batchPositions = []
+  index = 1
+  for x in range(2):
+    for y in range(1):
+      for z in range(1):
+        batchPositions.append(arr[index])
+        index=index+1
+  bodyUids = p.createMultiBody(baseMass=10,
+                              baseInertialFramePosition=[0, 0, 0],
+                              baseCollisionShapeIndex=collisionShapeId,
+                              baseVisualShapeIndex=-1,
+                              basePosition=[0, 0, 2],
+                              batchPositions=batchPositions,
+                              useMaximalCoordinates=useMaximalCoordinates)
+  for b in bodyUids:
+    objects.append(b)
+
+else:
+  for i in range(2):
+    for j in range(1):
+      for k in range(1):
+        ob = p.loadURDF("sphere_1cm.urdf", [0.210050 * i, 0.210050 * j, 1 + 0.210050 * k],globalScaling=20,
+                        useMaximalCoordinates=useMaximalCoordinates)
+        objects.append(ob)
+        p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, linearDamping=0, angularDamping=0, sleepThreshold=0.05)
+        if (i==0):
+          p.resetBaseVelocity(ob, [0,0,0], [0,0,0.22])
+        
+        
+timeid = p.addUserDebugText("t=", [0,0,2])
+lvelid = p.addUserDebugText("lvel", [0,0,1.8])
+avelid = p.addUserDebugText("avel", [0,0,1.6])
+t=0
+dt=1./240.
+while p.isConnected():
+  p.stepSimulation()
+  t+=dt
+  txtid = p.addUserDebugText("t="+str(t), [0,0,2],replaceItemUniqueId=timeid)
+  lin, ang = p.getBaseVelocity(ob)
+  txtid = p.addUserDebugText("lvel="+"{:.4f}".format(lin[0])+","+"{:.4f}".format(lin[1])+","+"{:.4f}".format(lin[2]), [0,0,1.8],replaceItemUniqueId=lvelid)
+  txtid = p.addUserDebugText("avel="+"{:.4f}".format(ang[0])+","+"{:.4f}".format(ang[1])+","+"{:.4f}".format(ang[2]), [0,0,1.6],replaceItemUniqueId=avelid)
+  time.sleep(dt)
+  
\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_examples/snake.py b/examples/pybullet/gym/pybullet_examples/snake.py
new file mode 100644
index 0000000000..d70a50e0aa
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/snake.py
@@ -0,0 +1,144 @@
+import pybullet as p
+import time
+import math
+
+# This simple snake logic is from some 15 year old Havok C++ demo
+# Thanks to Michael Ewert!
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+plane = p.createCollisionShape(p.GEOM_PLANE)
+
+p.createMultiBody(0, plane)
+
+useMaximalCoordinates = True
+sphereRadius = 0.25
+#colBoxId = p.createCollisionShapeArray([p.GEOM_BOX, p.GEOM_SPHERE],radii=[sphereRadius+0.03,sphereRadius+0.03], halfExtents=[[sphereRadius,sphereRadius,sphereRadius],[sphereRadius,sphereRadius,sphereRadius]])
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+link_Masses = []
+linkCollisionShapeIndices = []
+linkVisualShapeIndices = []
+linkPositions = []
+linkOrientations = []
+linkInertialFramePositions = []
+linkInertialFrameOrientations = []
+indices = []
+jointTypes = []
+axis = []
+
+for i in range(36):
+  link_Masses.append(1)
+  linkCollisionShapeIndices.append(colBoxId)
+  linkVisualShapeIndices.append(-1)
+  linkPositions.append([0, sphereRadius * 2.0 + 0.01, 0])
+  linkOrientations.append([0, 0, 0, 1])
+  linkInertialFramePositions.append([0, 0, 0])
+  linkInertialFrameOrientations.append([0, 0, 0, 1])
+  indices.append(i)
+  jointTypes.append(p.JOINT_REVOLUTE)
+  axis.append([0, 0, 1])
+
+basePosition = [0, 0, 1]
+baseOrientation = [0, 0, 0, 1]
+sphereUid = p.createMultiBody(mass,
+                              colBoxId,
+                              visualShapeId,
+                              basePosition,
+                              baseOrientation,
+                              linkMasses=link_Masses,
+                              linkCollisionShapeIndices=linkCollisionShapeIndices,
+                              linkVisualShapeIndices=linkVisualShapeIndices,
+                              linkPositions=linkPositions,
+                              linkOrientations=linkOrientations,
+                              linkInertialFramePositions=linkInertialFramePositions,
+                              linkInertialFrameOrientations=linkInertialFrameOrientations,
+                              linkParentIndices=indices,
+                              linkJointTypes=jointTypes,
+                              linkJointAxis=axis,
+                              useMaximalCoordinates=useMaximalCoordinates)
+
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(0)
+
+anistropicFriction = [1, 0.01, 0.01]
+p.changeDynamics(sphereUid, -1, lateralFriction=2, anisotropicFriction=anistropicFriction)
+p.getNumJoints(sphereUid)
+for i in range(p.getNumJoints(sphereUid)):
+  p.getJointInfo(sphereUid, i)
+  p.changeDynamics(sphereUid, i, lateralFriction=2, anisotropicFriction=anistropicFriction)
+
+dt = 1. / 240.
+SNAKE_NORMAL_PERIOD = 0.1  #1.5
+m_wavePeriod = SNAKE_NORMAL_PERIOD
+
+m_waveLength = 4
+m_wavePeriod = 1.5
+m_waveAmplitude = 0.4
+m_waveFront = 0.0
+#our steering value
+m_steering = 0.0
+m_segmentLength = sphereRadius * 2.0
+forward = 0
+
+while (1):
+  keys = p.getKeyboardEvents()
+  for k, v in keys.items():
+
+    if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_TRIGGERED)):
+      m_steering = -.2
+    if (k == p.B3G_RIGHT_ARROW and (v & p.KEY_WAS_RELEASED)):
+      m_steering = 0
+    if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_TRIGGERED)):
+      m_steering = .2
+    if (k == p.B3G_LEFT_ARROW and (v & p.KEY_WAS_RELEASED)):
+      m_steering = 0
+
+  amp = 0.2
+  offset = 0.6
+  numMuscles = p.getNumJoints(sphereUid)
+  scaleStart = 1.0
+
+  #start of the snake with smaller waves.
+  #I think starting the wave at the tail would work better ( while it still goes from head to tail )
+  if (m_waveFront < m_segmentLength * 4.0):
+    scaleStart = m_waveFront / (m_segmentLength * 4.0)
+
+  segment = numMuscles - 1
+
+  #we simply move a sin wave down the body of the snake.
+  #this snake may be going backwards, but who can tell ;)
+  for joint in range(p.getNumJoints(sphereUid)):
+    segment = joint  #numMuscles-1-joint
+    #map segment to phase
+    phase = (m_waveFront - (segment + 1) * m_segmentLength) / m_waveLength
+    phase -= math.floor(phase)
+    phase *= math.pi * 2.0
+
+    #map phase to curvature
+    targetPos = math.sin(phase) * scaleStart * m_waveAmplitude
+
+    #// steer snake by squashing +ve or -ve side of sin curve
+    if (m_steering > 0 and targetPos < 0):
+      targetPos *= 1.0 / (1.0 + m_steering)
+
+    if (m_steering < 0 and targetPos > 0):
+      targetPos *= 1.0 / (1.0 - m_steering)
+
+    #set our motor
+    p.setJointMotorControl2(sphereUid,
+                            joint,
+                            p.POSITION_CONTROL,
+                            targetPosition=targetPos + m_steering,
+                            force=30)
+
+  #wave keeps track of where the wave is in time
+  m_waveFront += dt / m_wavePeriod * m_waveLength
+  p.stepSimulation()
+
+  time.sleep(dt)
diff --git a/examples/pybullet/gym/pybullet_examples/soccerball.py b/examples/pybullet/gym/pybullet_examples/soccerball.py
new file mode 100644
index 0000000000..dae6acd8bf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/soccerball.py
@@ -0,0 +1,17 @@
+import pybullet as p
+import pybullet_data as pd
+import time
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+offset = 0
+for scale in range (1,10,1):
+  ball = p.loadURDF("soccerball.urdf",[offset,0,1], globalScaling=scale*0.1)
+  p.changeDynamics(ball,-1,linearDamping=0, angularDamping=0, rollingFriction=0.001, spinningFriction=0.001)
+  p.changeVisualShape(ball,-1,rgbaColor=[0.8,0.8,0.8,1])
+  offset += 2*scale*0.1
+p.loadURDF("plane.urdf")
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+while p.isConnected():
+  #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  time.sleep(0.5)
diff --git a/examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py b/examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py
new file mode 100644
index 0000000000..b526789cc2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/switchConstraintSolver.py
@@ -0,0 +1,32 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
+p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG,
+                            globalCFM=0.000001)
+#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
+
+p.loadURDF("plane.urdf")
+radius = 0.025
+distance = 1.86
+yaw = 135
+pitch = -11
+targetPos = [0, 0, 0]
+
+p.setPhysicsEngineParameter(solverResidualThreshold=0.001, numSolverIterations=200)
+p.resetDebugVisualizerCamera(distance, yaw, pitch, targetPos)
+objectId = -1
+
+for i in range(10):
+  objectId = p.loadURDF("cube_small.urdf", [1, 1, radius + i * 2 * radius])
+
+p.changeDynamics(objectId, -1, 100)
+
+timeStep = 1. / 240.
+p.setGravity(0, 0, -10)
+while (p.isConnected()):
+  p.stepSimulation()
+  time.sleep(timeStep)
diff --git a/examples/pybullet/gym/pybullet_examples/testrender_egl.py b/examples/pybullet/gym/pybullet_examples/testrender_egl.py
new file mode 100644
index 0000000000..c511e3cdcf
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/testrender_egl.py
@@ -0,0 +1,102 @@
+
+#using the eglRendererPlugin (hardware OpenGL acceleration)
+#using EGL on Linux and default OpenGL window on Win32.
+
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
+
+import numpy as np
+import matplotlib.pyplot as plt
+import pybullet
+import time
+import pkgutil
+
+plt.ion()
+
+img = np.random.rand(200, 320)
+#img = [tandard_normal((50,100))
+image = plt.imshow(img, interpolation='none', animated=True, label="blah")
+ax = plt.gca()
+import pybullet_data
+
+
+pybullet.connect(pybullet.DIRECT)
+
+pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+egl = pkgutil.get_loader('eglRenderer')
+if (egl):
+  pluginId = pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+else:
+  pluginId = pybullet.loadPlugin("eglRendererPlugin")
+print("pluginId=",pluginId)
+pybullet.loadURDF("plane.urdf", [0, 0, -1])
+pybullet.loadURDF("r2d2.urdf")
+
+camTargetPos = [0, 0, 0]
+cameraUp = [0, 0, 1]
+cameraPos = [1, 1, 1]
+pybullet.setGravity(0, 0, -10)
+
+pitch = -10.0
+
+roll = 0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 200
+nearPlane = 0.01
+farPlane = 100
+
+fov = 60
+
+main_start = time.time()
+while (1):
+  for yaw in range(0, 360, 10):
+    pybullet.stepSimulation()
+    start = time.time()
+
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
+                                                            roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
+    img_arr = pybullet.getCameraImage(pixelWidth,
+                                      pixelHeight,
+                                      viewMatrix,
+                                      projectionMatrix,
+                                      shadow=1,
+                                      lightDirection=[1, 1, 1],
+                                      renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    stop = time.time()
+    #print("renderImage %f" % (stop - start))
+
+    w = img_arr[0]  #width of the image, in pixels
+    h = img_arr[1]  #height of the image, in pixels
+    rgb = img_arr[2]  #color data RGB
+    dep = img_arr[3]  #depth data
+
+    #print('width = %d height = %d' % (w, h))
+
+    #note that sending the data to matplotlib is really slow
+
+    #reshape is not needed
+    np_img_arr = np.reshape(rgb, (h, w, 4))
+    np_img_arr = np_img_arr * (1. / 255.)
+
+    #show
+    #plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
+    #image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
+
+    image.set_data(np_img_arr)
+    ax.plot([0])
+    #plt.draw()
+    #plt.show()
+    plt.pause(0.01)
+    #image.draw()
+
+main_stop = time.time()
+
+print("Total time %f" % (main_stop - main_start))
+
+pybullet.resetSimulation()
diff --git a/examples/pybullet/gym/pybullet_examples/testrender_np.py b/examples/pybullet/gym/pybullet_examples/testrender_np.py
new file mode 100644
index 0000000000..2c313a4575
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/testrender_np.py
@@ -0,0 +1,90 @@
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
+
+import numpy as np
+import matplotlib.pyplot as plt
+import pybullet
+import time
+import pybullet_data
+
+plt.ion()
+
+img = np.random.rand(200, 320)
+#img = [tandard_normal((50,100))
+image = plt.imshow(img, interpolation='none', animated=True, label="blah")
+ax = plt.gca()
+
+#pybullet.connect(pybullet.GUI)
+pybullet.connect(pybullet.DIRECT)
+
+pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
+pybullet.loadURDF("plane.urdf", [0, 0, -1])
+pybullet.loadURDF("r2d2.urdf")
+
+camTargetPos = [0, 0, 0]
+cameraUp = [0, 0, 1]
+cameraPos = [1, 1, 1]
+pybullet.setGravity(0, 0, -10)
+
+pitch = -10.0
+
+roll = 0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 200
+nearPlane = 0.01
+farPlane = 100
+
+fov = 60
+
+main_start = time.time()
+while (1):
+  for yaw in range(0, 360, 10):
+    pybullet.stepSimulation()
+    start = time.time()
+
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
+                                                            roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
+    img_arr = pybullet.getCameraImage(pixelWidth,
+                                      pixelHeight,
+                                      viewMatrix,
+                                      projectionMatrix,
+                                      shadow=1,
+                                      lightDirection=[1, 1, 1],
+                                      renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    stop = time.time()
+    print("renderImage %f" % (stop - start))
+
+    w = img_arr[0]  #width of the image, in pixels
+    h = img_arr[1]  #height of the image, in pixels
+    rgb = img_arr[2]  #color data RGB
+    dep = img_arr[3]  #depth data
+
+    print('width = %d height = %d' % (w, h))
+
+    #note that sending the data to matplotlib is really slow
+
+    #reshape is needed
+    np_img_arr = np.reshape(rgb, (h, w, 4))
+    np_img_arr = np_img_arr * (1. / 255.)
+
+    #show
+    #plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
+    #image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
+
+    image.set_data(np_img_arr)
+    ax.plot([0])
+    #plt.draw()
+    #plt.show()
+    plt.pause(0.01)
+    #image.draw()
+
+main_stop = time.time()
+
+print("Total time %f" % (main_stop - main_start))
+
+pybullet.resetSimulation()
diff --git a/examples/pybullet/gym/pybullet_examples/transparent.py b/examples/pybullet/gym/pybullet_examples/transparent.py
new file mode 100644
index 0000000000..8a4831002c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/transparent.py
@@ -0,0 +1,25 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.loadURDF("plane.urdf")
+sphereUid = p.loadURDF("sphere_transparent.urdf", [0, 0, 2])
+
+redSlider = p.addUserDebugParameter("red", 0, 1, 1)
+greenSlider = p.addUserDebugParameter("green", 0, 1, 0)
+blueSlider = p.addUserDebugParameter("blue", 0, 1, 0)
+alphaSlider = p.addUserDebugParameter("alpha", 0, 1, 0.5)
+
+while (1):
+  red = p.readUserDebugParameter(redSlider)
+  green = p.readUserDebugParameter(greenSlider)
+  blue = p.readUserDebugParameter(blueSlider)
+  alpha = p.readUserDebugParameter(alphaSlider)
+  p.changeVisualShape(sphereUid, -1, rgbaColor=[red, green, blue, alpha])
+  p.getCameraImage(320,
+                   200,
+                   flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
+                   renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  time.sleep(0.01)
diff --git a/examples/pybullet/gym/pybullet_examples/vhacd.py b/examples/pybullet/gym/pybullet_examples/vhacd.py
new file mode 100644
index 0000000000..8b4bcf77d0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/vhacd.py
@@ -0,0 +1,13 @@
+import pybullet as p
+import pybullet_data as pd
+import os
+
+import pybullet_data
+
+p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+name_in = os.path.join(pd.getDataPath(), "duck.obj")
+name_out = "duck_vhacd.obj"
+name_log = "log.txt"
+p.vhacd(name_in, name_out, name_log)
+
diff --git a/examples/pybullet/gym/pybullet_examples/video_sync_mp4.py b/examples/pybullet/gym/pybullet_examples/video_sync_mp4.py
new file mode 100644
index 0000000000..7a517b10e1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/video_sync_mp4.py
@@ -0,0 +1,32 @@
+import pybullet as p
+import time
+import pybullet_data
+
+#Once the video is recorded, you can extract all individual frames using ffmpeg
+#mkdir frames
+#ffmpeg -i test.mp4 "frames/out-%03d.png"
+
+#by default, PyBullet runs at 240Hz
+p.connect(p.GUI, options="--width=320 --height=200 --mp4=\"test.mp4\" --mp4fps=240")
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
+p.loadURDF("plane.urdf")
+
+#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter.
+r2d2 = p.loadURDF("r2d2.urdf",[0,0,45])
+#disable linear damping
+p.changeDynamics(r2d2,-1, linearDamping=0)
+p.setGravity(0,0,-10)
+
+for i in range (3*240):
+  txt = "frame "+str(i)
+  item = p.addUserDebugText(txt, [0,1,0])
+  p.stepSimulation()
+  #synchronize the visualizer (rendering frames for the video mp4) with stepSimulation
+  p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
+  #print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2])
+  p.removeUserDebugItem(item)
+
+p.disconnect()
diff --git a/examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py b/examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py
new file mode 100644
index 0000000000..ee94d5f303
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_examples/vr_kuka_setup.py
@@ -0,0 +1,184 @@
+import pybullet as p
+import time
+#p.connect(p.UDP,"192.168.86.100")
+import pybullet_data
+
+cid = p.connect(p.SHARED_MEMORY)
+
+if (cid < 0):
+  p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.resetSimulation()
+#disable rendering during loading makes it much faster
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+objects = [
+    p.loadURDF("plane.urdf", 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 1.000000)
+]
+objects = [
+    p.loadURDF("samurai.urdf", 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = [
+    p.loadURDF("pr2_gripper.urdf", 0.500000, 0.300006, 0.700000, -0.000000, -0.000000, -0.000031,
+               1.000000)
+]
+pr2_gripper = objects[0]
+print("pr2_gripper=")
+print(pr2_gripper)
+
+jointPositions = [0.550569, 0.000000, 0.549657, 0.000000]
+for jointIndex in range(p.getNumJoints(pr2_gripper)):
+  p.resetJointState(pr2_gripper, jointIndex, jointPositions[jointIndex])
+
+pr2_cid = p.createConstraint(pr2_gripper, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0.2, 0, 0],
+                             [0.500000, 0.300006, 0.700000])
+print("pr2_cid")
+print(pr2_cid)
+
+objects = [
+    p.loadURDF("kuka_iiwa/model_vr_limits.urdf", 1.400000, -0.200000, 0.600000, 0.000000, 0.000000,
+               0.000000, 1.000000)
+]
+kuka = objects[0]
+jointPositions = [-0.000000, -0.000000, 0.000000, 1.570793, 0.000000, -1.036725, 0.000001]
+for jointIndex in range(p.getNumJoints(kuka)):
+  p.resetJointState(kuka, jointIndex, jointPositions[jointIndex])
+  p.setJointMotorControl2(kuka, jointIndex, p.POSITION_CONTROL, jointPositions[jointIndex], 0)
+
+objects = [
+    p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.700000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = [
+    p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.800000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = [
+    p.loadURDF("lego/lego.urdf", 1.000000, -0.200000, 0.900000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = p.loadSDF("gripper/wsg50_one_motor_gripper_new_free_base.sdf")
+kuka_gripper = objects[0]
+print("kuka gripper=")
+print(kuka_gripper)
+
+p.resetBasePositionAndOrientation(kuka_gripper, [0.923103, -0.200000, 1.250036],
+                                  [-0.000000, 0.964531, -0.000002, -0.263970])
+jointPositions = [
+    0.000000, -0.011130, -0.206421, 0.205143, -0.009999, 0.000000, -0.010055, 0.000000
+]
+for jointIndex in range(p.getNumJoints(kuka_gripper)):
+  p.resetJointState(kuka_gripper, jointIndex, jointPositions[jointIndex])
+  p.setJointMotorControl2(kuka_gripper, jointIndex, p.POSITION_CONTROL, jointPositions[jointIndex],
+                          0)
+
+kuka_cid = p.createConstraint(kuka, 6, kuka_gripper, 0, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0.05],
+                              [0, 0, 0])
+
+pr2_cid2 = p.createConstraint(kuka_gripper,
+                              4,
+                              kuka_gripper,
+                              6,
+                              jointType=p.JOINT_GEAR,
+                              jointAxis=[1, 1, 1],
+                              parentFramePosition=[0, 0, 0],
+                              childFramePosition=[0, 0, 0])
+p.changeConstraint(pr2_cid2, gearRatio=-1, erp=0.5, relativePositionTarget=0, maxForce=100)
+
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 1.300000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 1.200000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 1.100000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 1.000000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 0.900000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("jenga/jenga.urdf", 0.800000, -0.700000, 0.750000, 0.000000, 0.707107, 0.000000,
+               0.707107)
+]
+objects = [
+    p.loadURDF("table/table.urdf", 1.000000, -0.200000, 0.000000, 0.000000, 0.000000, 0.707107,
+               0.707107)
+]
+objects = [
+    p.loadURDF("teddy_vhacd.urdf", 1.050000, -0.500000, 0.700000, 0.000000, 0.000000, 0.707107,
+               0.707107)
+]
+objects = [
+    p.loadURDF("cube_small.urdf", 0.950000, -0.100000, 0.700000, 0.000000, 0.000000, 0.707107,
+               0.707107)
+]
+objects = [
+    p.loadURDF("sphere_small.urdf", 0.850000, -0.400000, 0.700000, 0.000000, 0.000000, 0.707107,
+               0.707107)
+]
+objects = [
+    p.loadURDF("duck_vhacd.urdf", 0.850000, -0.400000, 0.900000, 0.000000, 0.000000, 0.707107,
+               0.707107)
+]
+objects = p.loadSDF("kiva_shelf/model.sdf")
+ob = objects[0]
+p.resetBasePositionAndOrientation(ob, [0.000000, 1.000000, 1.204500],
+                                  [0.000000, 0.000000, 0.000000, 1.000000])
+objects = [
+    p.loadURDF("teddy_vhacd.urdf", -0.100000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = [
+    p.loadURDF("sphere_small.urdf", -0.100000, 0.955006, 1.169706, 0.633232, -0.000000, -0.000000,
+               0.773962)
+]
+objects = [
+    p.loadURDF("cube_small.urdf", 0.300000, 0.600000, 0.850000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+objects = [
+    p.loadURDF("table_square/table_square.urdf", -1.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+               0.000000, 1.000000)
+]
+ob = objects[0]
+jointPositions = [0.000000]
+for jointIndex in range(p.getNumJoints(ob)):
+  p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
+
+objects = [
+    p.loadURDF("husky/husky.urdf", 2.000000, -5.000000, 1.000000, 0.000000, 0.000000, 0.000000,
+               1.000000)
+]
+ob = objects[0]
+jointPositions = [
+    0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+    0.000000
+]
+for jointIndex in range(p.getNumJoints(ob)):
+  p.resetJointState(ob, jointIndex, jointPositions[jointIndex])
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
+
+p.setGravity(0.000000, 0.000000, 0.000000)
+p.setGravity(0, 0, -10)
+
+##show this for 10 seconds
+#now = time.time()
+#while (time.time() < now+10):
+#	p.stepSimulation()
+p.setRealTimeSimulation(1)
+
+while (1):
+  p.setGravity(0, 0, -10)
+p.disconnect()
diff --git a/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py
index b4d6886875..006974b5df 100644
--- a/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py
+++ b/examples/pybullet/gym/pybullet_robots/panda/panda_sim.py
@@ -53,6 +53,7 @@ def reset(self):
     pass
 
   def step(self):
+    self.bullet_client.getCameraImage(320,200)
     t = self.t
     self.t += 1./60.
     pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+0.044, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)]
diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py
index 0eb09f8a29..6703722ffb 100644
--- a/examples/pybullet/gym/pybullet_utils/bullet_client.py
+++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py
@@ -1,6 +1,7 @@
 """A wrapper for pybullet to manage different clients."""
 from __future__ import absolute_import
 from __future__ import division
+import os
 import functools
 import inspect
 import pybullet
@@ -9,7 +10,7 @@
 class BulletClient(object):
   """A wrapper for pybullet to manage different clients."""
 
-  def __init__(self, connection_mode=None):
+  def __init__(self, connection_mode=None, hostName=None, options=''):
     """Creates a Bullet client and connects to a simulation.
 
     Args:
@@ -21,17 +22,21 @@ def __init__(self, connection_mode=None):
         `pybullet.SHARED_MEMORY` connects to an existing simulation.
     """
     self._shapes = {}
+    self._pid = os.getpid()
     if connection_mode is None:
-      self._client = pybullet.connect(pybullet.SHARED_MEMORY)
+      self._client = pybullet.connect(pybullet.SHARED_MEMORY, options=options)
       if self._client >= 0:
         return
       else:
         connection_mode = pybullet.DIRECT
-    self._client = pybullet.connect(connection_mode)
+    if hostName is None:
+        self._client = pybullet.connect(connection_mode, options=options)
+    else:
+        self._client = pybullet.connect(connection_mode, hostName=hostName, options=options)
 
   def __del__(self):
     """Clean up connection if not already done."""
-    if self._client>=0:
+    if self._client>=0 and self._pid == os.getpid():
       try:
         pybullet.disconnect(physicsClientId=self._client)
         self._client = -1
diff --git a/examples/pybullet/gym/pybullet_utils/readwriteurdf.py b/examples/pybullet/gym/pybullet_utils/readwriteurdf.py
new file mode 100644
index 0000000000..18218e67fb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_utils/readwriteurdf.py
@@ -0,0 +1,25 @@
+from pybullet_utils import bullet_client as bc
+from pybullet_utils import urdfEditor as ed
+import pybullet
+import pybullet_data
+import time
+import argparse
+
+parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+parser.add_argument('--urdf_in', help='urdf file name input', default='test.urdf')
+parser.add_argument('--urdf_out', help='urdf file name output', default='out.urdf')
+parser.add_argument('--urdf_flags', help='urdf flags', type=int, default=0)
+
+
+
+args = parser.parse_args()
+
+
+p0 = bc.BulletClient(connection_mode=pybullet.DIRECT)
+
+p0.setAdditionalSearchPath(pybullet_data.getDataPath())
+body_id = p0.loadURDF(args.urdf_in, flags = args.urdf_flags)
+ed0 = ed.UrdfEditor()
+ed0.initializeFromBulletBody(body_id, p0._client)
+ed0.saveUrdf(args.urdf_out)
+
diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pybullet/gym/pybullet_utils/urdfEditor.py
index c10e39bff0..3b6a9fcbc0 100644
--- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py
+++ b/examples/pybullet/gym/pybullet_utils/urdfEditor.py
@@ -64,6 +64,8 @@ def __init__(self):
     self.joint_type = p.JOINT_REVOLUTE
     self.joint_lower_limit = 0
     self.joint_upper_limit = -1
+    self.joint_max_force = 0
+    self.joint_max_velocity = 0
     self.parent_name = "parentName"
     self.child_name = "childName"
     self.joint_origin_xyz = [1, 2, 3]
@@ -152,6 +154,7 @@ def initializeFromBulletBody(self, bodyUid, physicsClientId):
     baseLinkIndex = -1
     self.convertLinkFromMultiBody(bodyUid, baseLinkIndex, baseLink, physicsClientId)
     baseLink.link_name = p.getBodyInfo(bodyUid, physicsClientId=physicsClientId)[0].decode("utf-8")
+    self.robotName = p.getBodyInfo(bodyUid, physicsClientId=physicsClientId)[1].decode("utf-8")
     self.linkNameToIndex[baseLink.link_name] = len(self.urdfLinks)
     self.urdfLinks.append(baseLink)
 
@@ -170,6 +173,8 @@ def initializeFromBulletBody(self, bodyUid, physicsClientId):
       urdfJoint.joint_type = jointInfo[2]
       urdfJoint.joint_lower_limit = jointInfo[8]
       urdfJoint.joint_upper_limit = jointInfo[9]
+      urdfJoint.joint_max_force = jointInfo[10]
+      urdfJoint.joint_max_velocity = jointInfo[11]
       urdfJoint.joint_axis_xyz = jointInfo[13]
       orgParentIndex = jointInfo[16]
       if (orgParentIndex < 0):
@@ -325,12 +330,14 @@ def writeJoint(self, file, urdfJoint, precision=5):
     str = '\t\t<child link=\"{}\"/>\n'.format(urdfJoint.child_name)
     file.write(str)
 
-    if urdfJoint.joint_type == p.JOINT_PRISMATIC:
-      #todo: handle limits
-      lowerLimit = -0.5
-      upperLimit = 0.5
-      str = '<limit effort="1000.0" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="0.5"/>'.format(
-          lowerLimit, upperLimit, prec=precision)
+    if jointTypeStr == "prismatic" or jointTypeStr == "revolute":
+      lowerLimit = urdfJoint.joint_lower_limit
+      upperLimit = urdfJoint.joint_upper_limit
+      maxForce = urdfJoint.joint_max_force
+      maxVelocity = urdfJoint.joint_max_velocity
+      
+      str = '\t\t<limit effort="{:.{prec}f}" lower="{:.{prec}f}" upper="{:.{prec}f}" velocity="{:.{prec}f}"/>\n'.format(
+          maxForce, lowerLimit, upperLimit, maxVelocity, prec=precision)
       file.write(str)
 
     file.write("\t\t<dynamics damping=\"1.0\" friction=\"0.0001\"/>\n")
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 759346e36c..5a8c2eb03f 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,4 +1,4 @@
-//#include "D:/dev/visual leak detector/include/vld.h"
+//#include "D:/dev/VisualLeakDetector/include/vld.h"
 
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
@@ -51,9 +51,10 @@
 #pragma message(B3_VAR_NAME_VALUE(PY_MAJOR_VERSION))
 #pragma message(B3_VAR_NAME_VALUE(PY_MINOR_VERSION))
 #endif
-
+//#define PYBULLET_USE_NUMPY
 #ifdef PYBULLET_USE_NUMPY
 #include <numpy/arrayobject.h>
+//#include "C:/Python37/Lib/site-packages/numpy/core/include/numpy/arrayobject.h"
 #endif
 
 #if PY_MAJOR_VERSION >= 3
@@ -128,6 +129,32 @@ static int pybullet_internalGetIntFromSequence(PyObject* seq, int index)
 	return v;
 }
 
+static const char* pybullet_internalGetCStringFromSequence(PyObject* seq, int index)
+{
+	const char* v = 0;
+	PyObject* item;
+
+	if (PyList_Check(seq))
+	{
+		item = PyList_GET_ITEM(seq, index);
+#if PY_MAJOR_VERSION >= 3
+		v = PyUnicode_AsUTF8(item);
+#else
+		v = PyBytes_AsString(item);
+#endif
+	}
+	else
+	{
+		item = PyTuple_GET_ITEM(seq, index);
+#if PY_MAJOR_VERSION >= 3
+		v = PyUnicode_AsUTF8(item);
+#else
+		v = PyBytes_AsString(item);
+#endif
+	}
+	return v;
+}
+
 // internal function to set a float matrix[16]
 // used to initialize camera position with
 // a view and projection matrix in renderImage()
@@ -372,6 +399,41 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
 	return Py_None;
 }
 
+
+// perform collision detection: update aabbs, compute overlapping pairs and contact points
+static PyObject* pybullet_performCollisionDetection(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	static char* kwlist[] = {"physicsClientId", NULL};
+	b3PhysicsClientHandle sm = 0;
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+
+		if (b3CanSubmitCommand(sm))
+		{
+			statusHandle = b3SubmitClientCommandAndWaitStatus(
+				sm, b3InitPerformCollisionDetectionCommand(sm));
+		}
+	}
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
 static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int freeIndex = -1;
@@ -403,6 +465,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 
 		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method, &key, &options))
 		{
+			PyErr_Clear();
 			int port = -1;
 			if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|sis", kwlist2, &method, &hostName, &port, &options))
 			{
@@ -1299,9 +1362,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	PyObject* pylist = 0;
 	int physicsClientId = 0;
 	int flags = -1;
+	int useMultiBody = -1;
 
-	static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
+	static char* kwlist[] = {"mjcfFileName", "flags", "useMultiBody", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|iii", kwlist, &mjcfFileName, &flags, &useMultiBody, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1317,6 +1381,11 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	{
 		b3LoadMJCFCommandSetFlags(command, flags);
 	}
+	if (useMultiBody>=0)
+	{
+		b3LoadMJCFCommandSetUseMultiBody(command, useMultiBody);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -1324,7 +1393,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 		PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
 		return NULL;
 	}
-
+	
 	numBodies =
 		b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
 	if (numBodies > MAX_SDF_BODIES)
@@ -1375,11 +1444,14 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 	double jointUpperLimit = -1;
 	double jointLimitForce = -1;
 
+	double sleepThreshold = -1;
+	
+
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity",  "collisionMargin", "jointLowerLimit","jointUpperLimit", "jointLimitForce",  "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdddddi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &collisionMargin , &jointLowerLimit , &jointUpperLimit , &jointLimitForce , &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity",  "collisionMargin", "jointLowerLimit","jointUpperLimit", "jointLimitForce", "sleepThreshold", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOddddddi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &collisionMargin , &jointLowerLimit , &jointUpperLimit , &jointLimitForce , &sleepThreshold,  &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1405,6 +1477,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 		{
 			b3ChangeDynamicsInfoSetJointLimitForce(command, bodyUniqueId, linkIndex, jointLimitForce);
 		}
+		if (sleepThreshold >=0)
+		{
+			b3ChangeDynamicsInfoSetSleepThreshold(command, bodyUniqueId, sleepThreshold);
+		}
 
 		if (jointLowerLimit <= jointUpperLimit)
 		{
@@ -3198,17 +3274,29 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
 	PyObject* targetVelocityObj = 0;
 	PyObject* targetForceObj = 0;
 
-	double kp = 0.1;
-	double kd = 1.0;
+	double kpArray[3] = {0.1, 0.1, 0.1};
+	int kpSize = 0;
+	PyObject* kpObj = 0;
+	double kdArray[3] = {1.0, 1.0, 1.0};
+	int kdSize = 0;
+	PyObject* kdObj = 0;
 	double maxVelocity = -1;
+	double dampingArray[3] = {1.0, 1.0, 1.0};
+	int dampingSize = 0;
+	PyObject* dampingObj = 0;
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOdddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
-									 &targetPositionObj, &targetVelocityObj, &targetForceObj, &kp, &kd, &maxVelocity, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "damping", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOddddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
+								 	&targetPositionObj, &targetVelocityObj, &targetForceObj, &kpArray[0], &kdArray[0], &maxVelocity, &dampingArray[0], &physicsClientId))
 	{
-		return NULL;
+		PyErr_Clear();
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOOOdOi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
+										 &targetPositionObj, &targetVelocityObj, &targetForceObj, &kpObj, &kdObj, &maxVelocity, &dampingObj, &physicsClientId))
+		{
+			return NULL;
+		}
 	}
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -3292,6 +3380,81 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
 		}
 	}
 
+	if (kpObj)
+	{
+		int i = 0;
+		PyObject* kpSeq = 0;
+		kpSeq = PySequence_Fast(kpObj, "expected a kp sequence");
+		kpSize = PySequence_Size(kpObj);
+
+		if (kpSize < 0)
+		{
+			kpSize = 0;
+		}
+		if (kpSize > 3)
+		{
+			kpSize = 3;
+		}
+		if (kpSeq)
+		{
+			for (i = 0; i < kpSize; i++)
+			{
+				kpArray[i] = pybullet_internalGetFloatFromSequence(kpSeq, i);
+			}
+			Py_DECREF(kpSeq);
+		}
+	}
+
+	if (kdObj)
+	{
+		int i = 0;
+		PyObject* kdSeq = 0;
+		kdSeq = PySequence_Fast(kdObj, "expected a kd sequence");
+		kdSize = PySequence_Size(kdObj);
+
+		if (kdSize < 0)
+		{
+			kdSize = 0;
+		}
+		if (kdSize > 3)
+		{
+			kdSize = 3;
+		}
+		if (kdSeq)
+		{
+			for (i = 0; i < kdSize; i++)
+			{
+				kdArray[i] = pybullet_internalGetFloatFromSequence(kdSeq, i);
+			}
+			Py_DECREF(kdSeq);
+		}
+	}
+
+	if (dampingObj)
+	{
+		int i = 0;
+		PyObject* dampingSeq = 0;
+		dampingSeq = PySequence_Fast(dampingObj, "expected a damping sequence");
+		dampingSize = PySequence_Size(dampingObj);
+
+		if (dampingSize < 0)
+		{
+			dampingSize = 0;
+		}
+		if (dampingSize > 3)
+		{
+			dampingSize = 3;
+		}
+		if (dampingSeq)
+		{
+			for (i = 0; i < dampingSize; i++)
+			{
+				dampingArray[i] = pybullet_internalGetFloatFromSequence(dampingSeq, i);
+			}
+			Py_DECREF(dampingSeq);
+		}
+	}
+
 	//if (targetPositionSize == 0 && targetVelocitySize == 0)
 	//{
 
@@ -3364,7 +3527,15 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
 					//printf("Warning: targetPosition array size doesn't match joint position size  (got %d, expected %d).",targetPositionSize, info.m_qSize);
 				}
 
-				b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
+				if (info.m_uSize == kpSize || kpSize == 1)
+				{
+					b3JointControlSetKpMultiDof(commandHandle, info.m_uIndex,
+																kpArray, kpSize);
+				}
+				else if (kpSize == 0)
+				{
+					b3JointControlSetKp(commandHandle, info.m_uIndex, kpArray[0]);
+				}
 				if (info.m_uSize == targetVelocitySize)
 				{
 					b3JointControlSetDesiredVelocityMultiDof(commandHandle, info.m_uIndex,
@@ -3374,12 +3545,30 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
 				{
 					//printf("Warning: targetVelocity array size doesn't match joint dimentions (got %d, expected %d).", targetVelocitySize, info.m_uSize);
 				}
-				b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
+				if (info.m_uSize == kdSize || kdSize == 1)
+				{
+					b3JointControlSetKdMultiDof(commandHandle, info.m_uIndex,
+																kdArray, kdSize);
+				}
+				else if (kdSize == 0)
+				{
+					b3JointControlSetKd(commandHandle, info.m_uIndex, kdArray[0]);
+				}
 				if (info.m_uSize == targetForceSize || targetForceSize == 1)
 				{
 					b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
 																targetForceArray, targetForceSize);
 				}
+				if (info.m_uSize == dampingSize || dampingSize == 1)
+				{
+					b3JointControlSetDampingMultiDof(commandHandle, info.m_uIndex,
+																dampingArray, dampingSize);
+				}
+				else if (dampingSize == 0)
+				{
+					b3JointControlSetDamping(commandHandle, info.m_uIndex,
+																dampingArray[0]);
+				}
 				break;
 			}
 			default:
@@ -6209,6 +6398,119 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 	}
 }
 
+static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
+{
+	int numVerticesOut = 0;
+
+	if (verticesObj)
+	{
+		PyObject* seqVerticesObj = PySequence_Fast(verticesObj, "expected a sequence of vertex positions");
+		if (seqVerticesObj)
+		{
+			int numVerticesSrc = PySequence_Size(seqVerticesObj);
+			{
+				int i;
+
+				if (numVerticesSrc > maxNumVertices)
+				{
+					PyErr_SetString(SpamError, "Number of vertices exceeds the maximum.");
+					Py_DECREF(seqVerticesObj);
+					return 0;
+				}
+				for (i = 0; i < numVerticesSrc; i++)
+				{
+					PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i);
+					double vertex[3];
+					if (pybullet_internalSetVectord(vertexObj, vertex))
+					{
+						if (vertices)
+						{
+							vertices[numVerticesOut * 3 + 0] = vertex[0];
+							vertices[numVerticesOut * 3 + 1] = vertex[1];
+							vertices[numVerticesOut * 3 + 2] = vertex[2];
+						}
+						numVerticesOut++;
+					}
+				}
+			}
+		}
+	}
+	return numVerticesOut;
+}
+
+static PyObject* pybullet_addUserDebugPoints(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	int res = 0;
+
+	int parentObjectUniqueId = -1;
+	int parentLinkIndex = -1;
+
+	PyObject* pointPositionsObj = 0;
+	PyObject* pointColorsObj = 0;
+	double pointSize = 1.f;
+	double lifeTime = 0.f;
+	int physicsClientId = 0;
+	int debugItemUniqueId = -1;
+	int replaceItemUniqueId = -1;
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"pointPositions", "pointColorsRGB", "pointSize", "lifeTime", "parentObjectUniqueId", "parentLinkIndex", "replaceItemUniqueId", "physicsClientId", NULL};
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|ddiiii", kwlist, &pointPositionsObj, &pointColorsObj, &pointSize, &lifeTime, &parentObjectUniqueId, &parentLinkIndex, &replaceItemUniqueId, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	int numPositions = extractVertices(pointPositionsObj, 0, B3_MAX_NUM_VERTICES);
+	if (numPositions == 0) {
+		return NULL;
+	}
+	double* pointPositions = numPositions ? malloc(numPositions * 3 * sizeof(double)) : 0;
+	numPositions = extractVertices(pointPositionsObj, pointPositions, B3_MAX_NUM_VERTICES);
+
+	int numColors = extractVertices(pointColorsObj, 0, B3_MAX_NUM_VERTICES);
+	double* pointColors = numColors ? malloc(numColors * 3 * sizeof(double)) : 0;
+	numColors = extractVertices(pointColorsObj, pointColors, B3_MAX_NUM_VERTICES);
+	if (numColors != numPositions) {
+		PyErr_SetString(SpamError, "numColors must match numPositions.");
+		return NULL;
+	}
+
+	commandHandle = b3InitUserDebugDrawAddPoints3D(sm, pointPositions, pointColors, pointSize, lifeTime, numPositions);
+
+	free(pointPositions);
+	free(pointColors);
+
+	if (parentObjectUniqueId >= 0)
+	{
+		b3UserDebugItemSetParentObject(commandHandle, parentObjectUniqueId, parentLinkIndex);
+	}
+
+	if (replaceItemUniqueId >= 0)
+	{
+		b3UserDebugItemSetReplaceItemUniqueId(commandHandle, replaceItemUniqueId);
+	}
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
+	{
+		debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
+	}
+	{
+		PyObject* item = PyInt_FromLong(debugItemUniqueId);
+		return item;
+	}
+}
+
 static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	b3SharedMemoryCommandHandle commandHandle;
@@ -7261,11 +7563,12 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 	int physicsClientId = 0;
 	double remoteSyncTransformInterval = -1;
 	PyObject* pyLightPosition = 0;
+	PyObject* pyRgbBackground = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "physicsClientId", NULL};
+	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "rgbBackground", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddi", kwlist,
-									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity,  &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddOi", kwlist,
+									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity,  &pyRgbBackground, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);
@@ -7289,6 +7592,14 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 				b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition);
 			}
 		}
+		if (pyRgbBackground)
+		{
+			float rgbBackground[3];
+			if (pybullet_internalSetVector(pyRgbBackground, rgbBackground))
+			{
+				b3ConfigureOpenGLVisualizerSetLightRgbBackground(commandHandle, rgbBackground);
+			}
+		}
 		if (shadowMapIntensity >= 0)
 		{
 			b3ConfigureOpenGLVisualizerSetShadowMapIntensity(commandHandle, shadowMapIntensity);
@@ -8321,46 +8632,6 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
 	return NULL;
 }
 
-static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
-{
-	int numVerticesOut = 0;
-
-	if (verticesObj)
-	{
-		PyObject* seqVerticesObj = PySequence_Fast(verticesObj, "expected a sequence of vertex positions");
-		if (seqVerticesObj)
-		{
-			int numVerticesSrc = PySequence_Size(seqVerticesObj);
-			{
-				int i;
-
-				if (numVerticesSrc > B3_MAX_NUM_VERTICES)
-				{
-					PyErr_SetString(SpamError, "Number of vertices exceeds the maximum.");
-					Py_DECREF(seqVerticesObj);
-					return 0;
-				}
-				for (i = 0; i < numVerticesSrc; i++)
-				{
-					PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i);
-					double vertex[3];
-					if (pybullet_internalSetVectord(vertexObj, vertex))
-					{
-						if (vertices)
-						{
-							vertices[numVerticesOut * 3 + 0] = vertex[0];
-							vertices[numVerticesOut * 3 + 1] = vertex[1];
-							vertices[numVerticesOut * 3 + 2] = vertex[2];
-						}
-						numVerticesOut++;
-					}
-				}
-			}
-		}
-	}
-	return numVerticesOut;
-}
-
 static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
 {
 	int numUVOut = 0;
@@ -8918,6 +9189,113 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 	return NULL;
 }
 
+
+static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyUniqueId = -1;
+	b3PhysicsClientHandle sm = 0;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	struct b3TetraMeshData meshData;
+	int statusType;
+	int flags = -1;
+
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyUniqueId",  "flags", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|iii", kwlist, &bodyUniqueId,  &flags , &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	command = b3GetTetraMeshDataCommandInit(sm, bodyUniqueId);
+	if (flags >= 0)
+	{
+		b3GetTetraMeshDataSetFlags(command, flags);
+	}
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_REQUEST_TETRA_MESH_DATA_COMPLETED)
+	{
+		int i;
+		PyObject* pyVertexData;
+		PyObject* pyListMeshData = PyTuple_New(2);
+		b3GetTetraMeshData(sm, &meshData);
+		PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
+		pyVertexData = PyTuple_New(meshData.m_numVertices);
+		PyTuple_SetItem(pyListMeshData, 1, pyVertexData);
+
+		for (i = 0; i < meshData.m_numVertices; i++)
+		{
+			PyObject* pyListVertex = PyTuple_New(3);
+			PyTuple_SetItem(pyListVertex, 0, PyFloat_FromDouble(meshData.m_vertices[i].x));
+			PyTuple_SetItem(pyListVertex, 1, PyFloat_FromDouble(meshData.m_vertices[i].y));
+			PyTuple_SetItem(pyListVertex, 2, PyFloat_FromDouble(meshData.m_vertices[i].z));
+			PyTuple_SetItem(pyVertexData, i, pyListVertex);
+		}
+
+		return pyListMeshData;
+	}
+
+	PyErr_SetString(SpamError, "getTetraMeshData failed");
+	return NULL;
+}
+
+
+
+static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyUniqueId = -1;
+	b3PhysicsClientHandle sm = 0;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	struct b3MeshData meshData;
+	int statusType;
+	PyObject* verticesObj = 0;
+	int physicsClientId = 0;
+	int numVertices = 0;
+
+	static char* kwlist[] = { "bodyUniqueId",  "vertices", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &verticesObj, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
+	if (numVertices)
+	{
+		double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
+		numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
+
+		command = b3ResetMeshDataCommandInit(sm, bodyUniqueId, numVertices, vertices);
+	
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+		statusType = b3GetStatusType(statusHandle);
+		
+		free(vertices);
+
+		if (statusType == CMD_RESET_MESH_DATA_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		}
+	}
+	
+	PyErr_SetString(SpamError, "resetMeshData failed");
+	return NULL;
+}
+
 static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int physicsClientId = 0;
@@ -9349,6 +9727,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	PyObject* linkInertialFramePositionObj = 0;
 	PyObject* linkInertialFrameOrientationObj = 0;
 	PyObject* objBatchPositions = 0;
+	
 
 	static char* kwlist[] = {
 		"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
@@ -9447,6 +9826,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				double linkInertialFrameOrientation[4];
 				int linkParentIndex;
 				int linkJointType;
+				const char* linkName;
 
 				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition);
 				pybullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation);
@@ -11641,6 +12021,8 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 					free(upperLimits);
 					free(jointRanges);
 					free(restPoses);
+					free(positions);
+					free(indices);
 					return NULL;
 				}
 				else
@@ -11761,12 +12143,16 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 					}
 
 					free(ikOutPutJointPos);
+					free(positions);
+					free(indices);
 					return pylist;
 				}
 				else
 				{
 					PyErr_SetString(SpamError,
 						"Error in calculateInverseKinematics");
+					free(positions);
+					free(indices);
 					return NULL;
 				}
 			}
@@ -11774,8 +12160,13 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 			{
 				PyErr_SetString(SpamError,
 					"calculateInverseKinematics couldn't extract position vector3");
+				free(positions);
+				free(indices);
 				return NULL;
 			}
+
+			free(positions);
+			free(indices);
 		}
 	}
 
@@ -12232,6 +12623,10 @@ static PyMethodDef SpamMethods[] = {
 	 "stepSimulation(physicsClientId=0)\n"
 	 "Step the simulation using forward dynamics."},
 
+	{"performCollisionDetection", (PyCFunction)pybullet_performCollisionDetection, METH_VARARGS | METH_KEYWORDS,
+	 "performCollisionDetection(physicsClientId=0)\n"
+	 "Update AABBs, compute overlapping pairs and contact points. stepSimulation also includes this already."},
+
 	{"setGravity", (PyCFunction)pybullet_setGravity, METH_VARARGS | METH_KEYWORDS,
 	 "setGravity(gravX, gravY, gravZ, physicsClientId=0)\n"
 	 "Set the gravity acceleration (x,y,z)."},
@@ -12304,9 +12699,15 @@ static PyMethodDef SpamMethods[] = {
 	{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
 	 "Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
 
-     {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
+	{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
 	 "Get mesh data. Returns vertices etc from the mesh."},
 
+	{"getTetraMeshData", (PyCFunction)pybullet_getTetraMeshData, METH_VARARGS | METH_KEYWORDS,
+	 "Get mesh data. Returns tetra from the mesh."},
+
+	{"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
+	 "Reset mesh data. Only implemented for deformable bodies."},
+
 	{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
 	 "Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
 
@@ -12569,6 +12970,10 @@ static PyMethodDef SpamMethods[] = {
 	 "Add a user debug draw line with lineFrom[3], lineTo[3], lineColorRGB[3], lineWidth, lifeTime. "
 	 "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."},
 
+	{"addUserDebugPoints", (PyCFunction)pybullet_addUserDebugPoints, METH_VARARGS | METH_KEYWORDS,
+	 "Add user debug draw points with pointPositions[3], pointColorsRGB[3], pointSize, lifeTime. "
+	 "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."},
+
 	{"addUserDebugText", (PyCFunction)pybullet_addUserDebugText, METH_VARARGS | METH_KEYWORDS,
 	 "Add a user debug draw line with text, textPosition[3], textSize and lifeTime in seconds "
 	 "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."},
@@ -12909,6 +13314,7 @@ initpybullet(void)
 	//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS);
 
 	PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD);
+	PyModule_AddIntConstant(m, "RESET_USE_REDUCED_DEFORMABLE_WORLD", RESET_USE_REDUCED_DEFORMABLE_WORLD);
 	PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD);
 	PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE);
 
diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index ffd502fa38..aedbb12782 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -1,4 +1,8 @@
-import tf.compat.v1 as tf
+try:
+  import tf.compat.v1 as tf
+except Exception:
+  import tensorflow.compat.v1 as tf
+  tf.disable_eager_execution()
 import sys
 import numpy as np
 import argparse
diff --git a/examples/pybullet/tensorflow/humanoid_running_vr_follow.py b/examples/pybullet/tensorflow/humanoid_running_vr_follow.py
index 2df85cd889..98564c0914 100644
--- a/examples/pybullet/tensorflow/humanoid_running_vr_follow.py
+++ b/examples/pybullet/tensorflow/humanoid_running_vr_follow.py
@@ -1,4 +1,8 @@
-import tf.compat.v1 as tf
+try:
+  import tf.compat.v1 as tf
+except Exception:
+  import tensorflow.compat.v1 as tf
+  tf.disable_eager_execution()
 import sys
 import numpy as np
 
diff --git a/setup.py b/setup.py
index 602244f257..2ef922a01a 100644
--- a/setup.py
+++ b/setup.py
@@ -257,6 +257,10 @@ def _single_compile(obj):
 +["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\
 +["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\
 +["src/BulletSoftBody/poly34.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp"]\
++["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp"]\
 +["src/BulletInverseDynamics/IDMath.cpp"]\
 +["src/BulletInverseDynamics/MultiBodyTree.cpp"]\
 +["src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"]\
@@ -459,7 +463,7 @@ def _single_compile(obj):
 for root, dirs, files in os.walk(hh):
   for fn in files:
     ext = os.path.splitext(fn)[1][1:]
-    if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split(
+    if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml gin npy '.split(
     ):
       fn = root + "/" + fn
       need_files.append(fn[1 + len(hh):])
@@ -501,7 +505,7 @@ def _single_compile(obj):
 
 setup(
     name='pybullet',
-    version='3.0.8',
+    version='3.2.5',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=
diff --git a/src/Bullet3Common/CMakeLists.txt b/src/Bullet3Common/CMakeLists.txt
index e899e67d94..03a3b404ca 100644
--- a/src/Bullet3Common/CMakeLists.txt
+++ b/src/Bullet3Common/CMakeLists.txt
@@ -26,11 +26,11 @@ SET(Bullet3Common_HDRS
 	b3Transform.h
 	b3TransformUtil.h
 	b3Vector3.h
-	shared/b3Float4
+	shared/b3Float4.h
 	shared/b3Int2.h
 	shared/b3Int4.h
 	shared/b3Mat3x3.h
-	shared/b3PlatformDefinitions
+	shared/b3PlatformDefinitions.h
 	shared/b3Quat.h
 )
 
diff --git a/src/Bullet3Common/b3AlignedObjectArray.h b/src/Bullet3Common/b3AlignedObjectArray.h
index 249e381bf1..8ef3331f77 100644
--- a/src/Bullet3Common/b3AlignedObjectArray.h
+++ b/src/Bullet3Common/b3AlignedObjectArray.h
@@ -22,7 +22,7 @@ subject to the following restrictions:
 ///If the platform doesn't support placement new, you can disable B3_USE_PLACEMENT_NEW
 ///then the b3AlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
 ///You can enable B3_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
-///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
+///see discussion here: https://bulletphysics.orgphpBB2/viewtopic.php?t=1231 and
 ///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
 
 #define B3_USE_PLACEMENT_NEW 1
@@ -135,7 +135,11 @@ class b3AlignedObjectArray
 
 		int otherSize = otherArray.size();
 		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
+		//don't use otherArray.copy, it can leak memory
+		for (int i = 0; i < otherSize; i++)
+		{
+			m_data[i] = otherArray[i];
+		}
 	}
 
 	/// return the number of elements in the array
@@ -506,7 +510,11 @@ class b3AlignedObjectArray
 	{
 		int otherSize = otherArray.size();
 		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
+		//don't use otherArray.copy, it can leak memory
+		for (int i = 0; i < otherSize; i++)
+		{
+			m_data[i] = otherArray[i];
+		}
 	}
 
 	void removeAtIndex(int index)
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
index 049c9116fd..e946c2ae50 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
index 0d5bb2014b..fd3e5185de 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
index 1597809db3..d162d58fec 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h b/src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
index 13269debf6..3cc4f60262 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3JacobianEntry.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
index cfa7c7dd11..f9b103e34a 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h b/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
index 14762a3e35..a6c21d20ae 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h b/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
index 196d0e5793..c9056ec4a7 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h b/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
index 4927ae4288..1e9533fb78 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3SolverConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp b/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
index 885e277d8c..eab17b9943 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h b/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
index f74aec4d3c..82075db2ae 100644
--- a/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
+++ b/src/Bullet3Dynamics/ConstraintSolver/b3TypedConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Geometry/b3AabbUtil.h b/src/Bullet3Geometry/b3AabbUtil.h
index 396a401450..04c52d8dc8 100644
--- a/src/Bullet3Geometry/b3AabbUtil.h
+++ b/src/Bullet3Geometry/b3AabbUtil.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Geometry/b3GeometryUtil.cpp b/src/Bullet3Geometry/b3GeometryUtil.cpp
index c4041003ca..1c5d5a7337 100644
--- a/src/Bullet3Geometry/b3GeometryUtil.cpp
+++ b/src/Bullet3Geometry/b3GeometryUtil.cpp
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3Geometry/b3GeometryUtil.h b/src/Bullet3Geometry/b3GeometryUtil.h
index 967c8d67e9..9a7bf7e3a7 100644
--- a/src/Bullet3Geometry/b3GeometryUtil.h
+++ b/src/Bullet3Geometry/b3GeometryUtil.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
index 4db717f8c3..867b3e0a9c 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3ContactCache.cpp
@@ -2,7 +2,7 @@
 #if 0
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
index 974b246f03..3a554fe5b4 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
index 7db32c6309..1a67a51180 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
index 9a448495f3..e9a3d085bb 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
index 48b41abcad..13470829dc 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
index 8b0a834efe..c599bca2b0 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
index b40b169978..46e36a3ae1 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
index ec6fe9f4d8..29310ec051 100644
--- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
@@ -1,6 +1,6 @@
 
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3
diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
index 1e42f25f3b..4f5f614e1c 100644
--- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -1,5 +1,5 @@
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3.h
diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
index 2ee35528fd..e481fdc219 100644
--- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
+++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
@@ -1,5 +1,5 @@
 //Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 //
 // btAxisSweep3.h
diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
index b097eca5f5..4176256f3c 100644
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
index 7ee065aac3..317c3f6227 100644
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index bc0742ad62..fb23281aad 100644
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
index 6e36d3bd73..9cb6225059 100644
--- a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index b00c0b1b4b..25a347e28f 100644
--- a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
index 166cb04c0b..ae087c8b53 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h
index 55daa7fb57..430f5771cf 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvt.h
+++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2007 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp b/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
index d76d408aa6..e71cb7daf1 100644
--- a/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/src/BulletCollision/BroadphaseCollision/btDispatcher.h
index b09b7d4d42..d59441cf55 100644
--- a/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index 8ce1087c9f..fb36acdf69 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index 56011899cb..1d82726475 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
index d16c72542f..36e5068e00 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 19f1737b73..e23610eb52 100644
--- a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
index 1c47b9ccf2..659a6ea138 100644
--- a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+++ b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -47,8 +47,10 @@ class btSerializer;
 #define MAX_SUBTREE_SIZE_IN_BYTES 2048
 
 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
+// 4 gives the potential for 16 parts, each with 2^27 triangles (134217728)
 // actually) triangles each (since the sign bit is reserved
-#define MAX_NUM_PARTS_IN_BITS 10
+//#define MAX_NUM_PARTS_IN_BITS 10
+#define MAX_NUM_PARTS_IN_BITS 4
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
diff --git a/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index b7fe0a1f34..bb02df89f6 100644
--- a/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index 3e02fdc003..f97073c588 100644
--- a/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index 7647f67360..57152105fd 100644
--- a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
index d47e47530d..01ebfe447d 100644
--- a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+++ b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
index 3b66d1fd0b..f14fdc0833 100644
--- a/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
index 7a391e059a..39807fcf51 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index eb21065765..d657242f47 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
index 202039956e..4b516463e2 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
@@ -3,7 +3,7 @@
  * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
  Bullet Continuous Collision Detection and Physics Library
- Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+ Bullet is Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
index 9f7d988fc1..9b1b36b675 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
@@ -4,7 +4,7 @@
  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
 
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
index d6e15f555b..3f578d66eb 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
index bd81284939..597f260222 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 25b2b1ea46..e24757cc4e 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
index 04309670cf..1399148fa2 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
index 89bc8d920e..9b38f5c7a3 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -29,6 +29,8 @@ btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* confi
 	: btCollisionDispatcher(config)
 {
 	m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads());
+	m_batchReleasePtr.resize(btGetTaskScheduler()->getNumThreads());
+
 	m_batchUpdating = false;
 	m_grainSize = grainSize;  // iterations per task
 }
@@ -76,10 +78,11 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO
 
 void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
 {
-	clearManifold(manifold);
 	//btAssert( !btThreadsAreRunning() );
+	
 	if (!m_batchUpdating)
 	{
+		clearManifold(manifold);
 		// batch updater will update manifold pointers array after finishing, so
 		// only need to update array when not batch-updating
 		int findIndex = manifold->m_index1a;
@@ -87,6 +90,9 @@ void btCollisionDispatcherMt::releaseManifold(btPersistentManifold* manifold)
 		m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
 		m_manifoldsPtr[findIndex]->m_index1a = findIndex;
 		m_manifoldsPtr.pop_back();
+	} else {
+		m_batchReleasePtr[btGetCurrentThreadIndex()].push_back(manifold);
+		return;
 	}
 
 	manifold->~btPersistentManifold();
@@ -154,6 +160,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache*
 		batchManifoldsPtr.resizeNoInitialize(0);
 	}
 
+	// remove batched remove manifolds.
+	for (int i = 0; i < m_batchReleasePtr.size(); ++i)
+	{
+		btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchReleasePtr[i];
+		for (int j = 0; j < batchManifoldsPtr.size(); ++j)
+		{
+			releaseManifold(batchManifoldsPtr[j]);
+		}
+		batchManifoldsPtr.resizeNoInitialize(0);
+	}
+
 	// update the indices (used when releasing manifolds)
 	for (int i = 0; i < m_manifoldsPtr.size(); ++i)
 	{
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
index 1155de2cfe..094e928bfa 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -31,6 +31,7 @@ class btCollisionDispatcherMt : public btCollisionDispatcher
 
 protected:
 	btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr;
+	btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchReleasePtr;
 	bool m_batchUpdating;
 	int m_grainSize;
 };
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index b48d9301d7..04dbbf23b4 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index e085c40892..d1456a9090 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -24,6 +24,7 @@ subject to the following restrictions:
 #define WANTS_DEACTIVATION 3
 #define DISABLE_DEACTIVATION 4
 #define DISABLE_SIMULATION 5
+#define FIXED_BASE_MULTI_BODY 6
 
 struct btBroadphaseProxy;
 class btCollisionShape;
@@ -304,7 +305,7 @@ btCollisionObject
 
 	SIMD_FORCE_INLINE bool isActive() const
 	{
-		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
+		return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
 	}
 
 	void setRestitution(btScalar rest)
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 71184f36ac..15940f5b6d 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -198,7 +198,6 @@ void btCollisionWorld::updateAabbs()
 {
 	BT_PROFILE("updateAabbs");
 
-	btTransform predictedTrans;
 	for (int i = 0; i < m_collisionObjects.size(); i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -1037,7 +1036,7 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
 		  m_castShape(castShape)
 	{
 		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
-		btVector3 rayDir = unnormalizedRayDir.normalized();
+		btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
 		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
@@ -1294,9 +1293,7 @@ class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIn
 			btVector3 normalColor(1, 1, 0);
 			m_debugDrawer->drawLine(center, center + normal, normalColor);
 		}
-		m_debugDrawer->drawLine(wv0, wv1, m_color);
-		m_debugDrawer->drawLine(wv1, wv2, m_color);
-		m_debugDrawer->drawLine(wv2, wv0, m_color);
+		m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0);
 	}
 };
 
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index b5f4a3c869..6f7ea0147c 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 4ea5e77185..1193bd4a81 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
index 9087f84398..f9dfc0a34a 100644
--- a/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
index 9fca463fbe..e6a2504a9e 100644
--- a/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index e50f85e2bb..95bce9e7c0 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -103,6 +103,45 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 
 	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
+#ifdef BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
+    //todo: check this issue https://github.com/bulletphysics/bullet3/issues/4263
+		//an early out optimisation if the object is separated from the triangle
+		//projected on the triangle normal)
+		{
+			const btVector3 v0 = m_triBodyWrap->getWorldTransform()*triangle[0];
+			const btVector3 v1 = m_triBodyWrap->getWorldTransform()*triangle[1];
+			const btVector3 v2 = m_triBodyWrap->getWorldTransform()*triangle[2];
+
+			btVector3 triangle_normal_world = ( v1 - v0).cross(v2 - v0);
+			triangle_normal_world.normalize();
+
+		    btConvexShape* convex = (btConvexShape*)m_convexBodyWrap->getCollisionShape();
+			
+			btVector3 localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
+			btVector3 worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
+			//now check if this is fully on one side of the triangle
+			btScalar proj_distPt = triangle_normal_world.dot(worldPt);
+			btScalar proj_distTr = triangle_normal_world.dot(v0);
+			btScalar contact_threshold = m_manifoldPtr->getContactBreakingThreshold()+ m_resultOut->m_closestPointDistanceThreshold;
+			btScalar dist = proj_distTr - proj_distPt;
+			if (dist > contact_threshold)
+				return;
+
+			//also check the other side of the triangle
+			triangle_normal_world*=-1;
+
+			localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
+			worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
+			//now check if this is fully on one side of the triangle
+			proj_distPt = triangle_normal_world.dot(worldPt);
+			proj_distTr = triangle_normal_world.dot(v0);
+			
+			dist = proj_distTr - proj_distPt;
+			if (dist > contact_threshold)
+				return;
+        }
+#endif //BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
+
 		btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
 		tm.setMargin(m_collisionMarginTriangle);
 
@@ -132,7 +171,10 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 			m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
 		}
 
-		colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
+		{
+			BT_PROFILE("processCollision (GJK?)");
+			colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
+		}
 
 		if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
 		{
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index b72e402981..8d86dafd28 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index b48d97f2b2..8031c950b4 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index eac5b4d824..9b76162269 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
index ba1bc06b69..d91d9c9768 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index b693da118f..63402d9aef 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
index ef3ea9e394..f6e6343b35 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
index b39a3f41de..adab540c05 100644
--- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
index 7cd41bdb33..6c71dc5e3f 100644
--- a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
index 65ef83e094..fef2f275b7 100644
--- a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
index b686d98d1e..18d7dfd9ba 100644
--- a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
+++ b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
index fd38a4f0e1..e6acbb8ef8 100644
--- a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 770eb24369..64a0f84ffa 100644
--- a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -90,13 +90,11 @@ btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, co
 	: m_manifoldPtr(0),
 	  m_body0Wrap(body0Wrap),
 	  m_body1Wrap(body1Wrap)
-#ifdef DEBUG_PART_INDEX
 	  ,
 	  m_partId0(-1),
 	  m_partId1(-1),
 	  m_index0(-1),
 	  m_index1(-1)
-#endif  //DEBUG_PART_INDEX
 	  ,
 	  m_closestPointDistanceThreshold(0)
 {
diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/src/BulletCollision/CollisionDispatch/btManifoldResult.h
index 6c0a2d9a43..1a8f46f2bd 100644
--- a/src/BulletCollision/CollisionDispatch/btManifoldResult.h
+++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 327b3f076a..6a99e73df9 100644
--- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
index 197bb457cf..bd222a19da 100644
--- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
index bc68b285b8..5ab26f5083 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index 3348bc89af..33060e83c0 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
index 7fa0559f97..9c35565e5b 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index b08d0df76d..399c9279d8 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
index 1bc3056c01..21e0d9433f 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index d660222f16..73c6fd1dde 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btUnionFind.cpp b/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
index 816bf1e6ad..906c3313ee 100644
--- a/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
+++ b/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionDispatch/btUnionFind.h b/src/BulletCollision/CollisionDispatch/btUnionFind.h
index d422ef55eb..59a30b169b 100644
--- a/src/BulletCollision/CollisionDispatch/btUnionFind.h
+++ b/src/BulletCollision/CollisionDispatch/btUnionFind.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionShapes/btBox2dShape.cpp b/src/BulletCollision/CollisionShapes/btBox2dShape.cpp
index a3d8075daf..501890ce3c 100644
--- a/src/BulletCollision/CollisionShapes/btBox2dShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btBox2dShape.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionShapes/btBox2dShape.h b/src/BulletCollision/CollisionShapes/btBox2dShape.h
index 7e085f9e2e..6c6e729278 100644
--- a/src/BulletCollision/CollisionShapes/btBox2dShape.h
+++ b/src/BulletCollision/CollisionShapes/btBox2dShape.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/src/BulletCollision/CollisionShapes/btConvexHullShape.h
index 96136d7dd7..01058a6c31 100644
--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -25,6 +25,7 @@ subject to the following restrictions:
 ATTRIBUTE_ALIGNED16(class)
 btConvexHullShape : public btPolyhedralConvexAabbCachingShape
 {
+protected:
 	btAlignedObjectArray<btVector3> m_unscaledPoints;
 
 public:
diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
index cab6980b65..5b1c23d6ff 100644
--- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
@@ -17,6 +17,47 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransformUtil.h"
 
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(
+	int heightStickWidth, int heightStickLength,
+	const float* heightfieldData, btScalar minHeight, btScalar maxHeight,
+	int upAxis, bool flipQuadEdges)
+	: m_userValue3(0), m_triangleInfoMap(0)
+{
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+			   /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_FLOAT,
+			   flipQuadEdges);
+}
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(
+	int heightStickWidth, int heightStickLength, const double* heightfieldData,
+	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
+	: m_userValue3(0), m_triangleInfoMap(0)
+{
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+			   /*heightScale=*/1, minHeight, maxHeight, upAxis, PHY_DOUBLE,
+			   flipQuadEdges);
+}
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(
+	int heightStickWidth, int heightStickLength, const short* heightfieldData, btScalar heightScale,
+	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
+	: m_userValue3(0), m_triangleInfoMap(0)
+{
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+			   heightScale, minHeight, maxHeight, upAxis, PHY_SHORT,
+			   flipQuadEdges);
+}
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(
+	int heightStickWidth, int heightStickLength, const unsigned char* heightfieldData, btScalar heightScale,
+	btScalar minHeight, btScalar maxHeight, int upAxis, bool flipQuadEdges)
+	: m_userValue3(0), m_triangleInfoMap(0)
+{
+	initialize(heightStickWidth, heightStickLength, heightfieldData,
+			   heightScale, minHeight, maxHeight, upAxis, PHY_UCHAR,
+			   flipQuadEdges);
+}
+
 btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 	int heightStickWidth, int heightStickLength, const void* heightfieldData,
 	btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
@@ -24,6 +65,10 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(
 	:m_userValue3(0),
 	m_triangleInfoMap(0)
 {
+	// legacy constructor: Assumes PHY_FLOAT means btScalar.
+#ifdef BT_USE_DOUBLE_PRECISION
+	if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE;
+#endif
 	initialize(heightStickWidth, heightStickLength, heightfieldData,
 			   heightScale, minHeight, maxHeight, upAxis, hdt,
 			   flipQuadEdges);
@@ -33,9 +78,12 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
 	:	m_userValue3(0),
 	m_triangleInfoMap(0)
 {
-	// legacy constructor: support only float or unsigned char,
-	// 	and min height is zero
+	// legacy constructor: support only btScalar or unsigned char data,
+	// and min height is zero.
 	PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
+#ifdef BT_USE_DOUBLE_PRECISION
+	if (hdt == PHY_FLOAT) hdt = PHY_DOUBLE;
+#endif
 	btScalar minHeight = 0.0f;
 
 	// previously, height = uchar * maxHeight / 65535.
@@ -59,7 +107,7 @@ void btHeightfieldTerrainShape::initialize(
 	// btAssert(heightScale) -- do we care?  Trust caller here
 	btAssert(minHeight <= maxHeight);                                    // && "bad min/max height");
 	btAssert(upAxis >= 0 && upAxis < 3);                                 // && "bad upAxis--should be in range [0,2]");
-	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT);  // && "Bad height data type enum");
+	btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_DOUBLE || hdt != PHY_SHORT);  // && "Bad height data type enum");
 
 	// initialize member variables
 	m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
@@ -152,6 +200,12 @@ btHeightfieldTerrainShape::getRawHeightFieldValue(int x, int y) const
 			break;
 		}
 
+		case PHY_DOUBLE:
+		{
+			val = m_heightfieldDataDouble[(y * m_heightStickWidth) + x];
+			break;
+		}
+
 		case PHY_UCHAR:
 		{
 			unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y * m_heightStickWidth) + x];
@@ -232,6 +286,30 @@ getQuantized(
 	return (int)(x + 0.5);
 }
 
+// Equivalent to std::minmax({a, b, c}).
+// Performs at most 3 comparisons.
+static btHeightfieldTerrainShape::Range minmaxRange(btScalar a, btScalar b, btScalar c)
+{
+	if (a > b)
+	{
+		if (b > c)
+			return btHeightfieldTerrainShape::Range(c, a);
+		else if (a > c)
+			return btHeightfieldTerrainShape::Range(b, a);
+		else
+			return btHeightfieldTerrainShape::Range(b, c);
+	}
+	else
+	{
+		if (a > c)
+			return btHeightfieldTerrainShape::Range(c, b);
+		else if (b > c)
+			return btHeightfieldTerrainShape::Range(a, b);
+		else
+			return btHeightfieldTerrainShape::Range(a, c);
+	}
+}
+
 /// given input vector, return quantized version
 /**
   This routine is basically determining the gridpoint indices for a given
@@ -334,7 +412,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 	}
 
 	// TODO If m_vboundsGrid is available, use it to determine if we really need to process this area
-
+	
+	const Range aabbUpRange(aabbMin[m_upAxis], aabbMax[m_upAxis]);
 	for (int j = startJ; j < endJ; j++)
 	{
 		for (int x = startX; x < endX; x++)
@@ -349,29 +428,51 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 
 			if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1)))
 			{
-				//first triangle
 				getVertex(x, j, vertices[indices[0]]);
 				getVertex(x, j + 1, vertices[indices[1]]);
 				getVertex(x + 1, j + 1, vertices[indices[2]]);
-				callback->processTriangle(vertices, 2 * x, j);
-				//second triangle
-				//  getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
-				getVertex(x + 1, j + 1, vertices[indices[1]]);
+
+				// Skip triangle processing if the triangle is out-of-AABB.
+				Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
+
+				if (upRange.overlaps(aabbUpRange))
+					callback->processTriangle(vertices, 2 * x, j);
+			
+				// already set: getVertex(x, j, vertices[indices[0]])
+
+				// equivalent to: getVertex(x + 1, j + 1, vertices[indices[1]]);
+				vertices[indices[1]] = vertices[indices[2]];
+
 				getVertex(x + 1, j, vertices[indices[2]]);
-				callback->processTriangle(vertices, 2 * x+1, j);
+				upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
+				upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
+
+				if (upRange.overlaps(aabbUpRange))
+					callback->processTriangle(vertices, 2 * x + 1, j);
 			}
 			else
 			{
-				//first triangle
 				getVertex(x, j, vertices[indices[0]]);
 				getVertex(x, j + 1, vertices[indices[1]]);
 				getVertex(x + 1, j, vertices[indices[2]]);
-				callback->processTriangle(vertices, 2 * x, j);
-				//second triangle
-				getVertex(x + 1, j, vertices[indices[0]]);
-				//getVertex(x,j+1,vertices[1]);
+
+				// Skip triangle processing if the triangle is out-of-AABB.
+				Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
+
+				if (upRange.overlaps(aabbUpRange))
+					callback->processTriangle(vertices, 2 * x, j);
+
+				// already set: getVertex(x, j + 1, vertices[indices[1]]);
+
+				// equivalent to: getVertex(x + 1, j, vertices[indices[0]]);
+				vertices[indices[0]] = vertices[indices[2]];
+
 				getVertex(x + 1, j + 1, vertices[indices[2]]);
-				callback->processTriangle(vertices, 2 * x+1, j);
+				upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
+				upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
+
+				if (upRange.overlaps(aabbUpRange))
+					callback->processTriangle(vertices, 2 * x + 1, j);
 			}
 		}
 	}
@@ -727,6 +828,7 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con
 		{
 			// Don't use chunks, the ray is too short in the plane
 			gridRaycast(processTriangles, beginPos, endPos, &indices[0]);
+			return;
 		}
 
 		ProcessVBoundsAction processVBounds(m_vboundsGrid, &indices[0]);
@@ -846,4 +948,4 @@ void btHeightfieldTerrainShape::buildAccelerator(int chunkSize)
 void btHeightfieldTerrainShape::clearAccelerator()
 {
 	m_vboundsGrid.clear();
-}
\ No newline at end of file
+}
diff --git a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
index 2cf3c00721..7e251fa71e 100644
--- a/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+++ b/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
@@ -50,17 +50,15 @@ subject to the following restrictions:
   The heightfield heights are determined from the data type used for the
   heightfieldData array.  
 
-   - PHY_UCHAR: height at a point is the uchar value at the
+   - unsigned char: height at a point is the uchar value at the
        grid point, multipled by heightScale.  uchar isn't recommended
        because of its inability to deal with negative values, and
        low resolution (8-bit).
 
-   - PHY_SHORT: height at a point is the short int value at that grid
+   - short: height at a point is the short int value at that grid
        point, multipled by heightScale.
 
-   - PHY_FLOAT: height at a point is the float value at that grid
-       point.  heightScale is ignored when using the float heightfield
-       data type.
+   - float or dobule: height at a point is the value at that grid point.
 
   Whatever the caller specifies as minHeight and maxHeight will be honored.
   The class will not inspect the heightfield to discover the actual minimum
@@ -75,6 +73,14 @@ btHeightfieldTerrainShape : public btConcaveShape
 public:
 	struct Range
 	{
+		Range() {}
+		Range(btScalar min, btScalar max) : min(min), max(max) {}
+
+		bool overlaps(const Range& other) const
+		{
+			return !(min > other.max || max < other.min);
+		}
+
 		btScalar min;
 		btScalar max;
 	};
@@ -95,7 +101,8 @@ btHeightfieldTerrainShape : public btConcaveShape
 	union {
 		const unsigned char* m_heightfieldDataUnsignedChar;
 		const short* m_heightfieldDataShort;
-		const btScalar* m_heightfieldDataFloat;
+		const float* m_heightfieldDataFloat;
+		const double* m_heightfieldDataDouble;
 		const void* m_heightfieldDataUnknown;
 	};
 
@@ -135,11 +142,33 @@ btHeightfieldTerrainShape : public btConcaveShape
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	/// preferred constructor
+	/// preferred constructors
+	btHeightfieldTerrainShape(
+		int heightStickWidth, int heightStickLength,
+		const float* heightfieldData, btScalar minHeight, btScalar maxHeight,
+		int upAxis, bool flipQuadEdges);
+	btHeightfieldTerrainShape(
+		int heightStickWidth, int heightStickLength,
+		const double* heightfieldData, btScalar minHeight, btScalar maxHeight,
+		int upAxis, bool flipQuadEdges);
+	btHeightfieldTerrainShape(
+		int heightStickWidth, int heightStickLength,
+		const short* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
+		int upAxis, bool flipQuadEdges);
+	btHeightfieldTerrainShape(
+		int heightStickWidth, int heightStickLength,
+		const unsigned char* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight,
+		int upAxis, bool flipQuadEdges);
+
+	/// legacy constructor
 	/**
 	  This constructor supports a range of heightfield
 	  data types, and allows for a non-zero minimum height value.
 	  heightScale is needed for any integer-based heightfield data types.
+
+	  This legacy constructor considers `PHY_FLOAT` to mean `btScalar`.
+	  With `BT_USE_DOUBLE_PRECISION`, it will expect `heightfieldData`
+	  to be double-precision.
 	 */
 	btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,
 							  const void* heightfieldData, btScalar heightScale,
@@ -150,7 +179,7 @@ btHeightfieldTerrainShape : public btConcaveShape
 	/// legacy constructor
 	/**
 	  The legacy constructor assumes the heightfield has a minimum height
-	  of zero.  Only unsigned char or floats are supported.  For legacy
+	  of zero.  Only unsigned char or btScalar data are supported.  For legacy
 	  compatibility reasons, heightScale is calculated as maxHeight / 65535 
 	  (and is only used when useFloatData = false).
  	 */
@@ -218,4 +247,4 @@ btHeightfieldTerrainShape : public btConcaveShape
 	}
 };
 
-#endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file
+#endif  //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
diff --git a/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
index 3b5150f6d5..f5763f6988 100644
--- a/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+++ b/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
@@ -43,6 +43,9 @@ btMinkowskiSumShape : public btConvexInternalShape
 	void setTransformB(const btTransform& transB) { m_transB = transB; }
 
 	const btTransform& getTransformA() const { return m_transA; }
+	const btTransform& getTransformB() const { return m_transB; }
+
+	// keep this for backward compatibility
 	const btTransform& GetTransformB() const { return m_transB; }
 
 	virtual btScalar getMargin() const;
diff --git a/src/BulletCollision/Gimpact/btBoxCollision.h b/src/BulletCollision/Gimpact/btBoxCollision.h
index 182835c3b4..941dcc63ae 100644
--- a/src/BulletCollision/Gimpact/btBoxCollision.h
+++ b/src/BulletCollision/Gimpact/btBoxCollision.h
@@ -229,10 +229,12 @@ btAABB
 		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
 		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
 		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
+		m_min[3] = 0.f;
 
 		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
 		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
 		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
+		m_max[3] = 0.f;
 	}
 
 	btAABB(const btVector3 &V1,
@@ -243,10 +245,12 @@ btAABB
 		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
 		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
 		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
+		m_min[3] = 0.f;
 
 		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
 		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
 		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
+		m_max[3] = 0.f;
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
@@ -275,9 +279,11 @@ btAABB
 		m_min[0] = SIMD_INFINITY;
 		m_min[1] = SIMD_INFINITY;
 		m_min[2] = SIMD_INFINITY;
+		m_min[3] = 0.f;
 		m_max[0] = -SIMD_INFINITY;
 		m_max[1] = -SIMD_INFINITY;
 		m_max[2] = -SIMD_INFINITY;
+		m_max[3] = 0.f;
 	}
 
 	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
@@ -295,10 +301,12 @@ btAABB
 		m_min[0] = other.m_min[0] - margin;
 		m_min[1] = other.m_min[1] - margin;
 		m_min[2] = other.m_min[2] - margin;
+		m_min[3] = 0.f;
 
 		m_max[0] = other.m_max[0] + margin;
 		m_max[1] = other.m_max[1] + margin;
 		m_max[2] = other.m_max[2] + margin;
+		m_max[3] = 0.f;
 	}
 
 	template <typename CLASS_POINT>
@@ -310,10 +318,12 @@ btAABB
 		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
 		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
 		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
+		m_min[3] = 0.f;
 
 		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
 		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
 		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
+		m_max[3] = 0.f;
 	}
 
 	template <typename CLASS_POINT>
@@ -325,10 +335,12 @@ btAABB
 		m_min[0] = BT_MIN3(V1[0], V2[0], V3[0]);
 		m_min[1] = BT_MIN3(V1[1], V2[1], V3[1]);
 		m_min[2] = BT_MIN3(V1[2], V2[2], V3[2]);
+		m_min[3] = 0.f;
 
 		m_max[0] = BT_MAX3(V1[0], V2[0], V3[0]);
 		m_max[1] = BT_MAX3(V1[1], V2[1], V3[1]);
 		m_max[2] = BT_MAX3(V1[2], V2[2], V3[2]);
+		m_max[3] = 0.f;
 
 		m_min[0] -= margin;
 		m_min[1] -= margin;
diff --git a/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
index bfdb3db5d0..f81f04be90 100644
--- a/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
+++ b/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
@@ -5,7 +5,7 @@ General purpose allocator class
 */
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/Gimpact/btGenericPoolAllocator.h b/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
index a535088e48..197af4fad1 100644
--- a/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
+++ b/src/BulletCollision/Gimpact/btGenericPoolAllocator.h
@@ -5,7 +5,7 @@ General purpose allocator class
 */
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 38df8d4808..623c58fc83 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
index 67b2205c36..76c7731ee3 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
index d2a1310b23..f5b9b68244 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
index 77b19be599..85476e6118 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -30,7 +30,7 @@ class btMinkowskiSumShape;
 #define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
 #endif
 ///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
-///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
+///See discussion about this here https://bulletphysics.orgphpBB2/viewtopic.php?t=565
 //will need to digg deeper to make the algorithm more robust
 //since, a large epsilon can cause an early termination with false
 //positive results (ray intersections that shouldn't be there)
diff --git a/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
index 65c9df9340..7672a4129f 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
index d1bbb1a46e..973975f3cd 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
index 9d61e75dac..41da699863 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
index ef5979173e..0ee46a59c3 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index 7d53f8624a..228860477e 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
index 893daea3f5..e2cf633a41 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
index 6fedbbb3e5..fd67c3759f 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpa3.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2014 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2014 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index 07629229ab..3b79ddf8a5 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 EPA Copyright (c) Ricardo Padrela 2006
 
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
index 92d6df1729..90f0c174e4 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 EPA Copyright (c) Ricardo Padrela 2006 
 
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 5af93cb2fb..bee8c330d2 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
index faa02287ca..eee2f7dab8 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
index 573fc86bf9..31323282cd 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -71,12 +71,18 @@ class btManifoldPoint
 					const btVector3& normal,
 					btScalar distance) : m_localPointA(pointA),
 										 m_localPointB(pointB),
+										 m_positionWorldOnB(0,0,0),
+										 m_positionWorldOnA(0,0,0),
 										 m_normalWorldOnB(normal),
 										 m_distance1(distance),
 										 m_combinedFriction(btScalar(0.)),
 										 m_combinedRollingFriction(btScalar(0.)),
 										 m_combinedSpinningFriction(btScalar(0.)),
 										 m_combinedRestitution(btScalar(0.)),
+										 m_partId0(-1),
+										 m_partId1(-1),
+										 m_index0(-1),
+										 m_index1(-1),
 										 m_userPersistentData(0),
 										 m_contactPointFlags(0),
 										 m_appliedImpulse(0.f),
@@ -88,7 +94,9 @@ class btManifoldPoint
 										 m_contactCFM(0.f),
 										 m_contactERP(0.f),
 										 m_frictionCFM(0.f),
-										 m_lifeTime(0)
+										 m_lifeTime(0),
+										 m_lateralFrictionDir1(0,0,0),
+										 m_lateralFrictionDir2(0,0,0)
 	{
 	}
 
diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index c042c24208..dcb29808cb 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
index 8e3e393259..2ad663b120 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index dca3e09267..366cf155ca 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index 0e26da0ebe..b07e48688e 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btPointCollector.h b/src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
index 0900eb6e85..adebcbee32 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index 3d11e5bce5..f2de4e9018 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
index 2d0df718a2..58a48c7a77 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
index ccd227109d..b994aca915 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
index 37458339e7..8b011a8228 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
index 0638a30eb1..e2b6bbcfc8 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
index 8fda94d2ad..6b65a25483 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
@@ -1,7 +1,7 @@
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
index 24a0a8f2df..5ed896f2f9 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt
index 3332440f26..cfd49e906a 100644
--- a/src/BulletDynamics/CMakeLists.txt
+++ b/src/BulletDynamics/CMakeLists.txt
@@ -42,6 +42,7 @@ SET(BulletDynamics_SRCS
 	Featherstone/btMultiBodyPoint2Point.cpp
 	Featherstone/btMultiBodySliderConstraint.cpp
 	Featherstone/btMultiBodySphericalJointMotor.cpp
+	Featherstone/btMultiBodySphericalJointLimit.cpp
 	MLCPSolvers/btDantzigLCP.cpp
 	MLCPSolvers/btMLCPSolver.cpp
 	MLCPSolvers/btLemkeAlgorithm.cpp
@@ -105,6 +106,9 @@ SET(Featherstone_HDRS
 	Featherstone/btMultiBodyPoint2Point.h
 	Featherstone/btMultiBodySliderConstraint.h
 	Featherstone/btMultiBodySolverConstraint.h
+  Featherstone/btMultiBodySphericalJointMotor.h
+	Featherstone/btMultiBodySphericalJointLimit.h
+
 )
 
 SET(MLCPSolvers_HDRS
diff --git a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
index 0f5ed1c2ce..89bd067a27 100644
--- a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
index 5d982ca370..651df7a902 100644
--- a/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
+++ b/src/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
index 68a4a07a1d..777eccf9e7 100644
--- a/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 4b22b2fff5..e8ebe3a795 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
index 255489be99..b213a385f8 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 3316403a87..630416776d 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index 1f54203532..14ec4a8e0a 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index b9e762e175..1febc2bc0d 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index 74a13c6249..39e0cc0ae4 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
index c86dc373da..d2fe24b8ea 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index aa6f69000d..cb59e5a5b5 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index c7509e30af..8b1f1afdd2 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
index 438456fe51..a251073ead 100644
--- a/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
+++ b/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
index ccf8916049..454adc88c8 100644
--- a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
index c84f274a99..a01f34c9dd 100644
--- a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
index ad399dc57f..49a46edc81 100644
--- a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
index 4717e19800..c0b94e9c80 100644
--- a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index d2641c582f..419e564c40 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index f3ef02fccc..cd00967d08 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
index 2718da4a50..7aa9953bbf 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
index 1861ddd7d7..73a99153e5 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index cac5302a73..e42223c4cd 100755
--- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 75ca34e978..75b185754f 100755
--- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
index 1ea20edcb2..5c2060cf2b 100644
--- a/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
index fca8ecec81..0a8c901bce 100644
--- a/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
index 409aa8a08c..8d2f108fae 100644
--- a/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+++ b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
index c7938df867..9749b33156 100644
--- a/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
index ebe679c449..953091196e 100644
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
index d30f3dee5c..3d6b08d719 100644
--- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btActionInterface.h b/src/BulletDynamics/Dynamics/btActionInterface.h
index b5cac56cdc..51a3fa4737 100644
--- a/src/BulletDynamics/Dynamics/btActionInterface.h
+++ b/src/BulletDynamics/Dynamics/btActionInterface.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index fb15ae31eb..9e99c154f2 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -902,8 +902,8 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal(btRigidBody** bod
 						btVector3 distVec = (predictedTrans.getOrigin() - body->getWorldTransform().getOrigin()) * sweepResults.m_closestHitFraction;
 						btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld);
 
-						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
 						btMutexLock(&m_predictiveManifoldsMutex);
+						btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body, sweepResults.m_hitCollisionObject);
 						m_predictiveManifolds.push_back(manifold);
 						btMutexUnlock(&m_predictiveManifoldsMutex);
 
diff --git a/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
index 3c55234a8a..a5a4411ade 100644
--- a/src/BulletDynamics/Dynamics/btDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.cpp b/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 27fdead761..bf7224b165 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.h b/src/BulletDynamics/Dynamics/btRigidBody.h
index 7442dd1e6a..00143ef4e1 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
index 8103390fb1..134c482e8a 100644
--- a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
index 12be231c7f..46bd535f65 100644
--- a/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
index 772b774202..026c2a9717 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
index ab73a899f1..dcc04cd813 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 7cb92fa3b4..1bc2ffe22f 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -33,8 +33,8 @@
 
 namespace
 {
-const btScalar SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
-const btScalar SLEEP_TIMEOUT = btScalar(2);     // in seconds
+const btScalar INITIAL_SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
+const btScalar INITIAL_SLEEP_TIMEOUT = btScalar(2);     // in seconds
 }  // namespace
 
 void btMultiBody::spatialTransform(const btMatrix3x3 &rotation_matrix,  // rotates vectors in 'from' frame to vectors in 'to' frame
@@ -110,6 +110,9 @@ btMultiBody::btMultiBody(int n_links,
 	  m_canSleep(canSleep),
 	  m_canWakeup(true),
 	  m_sleepTimer(0),
+      m_sleepEpsilon(INITIAL_SLEEP_EPSILON),
+	  m_sleepTimeout(INITIAL_SLEEP_TIMEOUT),
+
 	  m_userObjectPointer(0),
 	  m_userIndex2(-1),
 	  m_userIndex(-1),
@@ -933,7 +936,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			if (m_useGyroTerm)
 				zeroAccSpatFrc[i + 1].addAngular(spatVel[i + 1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular()));
 			//
-			zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
+                        if (!isConstraintPass)
+      				zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
 			//
 			//btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
 			////clamp parent's omega
@@ -1411,7 +1415,7 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
 	}
 }
 
-void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
+void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 {
 	for (int row = 0; row < rowsA; row++)
 	{
@@ -2104,10 +2108,10 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
 			motion += m_realBuf[i] * m_realBuf[i];
 	}
 
-	if (motion < SLEEP_EPSILON)
+	if (motion < m_sleepEpsilon)
 	{
 		m_sleepTimer += timestep;
-		if (m_sleepTimer > SLEEP_TIMEOUT)
+		if (m_sleepTimer > m_sleepTimeout)
 		{
 			goToSleep();
 		}
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 5a3efc9414..345970d261 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -545,7 +545,10 @@ btMultiBody
 	{
 		m_canWakeup = canWakeup;
 	}
-	bool isAwake() const { return m_awake; }
+	bool isAwake() const 
+	{ 
+		return m_awake; 
+	}
 	void wakeUp();
 	void goToSleep();
 	void checkMotionAndSleepIfRequired(btScalar timestep);
@@ -726,6 +729,17 @@ btMultiBody
 
 	bool isLinkAndAllAncestorsKinematic(const int i) const;
 
+	void setSleepThreshold(btScalar sleepThreshold)
+	{
+		m_sleepEpsilon = sleepThreshold;
+	}
+
+	void setSleepTimeout(btScalar sleepTimeout)
+	{
+		this->m_sleepTimeout = sleepTimeout;
+	}
+
+
 private:
 	btMultiBody(const btMultiBody &);     // not implemented
 	void operator=(const btMultiBody &);  // not implemented
@@ -745,7 +759,7 @@ btMultiBody
 		}
 	}
 
-	void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
+	void mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
 
 private:
 	btMultiBodyLinkCollider *m_baseCollider;  //can be NULL
@@ -801,6 +815,8 @@ btMultiBody
 	bool m_canSleep;
 	bool m_canWakeup;
 	btScalar m_sleepTimer;
+	btScalar m_sleepEpsilon;
+	btScalar m_sleepTimeout;
 
 	void *m_userObjectPointer;
 	int m_userIndex2;
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index 1ba5861145..00d5fd5609 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -61,7 +61,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
 														btScalar lowerLimit, btScalar upperLimit,
 														bool angConstraint,
 														btScalar relaxation,
-														bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
+														bool isFriction, btScalar desiredVelocity, btScalar cfmSlip,
+														btScalar damping)
 {
 	solverConstraint.m_multiBodyA = m_bodyA;
 	solverConstraint.m_multiBodyB = m_bodyB;
@@ -348,7 +349,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
 
 	{
 		btScalar positionalError = 0.f;
-		btScalar velocityError = desiredVelocity - rel_vel;  // * damping;
+		btScalar velocityError = (desiredVelocity - rel_vel) * damping;
 
 		btScalar erp = infoGlobal.m_erp2;
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 4a6007ee3e..7287ccc89b 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -31,7 +31,7 @@ enum btTypedMultiBodyConstraintType
 	MULTIBODY_CONSTRAINT_SLIDER,
 	MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR,
 	MULTIBODY_CONSTRAINT_FIXED,
-	
+	MULTIBODY_CONSTRAINT_SPHERICAL_LIMIT,
 	MAX_MULTIBODY_CONSTRAINT_TYPE,
 };
 
@@ -94,7 +94,7 @@ btMultiBodyConstraint
 									 bool angConstraint = false,
 
 									 btScalar relaxation = 1.f,
-									 bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
+									 bool isFriction = false, btScalar desiredVelocity = 0, btScalar cfmSlip = 0, btScalar damping = 1.0);
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index fef95f0c4e..e7af332eb3 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -137,7 +137,14 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
 				btMultiBodyLinkCollider* col = body->getBaseCollider();
 				if (col && col->getActivationState() == ACTIVE_TAG)
 				{
-					col->setActivationState(WANTS_DEACTIVATION);
+                    if (body->hasFixedBase())
+					{
+                        col->setActivationState(FIXED_BASE_MULTI_BODY);
+                    } else
+					{
+                        col->setActivationState(WANTS_DEACTIVATION);
+                    }
+					
 					col->setDeactivationTime(0.f);
 				}
 				for (int b = 0; b < body->getNumLinks(); b++)
diff --git a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.cpp b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.cpp
new file mode 100644
index 0000000000..27c7520dc3
--- /dev/null
+++ b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.cpp
@@ -0,0 +1,270 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#include "btMultiBodySphericalJointLimit.h"
+#include "btMultiBody.h"
+#include "btMultiBodyLinkCollider.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "LinearMath/btTransformUtil.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+#include "LinearMath/btIDebugDraw.h"
+
+btMultiBodySphericalJointLimit::btMultiBodySphericalJointLimit(btMultiBody* body, int link, 
+	btScalar swingxRange,
+	btScalar swingyRange,
+	btScalar twistRange,
+	btScalar maxAppliedImpulse)
+	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_LIMIT),
+	m_desiredVelocity(0, 0, 0),
+	m_desiredPosition(0,0,0,1),
+	m_use_multi_dof_params(false),
+	m_kd(1., 1., 1.),
+	m_kp(0.2, 0.2, 0.2),
+	m_erp(1),
+	m_rhsClamp(SIMD_INFINITY),
+	m_maxAppliedImpulseMultiDof(maxAppliedImpulse, maxAppliedImpulse, maxAppliedImpulse),
+	m_pivotA(m_bodyA->getLink(link).m_eVector),
+	m_pivotB(m_bodyB->getLink(link).m_eVector),
+	m_swingxRange(swingxRange),
+	m_swingyRange(swingyRange),
+	m_twistRange(twistRange)
+
+{
+
+	m_maxAppliedImpulse = maxAppliedImpulse;
+}
+
+
+void btMultiBodySphericalJointLimit::finalizeMultiDof()
+{
+	allocateJacobiansMultiDof();
+	// note: we rely on the fact that data.m_jacobians are
+	// always initialized to zero by the Constraint ctor
+	int linkDoF = 0;
+	unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
+
+	// row 0: the lower bound
+	// row 0: the lower bound
+	jacobianA(0)[offset] = 1;
+
+	jacobianB(1)[offset] = -1;
+
+	m_numDofsFinalized = m_jacSizeBoth;
+}
+
+
+btMultiBodySphericalJointLimit::~btMultiBodySphericalJointLimit()
+{
+}
+
+int btMultiBodySphericalJointLimit::getIslandIdA() const
+{
+	if (this->m_linkA < 0)
+	{
+		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+	}
+	else
+	{
+		if (m_bodyA->getLink(m_linkA).m_collider)
+		{
+			return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+int btMultiBodySphericalJointLimit::getIslandIdB() const
+{
+	if (m_linkB < 0)
+	{
+		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+	}
+	else
+	{
+		if (m_bodyB->getLink(m_linkB).m_collider)
+		{
+			return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+void btMultiBodySphericalJointLimit::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+												 btMultiBodyJacobianData& data,
+												 const btContactSolverInfo& infoGlobal)
+{
+	// only positions need to be updated -- data.m_jacobians and force
+	// directions were set in the ctor and never change.
+
+	if (m_numDofsFinalized != m_jacSizeBoth)
+	{
+		finalizeMultiDof();
+	}
+
+	//don't crash
+	if (m_numDofsFinalized != m_jacSizeBoth)
+		return;
+	
+
+	if (m_maxAppliedImpulse == 0.f)
+		return;
+
+	const btScalar posError = 0;
+	const btVector3 zero(0, 0, 0);
+
+	
+	btVector3 axis[3] = { btVector3(1, 0, 0), btVector3(0, 1, 0), btVector3(0, 0, 1) };
+	
+	btQuaternion currentQuat(m_bodyA->getJointPosMultiDof(m_linkA)[0],
+		m_bodyA->getJointPosMultiDof(m_linkA)[1],
+		m_bodyA->getJointPosMultiDof(m_linkA)[2],
+		m_bodyA->getJointPosMultiDof(m_linkA)[3]);
+
+	btQuaternion refQuat = m_desiredPosition;
+	btVector3 vTwist(0,0,1);
+	
+	btVector3 vConeNoTwist = quatRotate(currentQuat, vTwist);
+	vConeNoTwist.normalize();
+	btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist);
+	qABCone.normalize();
+	btQuaternion qABTwist = qABCone.inverse() * currentQuat;
+	qABTwist.normalize();
+	btQuaternion desiredQuat = qABTwist;
+
+
+	btQuaternion relRot = currentQuat.inverse() * desiredQuat;
+	btVector3 angleDiff;
+	btGeneric6DofSpring2Constraint::matrixToEulerXYZ(btMatrix3x3(relRot), angleDiff);
+	
+	btScalar limitRanges[3] = {m_swingxRange, m_swingyRange, m_twistRange};
+	
+	/// twist axis/angle
+	btQuaternion qMinTwist = qABTwist;
+	btScalar twistAngle = qABTwist.getAngle();
+
+	if (twistAngle > SIMD_PI)  // long way around. flip quat and recalculate.
+	{
+		qMinTwist = -(qABTwist);
+		twistAngle = qMinTwist.getAngle();
+	}
+	btVector3 vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
+	if (twistAngle > SIMD_EPSILON)
+		vTwistAxis.normalize();
+	
+	if (vTwistAxis.dot(vTwist)<0)
+		twistAngle*=-1.;
+
+	angleDiff[2] = twistAngle;
+
+
+	for (int row = 0; row < getNumRows(); row++)
+	{
+		btScalar allowed = limitRanges[row];
+		btScalar damp = 1;
+		if((angleDiff[row]>-allowed)&&(angleDiff[row]<allowed))
+		{
+			angleDiff[row]=0;
+			damp=0;
+
+		} else
+		{
+			if (angleDiff[row]>allowed)
+			{
+				angleDiff[row]-=allowed;
+				
+			}
+			if (angleDiff[row]<-allowed)
+			{
+				angleDiff[row]+=allowed;
+				
+			} 
+		}
+		
+
+		int dof = row;
+		
+		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+		btScalar desiredVelocity = this->m_desiredVelocity[row];
+		
+		double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0];
+		btScalar velocityError = (desiredVelocity - currentVelocity) * kd;
+
+		btMatrix3x3 frameAworld;
+		frameAworld.setIdentity();
+		frameAworld = m_bodyA->localFrameToWorld(m_linkA, frameAworld);
+		btScalar posError = 0;
+		{
+			btAssert(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eSpherical);
+			switch (m_bodyA->getLink(m_linkA).m_jointType)
+			{
+				case btMultibodyLink::eSpherical:
+				{
+					btVector3 constraintNormalAng = frameAworld.getColumn(row % 3);
+					double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0];
+					posError = kp*angleDiff[row % 3];
+					double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse;
+					//should multiply by time step
+					//max_applied_impulse *= infoGlobal.m_timeStep
+
+					double min_applied_impulse = -max_applied_impulse;
+					
+
+					if (posError>0)
+						max_applied_impulse=0;
+					else
+						min_applied_impulse=0;
+
+					if (btFabs(posError)>SIMD_EPSILON)
+					{
+						btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+						fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
+							zero, zero, zero,//pure angular, so zero out linear parts
+							posError,
+							infoGlobal,
+							min_applied_impulse, max_applied_impulse, true,
+							1.0, false, 0, 0,
+							damp);
+						constraintRow.m_orgConstraint = this;
+						constraintRow.m_orgDofIndex = row;
+					}
+					break;
+				}
+				default:
+				{
+					btAssert(0);
+				}
+			};
+		}
+	}
+}
+
+
+void btMultiBodySphericalJointLimit::debugDraw(class btIDebugDraw* drawer)
+{
+	btTransform tr;
+	tr.setIdentity();
+	if (m_bodyB)
+	{
+		btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotB);
+		tr.setOrigin(pivotBworld);
+		drawer->drawTransform(tr, 0.1);
+	}
+}
diff --git a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h
new file mode 100644
index 0000000000..b82db6a99e
--- /dev/null
+++ b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h
@@ -0,0 +1,115 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#ifndef BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
+#define BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
+
+#include "btMultiBodyConstraint.h"
+struct btSolverInfo;
+
+class btMultiBodySphericalJointLimit : public btMultiBodyConstraint
+{
+protected:
+	btVector3 m_desiredVelocity;
+	btQuaternion m_desiredPosition;
+	bool m_use_multi_dof_params;
+	btVector3 m_kd;
+	btVector3 m_kp;
+	btScalar m_erp;
+	btScalar m_rhsClamp;  //maximum error
+	btVector3 m_maxAppliedImpulseMultiDof;
+	btVector3 m_pivotA;
+	btVector3 m_pivotB;
+	btScalar m_swingxRange;
+	btScalar m_swingyRange;
+	btScalar m_twistRange;
+
+public:
+	btMultiBodySphericalJointLimit(btMultiBody* body, int link, 
+		btScalar swingxRange,
+		btScalar swingyRange,
+		btScalar twistRange,
+		btScalar maxAppliedImpulse);
+	
+	virtual ~btMultiBodySphericalJointLimit();
+	virtual void finalizeMultiDof();
+
+	virtual int getIslandIdA() const;
+	virtual int getIslandIdB() const;
+
+	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+									  btMultiBodyJacobianData& data,
+									  const btContactSolverInfo& infoGlobal);
+
+	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0)
+	{
+		m_desiredVelocity = velTarget;
+		m_kd = btVector3(kd, kd, kd);
+		m_use_multi_dof_params = false;
+	}
+
+	virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0))
+	{
+		m_desiredVelocity = velTarget;
+		m_kd = kd;
+		m_use_multi_dof_params = true;
+	}
+
+	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f)
+	{
+		m_desiredPosition = posTarget;
+		m_kp = btVector3(kp, kp, kp);
+		m_use_multi_dof_params = false;
+	}
+
+	virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f))
+	{
+		m_desiredPosition = posTarget;
+		m_kp = kp;
+		m_use_multi_dof_params = true;
+	}
+
+	virtual void setErp(btScalar erp)
+	{
+		m_erp = erp;
+	}
+	virtual btScalar getErp() const
+	{
+		return m_erp;
+	}
+	virtual void setRhsClamp(btScalar rhsClamp)
+	{
+		m_rhsClamp = rhsClamp;
+	}
+
+	btScalar getMaxAppliedImpulseMultiDof(int i) const
+	{
+		return m_maxAppliedImpulseMultiDof[i];
+	}
+
+	void setMaxAppliedImpulseMultiDof(const btVector3& maxImp)
+	{
+		m_maxAppliedImpulseMultiDof = maxImp;
+		m_use_multi_dof_params = true;
+	}
+
+
+	virtual void debugDraw(class btIDebugDraw* drawer);
+
+};
+
+#endif  //BT_MULTIBODY_SPHERICAL_JOINT_LIMIT_H
diff --git a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
index 25ddd539bf..00a7ef3579 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp
@@ -26,10 +26,13 @@ btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(btMultiBody* body
 	: btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 3, true, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR),
 	m_desiredVelocity(0, 0, 0),
 	m_desiredPosition(0,0,0,1),
-	m_kd(1.),
-	m_kp(0.2),
+	m_use_multi_dof_params(false),
+	m_kd(1., 1., 1.),
+	m_kp(0.2, 0.2, 0.2),
 	m_erp(1),
-	m_rhsClamp(SIMD_INFINITY)
+	m_rhsClamp(SIMD_INFINITY),
+	m_maxAppliedImpulseMultiDof(maxMotorImpulse, maxMotorImpulse, maxMotorImpulse),
+	m_damping(1.0, 1.0, 1.0)
 {
 
 	m_maxAppliedImpulse = maxMotorImpulse;
@@ -139,7 +142,8 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat;
 		btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
 		btScalar desiredVelocity = this->m_desiredVelocity[row];
 		
-		btScalar velocityError = desiredVelocity - currentVelocity;
+		double kd = m_use_multi_dof_params ? m_kd[row % 3] : m_kd[0];
+		btScalar velocityError = (desiredVelocity - currentVelocity) * kd;
 
 		btMatrix3x3 frameAworld;
 		frameAworld.setIdentity();
@@ -152,12 +156,16 @@ btQuaternion relRot = currentQuat.inverse() * desiredQuat;
 				case btMultibodyLink::eSpherical:
 				{
 					btVector3 constraintNormalAng = frameAworld.getColumn(row % 3);
-					posError = m_kp*angleDiff[row % 3];
+					double kp = m_use_multi_dof_params ? m_kp[row % 3] : m_kp[0];
+					posError = kp*angleDiff[row % 3];
+					double max_applied_impulse = m_use_multi_dof_params ? m_maxAppliedImpulseMultiDof[row % 3] : m_maxAppliedImpulse;
 					fillMultiBodyConstraint(constraintRow, data, 0, 0, constraintNormalAng,
 						btVector3(0,0,0), dummy, dummy,
 						posError,
 						infoGlobal,
-						-m_maxAppliedImpulse, m_maxAppliedImpulse, true);
+						-max_applied_impulse, max_applied_impulse, true,
+						1.0, false, 0, 0,
+						m_damping[row % 3]);
 					constraintRow.m_orgConstraint = this;
 					constraintRow.m_orgDofIndex = row;
 					break;
diff --git a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
index 621beab5a4..bdeccc2e24 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h
@@ -26,10 +26,13 @@ class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
 protected:
 	btVector3 m_desiredVelocity;
 	btQuaternion m_desiredPosition;
-	btScalar m_kd;
-	btScalar m_kp;
+	bool m_use_multi_dof_params;
+	btVector3 m_kd;
+	btVector3 m_kp;
 	btScalar m_erp;
 	btScalar m_rhsClamp;  //maximum error
+	btVector3 m_maxAppliedImpulseMultiDof;
+	btVector3 m_damping;
 
 public:
 	btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse);
@@ -44,16 +47,32 @@ class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
 									  btMultiBodyJacobianData& data,
 									  const btContactSolverInfo& infoGlobal);
 
-	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.f)
+	virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.0)
+	{
+		m_desiredVelocity = velTarget;
+		m_kd = btVector3(kd, kd, kd);
+		m_use_multi_dof_params = false;
+	}
+
+	virtual void setVelocityTargetMultiDof(const btVector3& velTarget, const btVector3& kd = btVector3(1.0, 1.0, 1.0))
 	{
 		m_desiredVelocity = velTarget;
 		m_kd = kd;
+		m_use_multi_dof_params = true;
 	}
 
-	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp = 1.f)
+	virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp =1.f)
+	{
+		m_desiredPosition = posTarget;
+		m_kp = btVector3(kp, kp, kp);
+		m_use_multi_dof_params = false;
+	}
+
+	virtual void setPositionTargetMultiDof(const btQuaternion& posTarget, const btVector3& kp = btVector3(1.f, 1.f, 1.f))
 	{
 		m_desiredPosition = posTarget;
 		m_kp = kp;
+		m_use_multi_dof_params = true;
 	}
 
 	virtual void setErp(btScalar erp)
@@ -68,6 +87,28 @@ class btMultiBodySphericalJointMotor : public btMultiBodyConstraint
 	{
 		m_rhsClamp = rhsClamp;
 	}
+
+	btScalar getMaxAppliedImpulseMultiDof(int i) const
+	{
+		return m_maxAppliedImpulseMultiDof[i];
+	}
+
+	void setMaxAppliedImpulseMultiDof(const btVector3& maxImp)
+	{
+		m_maxAppliedImpulseMultiDof = maxImp;
+		m_use_multi_dof_params = true;
+	}
+
+	btScalar getDamping(int i) const
+	{
+		return m_damping[i];
+	}
+
+	void setDamping(const btVector3& damping)
+	{
+		m_damping = damping;
+	}
+
 	virtual void debugDraw(class btIDebugDraw* drawer)
 	{
 		//todo(erwincoumans)
diff --git a/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp b/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
index 954ffaed75..1007d04e34 100644
--- a/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
+++ b/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
@@ -169,9 +169,12 @@ btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
 
 			/*the column becomes part of the basis*/
 			basis[pivotRowIndex] = pivotColIndexOld;
-
-			pivotRowIndex = findLexicographicMinimum(A, pivotColIndex);
-
+			bool isRayTermination = false;
+			pivotRowIndex = findLexicographicMinimum(A, pivotColIndex, z0Row, isRayTermination);
+			if (isRayTermination)
+			{
+				break; // ray termination
+			}
 			if (z0Row == pivotRowIndex)
 			{  //if z0 leaves the basis the solution is found --> one last elimination step is necessary
 				GaussJordanEliminationStep(A, pivotRowIndex, pivotColIndex, basis);
@@ -217,79 +220,100 @@ btVectorXu btLemkeAlgorithm::solve(unsigned int maxloops /* = 0*/)
 	return solutionVector;
 }
 
-int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex)
+int btLemkeAlgorithm::findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex, const int& z0Row, bool& isRayTermination)
 {
-	int RowIndex = 0;
+	isRayTermination = false;
+	btAlignedObjectArray<int> activeRows;
+
+        bool firstRow = true;
+	btScalar currentMin = 0.0;
+
 	int dim = A.rows();
-	btAlignedObjectArray<btVectorXu> Rows;
+
 	for (int row = 0; row < dim; row++)
 	{
-		btVectorXu vec(dim + 1);
-		vec.setZero();  //, INIT, 0.)
-		Rows.push_back(vec);
-		btScalar a = A(row, pivotColIndex);
-		if (a > 0)
+		const btScalar denom = A(row, pivotColIndex);
+
+		if (denom > btMachEps())
 		{
-			Rows[row][0] = A(row, 2 * dim + 1) / a;
-			Rows[row][1] = A(row, 2 * dim) / a;
-			for (int j = 2; j < dim + 1; j++)
-				Rows[row][j] = A(row, j - 1) / a;
+			const btScalar q = A(row, dim + dim + 1) / denom;
+			if (firstRow)
+			{
+				currentMin = q;
+				activeRows.push_back(row);
+				firstRow = false;
+			}
+			else if (fabs(currentMin - q) < btMachEps())
+			{
+				activeRows.push_back(row);
+			}
+			else if (currentMin > q)
+			{
+				currentMin = q;
+				activeRows.clear();
+				activeRows.push_back(row);
+			}
+		}
+	}
 
-#ifdef BT_DEBUG_OSTREAM
-				//		if (DEBUGLEVEL) {
-				//	  cout << "Rows(" << row << ") = " << Rows[row] << endl;
-				// }
-#endif
+	if (activeRows.size() == 0)
+	{
+		isRayTermination = true;
+		return 0;
+	}
+	else if (activeRows.size() == 1)
+	{
+		return activeRows[0];
+	}
+
+	// if there are multiple rows, check if they contain the row for z_0.
+	for (int i = 0; i < activeRows.size(); i++)
+	{
+		if (activeRows[i] == z0Row)
+		{
+			return z0Row;
 		}
 	}
 
-	for (int i = 0; i < Rows.size(); i++)
+	// look through the columns of the inverse of the basic matrix from left to right until the tie is broken.
+	for (int col = 0; col < dim ; col++)
 	{
-		if (Rows[i].nrm2() > 0.)
+		btAlignedObjectArray<int> activeRowsCopy(activeRows);
+		activeRows.clear();
+		firstRow = true;
+		for (int i = 0; i<activeRowsCopy.size();i++)
 		{
-			int j = 0;
-			for (; j < Rows.size(); j++)
+			const int row = activeRowsCopy[i];
+
+			// denom is positive here as an invariant.
+			const btScalar denom = A(row, pivotColIndex);
+			const btScalar ratio = A(row, col) / denom;
+			if (firstRow)
 			{
-				if (i != j)
-				{
-					if (Rows[j].nrm2() > 0.)
-					{
-						btVectorXu test(dim + 1);
-						for (int ii = 0; ii < dim + 1; ii++)
-						{
-							test[ii] = Rows[j][ii] - Rows[i][ii];
-						}
-
-						//=Rows[j] - Rows[i]
-						if (!LexicographicPositive(test))
-							break;
-					}
-				}
+				currentMin = ratio;
+				activeRows.push_back(row);
+				firstRow = false;
 			}
-
-			if (j == Rows.size())
+			else if (fabs(currentMin - ratio) < btMachEps())
 			{
-				RowIndex += i;
-				break;
+				activeRows.push_back(row);
+			}
+			else if (currentMin > ratio)
+			{
+				currentMin = ratio;
+				activeRows.clear();
+				activeRows.push_back(row);
 			}
 		}
-	}
-
-	return RowIndex;
-}
-
-bool btLemkeAlgorithm::LexicographicPositive(const btVectorXu& v)
-{
-	int i = 0;
-	//  if (DEBUGLEVEL)
-	//  cout << "v " << v << endl;
-
-	while (i < v.size() - 1 && fabs(v[i]) < btMachEps())
-		i++;
-	if (v[i] > 0)
-		return true;
 
-	return false;
+		if (activeRows.size() == 1)
+		{
+			return activeRows[0];
+		}
+	}
+	// must not reach here.
+	isRayTermination = true;
+	return 0;
 }
 
 void btLemkeAlgorithm::GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis)
diff --git a/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h b/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
index 3c6bf72a23..6c498dd0a8 100644
--- a/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
+++ b/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.h
@@ -71,8 +71,7 @@ class btLemkeAlgorithm
 	}
 
 protected:
-	int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex);
-	bool LexicographicPositive(const btVectorXu& v);
+	int findLexicographicMinimum(const btMatrixXu& A, const int& pivotColIndex, const int& z0Row, bool& isRayTermination);
 	void GaussJordanEliminationStep(btMatrixXu& A, int pivotRowIndex, int pivotColumnIndex, const btAlignedObjectArray<int>& basis);
 	bool greaterZero(const btVectorXu& vector);
 	bool validBasis(const btAlignedObjectArray<int>& basis);
diff --git a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
index 5d864f2757..ed4e0b686d 100644
--- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
+++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
@@ -532,7 +532,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
 	J_transpose = J.transpose();
 
 	btMatrixXu& tmp = m_scratchTmp;
-
+	//Minv.printMatrix("Minv=");
 	{
 		{
 			BT_PROFILE("J*Minv");
@@ -543,7 +543,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal)
 			m_A = tmp * J_transpose;
 		}
 	}
-
+	//J.printMatrix("J");
 	if (1)
 	{
 		// add cfm to the diagonal of m_A
diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index b23c9d9b0f..000e4dace3 100644
--- a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
  *
  * Permission to use, copy, modify, distribute and sell this software
  * and its documentation for any purpose is hereby granted without fee,
diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/src/BulletDynamics/Vehicle/btRaycastVehicle.h
index 99d6894e56..b4a92b0a91 100644
--- a/src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ b/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
  *
  * Permission to use, copy, modify, distribute and sell this software
  * and its documentation for any purpose is hereby granted without fee,
diff --git a/src/BulletDynamics/Vehicle/btWheelInfo.cpp b/src/BulletDynamics/Vehicle/btWheelInfo.cpp
index d5c12f223b..5313215a2e 100644
--- a/src/BulletDynamics/Vehicle/btWheelInfo.cpp
+++ b/src/BulletDynamics/Vehicle/btWheelInfo.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
  *
  * Permission to use, copy, modify, distribute and sell this software
  * and its documentation for any purpose is hereby granted without fee,
diff --git a/src/BulletDynamics/Vehicle/btWheelInfo.h b/src/BulletDynamics/Vehicle/btWheelInfo.h
index af88b8ff83..68f61423de 100644
--- a/src/BulletDynamics/Vehicle/btWheelInfo.h
+++ b/src/BulletDynamics/Vehicle/btWheelInfo.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
  *
  * Permission to use, copy, modify, distribute and sell this software
  * and its documentation for any purpose is hereby granted without fee,
diff --git a/src/BulletInverseDynamics/IDMath.cpp b/src/BulletInverseDynamics/IDMath.cpp
index 2f120ed489..0c3f5c9d47 100644
--- a/src/BulletInverseDynamics/IDMath.cpp
+++ b/src/BulletInverseDynamics/IDMath.cpp
@@ -503,8 +503,8 @@ vec3 rpyFromMatrix(const mat33 &rot)
 {
 	vec3 rpy;
 	rpy(2) = BT_ID_ATAN2(-rot(1, 0), rot(0, 0));
-	rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
 	rpy(0) = BT_ID_ATAN2(-rot(2, 0), rot(2, 2));
+	rpy(1) = BT_ID_ATAN2(rot(2, 0), BT_ID_COS(rpy(2)) * rot(0, 0) - BT_ID_SIN(rpy(0)) * rot(1, 0));
 	return rpy;
 }
 }  // namespace btInverseDynamics
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp
new file mode 100644
index 0000000000..feb30d5879
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp
@@ -0,0 +1,792 @@
+#include "btReducedDeformableBody.h"
+#include "../btSoftBodyInternals.h"
+#include "btReducedDeformableBodyHelpers.h"
+#include "LinearMath/btTransformUtil.h"
+#include <iostream>
+#include <fstream>
+
+btReducedDeformableBody::btReducedDeformableBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
+ : btSoftBody(worldInfo, node_count, x, m), m_rigidOnly(false)
+{
+  // reduced deformable
+  m_reducedModel = true;
+  m_nReduced = 0;
+  m_nFull = 0;
+  m_nodeIndexOffset = 0;
+
+  m_transform_lock = false;
+  m_ksScale = 1.0;
+  m_rhoScale = 1.0;
+
+  // rigid motion
+  m_linearVelocity.setZero();
+	m_angularVelocity.setZero();
+  m_internalDeltaLinearVelocity.setZero();
+  m_internalDeltaAngularVelocity.setZero();
+  m_angularVelocityFromReduced.setZero();
+  m_internalDeltaAngularVelocityFromReduced.setZero();
+	m_angularFactor.setValue(1, 1, 1);
+	m_linearFactor.setValue(1, 1, 1);
+  // m_invInertiaLocal.setValue(1, 1, 1);
+  m_invInertiaLocal.setIdentity();
+  m_mass = 0.0;
+  m_inverseMass = 0.0;
+
+  m_linearDamping = 0;
+  m_angularDamping = 0;
+
+  // Rayleigh damping
+  m_dampingAlpha = 0;
+  m_dampingBeta = 0;
+
+  m_rigidTransformWorld.setIdentity();
+}
+
+void btReducedDeformableBody::setReducedModes(int num_modes, int full_size)
+{
+  m_nReduced = num_modes;
+  m_nFull = full_size;
+  m_reducedDofs.resize(m_nReduced, 0);
+  m_reducedDofsBuffer.resize(m_nReduced, 0);
+  m_reducedVelocity.resize(m_nReduced, 0);
+  m_reducedVelocityBuffer.resize(m_nReduced, 0);
+  m_reducedForceElastic.resize(m_nReduced, 0);
+  m_reducedForceDamping.resize(m_nReduced, 0);
+  m_reducedForceExternal.resize(m_nReduced, 0);
+  m_internalDeltaReducedVelocity.resize(m_nReduced, 0);
+  m_nodalMass.resize(full_size, 0);
+  m_localMomentArm.resize(m_nFull);
+}
+
+void btReducedDeformableBody::setMassProps(const tDenseArray& mass_array)
+{
+  btScalar total_mass = 0;
+  btVector3 CoM(0, 0, 0);
+	for (int i = 0; i < m_nFull; ++i)
+	{
+		m_nodalMass[i] = m_rhoScale * mass_array[i];
+		m_nodes[i].m_im = mass_array[i] > 0 ? 1.0 / (m_rhoScale * mass_array[i]) : 0;
+		total_mass += m_rhoScale * mass_array[i];
+
+    CoM += m_nodalMass[i] * m_nodes[i].m_x;
+	}
+  // total rigid body mass
+  m_mass = total_mass;
+  m_inverseMass = total_mass > 0 ? 1.0 / total_mass : 0;
+  // original CoM
+  m_initialCoM = CoM / total_mass;
+}
+
+void btReducedDeformableBody::setInertiaProps()
+{
+  // make sure the initial CoM is at the origin (0,0,0)
+  // for (int i = 0; i < m_nFull; ++i)
+  // {
+  //   m_nodes[i].m_x -= m_initialCoM;
+  // }
+  // m_initialCoM.setZero();
+  m_rigidTransformWorld.setOrigin(m_initialCoM);
+  m_interpolationWorldTransform = m_rigidTransformWorld;
+  
+  updateLocalInertiaTensorFromNodes();
+
+  // update world inertia tensor
+  btMatrix3x3 rotation;
+  rotation.setIdentity();
+  updateInitialInertiaTensor(rotation);
+  updateInertiaTensor();
+  m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld;
+}
+
+void btReducedDeformableBody::setRigidVelocity(const btVector3& v)
+{
+  m_linearVelocity = v;
+}
+
+void btReducedDeformableBody::setRigidAngularVelocity(const btVector3& omega)
+{
+  m_angularVelocity = omega;
+}
+
+void btReducedDeformableBody::setStiffnessScale(const btScalar ks)
+{
+  m_ksScale = ks;
+}
+
+void btReducedDeformableBody::setMassScale(const btScalar rho)
+{
+  m_rhoScale = rho;
+}
+
+void btReducedDeformableBody::setFixedNodes(const int n_node)
+{
+  m_fixedNodes.push_back(n_node);
+  m_nodes[n_node].m_im = 0;   // set inverse mass to be zero for the constraint solver.
+}
+
+void btReducedDeformableBody::setDamping(const btScalar alpha, const btScalar beta)
+{
+  m_dampingAlpha = alpha;
+  m_dampingBeta = beta;
+}
+
+void btReducedDeformableBody::internalInitialization()
+{
+  // zeroing
+  endOfTimeStepZeroing();
+  // initialize rest position
+  updateRestNodalPositions();
+  // initialize local nodal moment arm form the CoM
+  updateLocalMomentArm();
+  // initialize projection matrix
+  updateExternalForceProjectMatrix(false);
+}
+
+void btReducedDeformableBody::updateLocalMomentArm()
+{
+  TVStack delta_x;
+  delta_x.resize(m_nFull);
+
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    for (int k = 0; k < 3; ++k)
+    {
+      // compute displacement
+      delta_x[i][k] = 0;
+      for (int j = 0; j < m_nReduced; ++j) 
+      {
+        delta_x[i][k] += m_modes[j][3 * i + k] * m_reducedDofs[j];
+      }
+    }
+    // get new moment arm Sq + x0
+    m_localMomentArm[i] = m_x0[i] - m_initialCoM + delta_x[i];
+  }
+}
+
+void btReducedDeformableBody::updateExternalForceProjectMatrix(bool initialized)
+{
+  // if not initialized, need to compute both P_A and Cq
+  // otherwise, only need to udpate Cq
+  if (!initialized)
+  {
+    // resize
+    m_projPA.resize(m_nReduced);
+    m_projCq.resize(m_nReduced);
+
+    m_STP.resize(m_nReduced);
+    m_MrInvSTP.resize(m_nReduced);
+
+    // P_A
+    for (int r = 0; r < m_nReduced; ++r)
+    {
+      m_projPA[r].resize(3 * m_nFull, 0);
+      for (int i = 0; i < m_nFull; ++i)
+      {
+        btMatrix3x3 mass_scaled_i = Diagonal(1) - Diagonal(m_nodalMass[i] / m_mass);
+        btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]);
+        btVector3 prod_i = mass_scaled_i * s_ri;
+
+        for (int k = 0; k < 3; ++k)
+          m_projPA[r][3 * i + k] = prod_i[k];
+
+        // btScalar ratio = m_nodalMass[i] / m_mass;
+        // m_projPA[r] += btVector3(- m_modes[r][3 * i] * ratio,
+        //                          - m_modes[r][3 * i + 1] * ratio,
+        //                          - m_modes[r][3 * i + 2] * ratio);
+      }
+    }
+  }
+
+  // C(q) is updated once per position update
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+  	m_projCq[r].resize(3 * m_nFull, 0);
+    for (int i = 0; i < m_nFull; ++i)
+    {
+      btMatrix3x3 r_star = Cross(m_localMomentArm[i]);
+      btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]);
+      btVector3 prod_i = r_star * m_invInertiaTensorWorld * r_star * s_ri;
+
+      for (int k = 0; k < 3; ++k)
+        m_projCq[r][3 * i + k] = m_nodalMass[i] * prod_i[k];
+
+      // btVector3 si(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]);
+      // m_projCq[r] += m_nodalMass[i] * si.cross(m_localMomentArm[i]);
+    }
+  }
+}
+
+void btReducedDeformableBody::endOfTimeStepZeroing()
+{
+  for (int i = 0; i < m_nReduced; ++i)
+  {
+    m_reducedForceElastic[i] = 0;
+    m_reducedForceDamping[i] = 0;
+    m_reducedForceExternal[i] = 0;
+    m_internalDeltaReducedVelocity[i] = 0;
+    m_reducedDofsBuffer[i] = m_reducedDofs[i];
+    m_reducedVelocityBuffer[i] = m_reducedVelocity[i];
+  }
+  // std::cout << "zeroed!\n";
+}
+
+void btReducedDeformableBody::applyInternalVelocityChanges()
+{
+  m_linearVelocity += m_internalDeltaLinearVelocity;
+  m_angularVelocity += m_internalDeltaAngularVelocity;
+  m_internalDeltaLinearVelocity.setZero();
+  m_internalDeltaAngularVelocity.setZero();
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+    m_reducedVelocity[r] += m_internalDeltaReducedVelocity[r];
+    m_internalDeltaReducedVelocity[r] = 0;
+  }
+}
+
+void btReducedDeformableBody::predictIntegratedTransform(btScalar dt, btTransform& predictedTransform)
+{
+	btTransformUtil::integrateTransform(m_rigidTransformWorld, m_linearVelocity, m_angularVelocity, dt, predictedTransform);
+}
+
+void btReducedDeformableBody::updateReducedDofs(btScalar solverdt)
+{
+  for (int r = 0; r < m_nReduced; ++r)
+  { 
+    m_reducedDofs[r] = m_reducedDofsBuffer[r] + solverdt * m_reducedVelocity[r];
+  }
+}
+
+void btReducedDeformableBody::mapToFullPosition(const btTransform& ref_trans)
+{
+  btVector3 origin = ref_trans.getOrigin();
+  btMatrix3x3 rotation = ref_trans.getBasis();
+  
+
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    m_nodes[i].m_x = rotation * m_localMomentArm[i] + origin;
+    m_nodes[i].m_q = m_nodes[i].m_x;
+  }
+}
+
+void btReducedDeformableBody::updateReducedVelocity(btScalar solverdt)
+{
+  // update reduced velocity
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+    // the reduced mass is always identity!
+    btScalar delta_v = 0;
+    delta_v = solverdt * (m_reducedForceElastic[r] + m_reducedForceDamping[r]);
+    // delta_v = solverdt * (m_reducedForceElastic[r] + m_reducedForceDamping[r] + m_reducedForceExternal[r]);
+    m_reducedVelocity[r] = m_reducedVelocityBuffer[r] + delta_v;
+  }
+}
+
+void btReducedDeformableBody::mapToFullVelocity(const btTransform& ref_trans)
+{
+  // compute the reduced contribution to the angular velocity
+  // btVector3 sum_linear(0, 0, 0);
+  // btVector3 sum_angular(0, 0, 0);
+  // m_linearVelocityFromReduced.setZero();
+  // m_angularVelocityFromReduced.setZero();
+  // for (int i = 0; i < m_nFull; ++i)
+  // {
+  //   btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[i];
+  //   btMatrix3x3 r_star = Cross(r_com);
+
+  //   btVector3 v_from_reduced(0, 0, 0);
+  //   for (int k = 0; k < 3; ++k)
+  //   {
+  //     for (int r = 0; r < m_nReduced; ++r)
+  //     {
+  //       v_from_reduced[k] += m_modes[r][3 * i + k] * m_reducedVelocity[r];
+  //     }
+  //   }
+
+  //   btVector3 delta_linear = m_nodalMass[i] * v_from_reduced;
+  //   btVector3 delta_angular = m_nodalMass[i] * (r_star * ref_trans.getBasis() * v_from_reduced);
+  //   sum_linear += delta_linear;
+  //   sum_angular += delta_angular;
+  //   // std::cout << "delta_linear: " << delta_linear[0] << "\t" << delta_linear[1] << "\t" << delta_linear[2] << "\n";
+  //   // std::cout << "delta_angular: " << delta_angular[0] << "\t" << delta_angular[1] << "\t" << delta_angular[2] << "\n";
+  //   // std::cout << "sum_linear: " << sum_linear[0] << "\t" << sum_linear[1] << "\t" << sum_linear[2] << "\n";
+  //   // std::cout << "sum_angular: " << sum_angular[0] << "\t" << sum_angular[1] << "\t" << sum_angular[2] << "\n";
+  // }
+  // m_linearVelocityFromReduced = 1.0 / m_mass * (ref_trans.getBasis() * sum_linear);
+  // m_angularVelocityFromReduced = m_interpolateInvInertiaTensorWorld * sum_angular;
+
+  // m_linearVelocity -= m_linearVelocityFromReduced;
+  // m_angularVelocity -= m_angularVelocityFromReduced;
+
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    m_nodes[i].m_v = computeNodeFullVelocity(ref_trans, i);
+  }
+}
+
+const btVector3 btReducedDeformableBody::computeTotalAngularMomentum() const
+{
+  btVector3 L_rigid = m_invInertiaTensorWorld.inverse() * m_angularVelocity;
+  btVector3 L_reduced(0, 0, 0);
+  btMatrix3x3 omega_prime_star = Cross(m_angularVelocityFromReduced);
+
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    btVector3 r_com = m_rigidTransformWorld.getBasis() * m_localMomentArm[i];
+    btMatrix3x3 r_star = Cross(r_com);
+
+    btVector3 v_from_reduced(0, 0, 0);
+    for (int k = 0; k < 3; ++k)
+    {
+      for (int r = 0; r < m_nReduced; ++r)
+      {
+        v_from_reduced[k] += m_modes[r][3 * i + k] * m_reducedVelocity[r];
+      }
+    }
+
+    L_reduced += m_nodalMass[i] * (r_star * (m_rigidTransformWorld.getBasis() * v_from_reduced - omega_prime_star * r_com));
+    // L_reduced += m_nodalMass[i] * (r_star * (m_rigidTransformWorld.getBasis() * v_from_reduced));
+  }
+  return L_rigid + L_reduced;
+}
+
+const btVector3 btReducedDeformableBody::computeNodeFullVelocity(const btTransform& ref_trans, int n_node) const
+{
+  btVector3 v_from_reduced(0, 0, 0);
+  btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[n_node];
+  // compute velocity contributed by the reduced velocity
+  for (int k = 0; k < 3; ++k)
+  {
+    for (int r = 0; r < m_nReduced; ++r)
+    {
+      v_from_reduced[k] += m_modes[r][3 * n_node + k] * m_reducedVelocity[r];
+    }
+  }
+  // get new velocity
+  btVector3 vel = m_angularVelocity.cross(r_com) + 
+                  ref_trans.getBasis() * v_from_reduced +
+                  m_linearVelocity;
+  return vel;
+}
+
+const btVector3 btReducedDeformableBody::internalComputeNodeDeltaVelocity(const btTransform& ref_trans, int n_node) const
+{
+  btVector3 deltaV_from_reduced(0, 0, 0);
+  btVector3 r_com = ref_trans.getBasis() * m_localMomentArm[n_node];
+
+  // compute velocity contributed by the reduced velocity
+  for (int k = 0; k < 3; ++k)
+  {
+    for (int r = 0; r < m_nReduced; ++r)
+    {
+      deltaV_from_reduced[k] += m_modes[r][3 * n_node + k] * m_internalDeltaReducedVelocity[r];
+    }
+  }
+
+  // get delta velocity
+  btVector3 deltaV = m_internalDeltaAngularVelocity.cross(r_com) + 
+                     ref_trans.getBasis() * deltaV_from_reduced +
+                     m_internalDeltaLinearVelocity;
+  return deltaV;
+}
+
+void btReducedDeformableBody::proceedToTransform(btScalar dt, bool end_of_time_step)
+{
+  btTransformUtil::integrateTransform(m_rigidTransformWorld, m_linearVelocity, m_angularVelocity, dt, m_interpolationWorldTransform);
+  updateInertiaTensor();
+  // m_interpolateInvInertiaTensorWorld = m_interpolationWorldTransform.getBasis().scaled(m_invInertiaLocal) * m_interpolationWorldTransform.getBasis().transpose();
+  m_rigidTransformWorld = m_interpolationWorldTransform;
+  m_invInertiaTensorWorld = m_interpolateInvInertiaTensorWorld;
+}
+
+void btReducedDeformableBody::transformTo(const btTransform& trs)
+{
+	btTransform current_transform = getRigidTransform();
+	btTransform new_transform(trs.getBasis() * current_transform.getBasis().transpose(),
+                            trs.getOrigin() - current_transform.getOrigin());
+  transform(new_transform);
+}
+
+void btReducedDeformableBody::transform(const btTransform& trs)
+{
+  m_transform_lock = true;
+
+  // transform mesh
+  {
+    const btScalar margin = getCollisionShape()->getMargin();
+    ATTRIBUTE_ALIGNED16(btDbvtVolume)
+    vol;
+
+    btVector3 CoM = m_rigidTransformWorld.getOrigin();
+    btVector3 translation = trs.getOrigin();
+    btMatrix3x3 rotation = trs.getBasis();
+
+    for (int i = 0; i < m_nodes.size(); ++i)
+    {
+      Node& n = m_nodes[i];
+      n.m_x = rotation * (n.m_x - CoM) + CoM + translation;
+      n.m_q = rotation * (n.m_q - CoM) + CoM + translation;
+      n.m_n = rotation * n.m_n;
+      vol = btDbvtVolume::FromCR(n.m_x, margin);
+
+      m_ndbvt.update(n.m_leaf, vol);
+    }
+    updateNormals();
+    updateBounds();
+    updateConstants();
+  }
+
+  // update modes
+  updateModesByRotation(trs.getBasis());
+
+  // update inertia tensor
+  updateInitialInertiaTensor(trs.getBasis());
+  updateInertiaTensor();
+  m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld;
+  
+  // update rigid frame (No need to update the rotation. Nodes have already been updated.)
+  m_rigidTransformWorld.setOrigin(m_initialCoM + trs.getOrigin());
+  m_interpolationWorldTransform = m_rigidTransformWorld;
+  m_initialCoM = m_rigidTransformWorld.getOrigin();
+
+  internalInitialization();
+}
+
+void btReducedDeformableBody::scale(const btVector3& scl)
+{
+  // Scaling the mesh after transform is applied is not allowed
+  btAssert(!m_transform_lock);
+
+  // scale the mesh
+  {
+    const btScalar margin = getCollisionShape()->getMargin();
+    ATTRIBUTE_ALIGNED16(btDbvtVolume)
+    vol;
+
+    btVector3 CoM = m_rigidTransformWorld.getOrigin();
+
+    for (int i = 0; i < m_nodes.size(); ++i)
+    {
+      Node& n = m_nodes[i];
+      n.m_x = (n.m_x - CoM) * scl + CoM;
+      n.m_q = (n.m_q - CoM) * scl + CoM;
+      vol = btDbvtVolume::FromCR(n.m_x, margin);
+      m_ndbvt.update(n.m_leaf, vol);
+    }
+    updateNormals();
+    updateBounds();
+    updateConstants();
+    initializeDmInverse();
+  }
+
+  // update inertia tensor
+  updateLocalInertiaTensorFromNodes();
+
+  btMatrix3x3 id;
+  id.setIdentity();
+  updateInitialInertiaTensor(id);   // there is no rotation, but the local inertia tensor has changed
+  updateInertiaTensor();
+  m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld;
+
+  internalInitialization();
+}
+
+void btReducedDeformableBody::setTotalMass(btScalar mass, bool fromfaces)
+{
+  // Changing the total mass after transform is applied is not allowed
+  btAssert(!m_transform_lock);
+
+  btScalar scale_ratio = mass / m_mass;
+
+  // update nodal mass
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    m_nodalMass[i] *= scale_ratio;
+  }
+  m_mass = mass;
+  m_inverseMass = mass > 0 ? 1.0 / mass : 0;
+
+  // update inertia tensors
+  updateLocalInertiaTensorFromNodes();
+
+  btMatrix3x3 id;
+  id.setIdentity();
+  updateInitialInertiaTensor(id);   // there is no rotation, but the local inertia tensor has changed
+  updateInertiaTensor();
+  m_interpolateInvInertiaTensorWorld = m_invInertiaTensorWorld;
+
+  internalInitialization();
+}
+
+void btReducedDeformableBody::updateRestNodalPositions()
+{
+  // update reset nodal position
+  m_x0.resize(m_nFull);
+  for (int i = 0; i < m_nFull; ++i)
+  {
+    m_x0[i] = m_nodes[i].m_x;
+  }
+}
+
+// reference notes:
+// https://ocw.mit.edu/courses/aeronautics-and-astronautics/16-07-dynamics-fall-2009/lecture-notes/MIT16_07F09_Lec26.pdf
+void btReducedDeformableBody::updateLocalInertiaTensorFromNodes()
+{
+  btMatrix3x3 inertia_tensor;
+  inertia_tensor.setZero();
+
+  for (int p = 0; p < m_nFull; ++p)
+  {
+    btMatrix3x3 particle_inertia;
+    particle_inertia.setZero();
+
+    btVector3 r = m_nodes[p].m_x - m_initialCoM;
+
+    particle_inertia[0][0] = m_nodalMass[p] * (r[1] * r[1] + r[2] * r[2]);
+    particle_inertia[1][1] = m_nodalMass[p] * (r[0] * r[0] + r[2] * r[2]);
+    particle_inertia[2][2] = m_nodalMass[p] * (r[0] * r[0] + r[1] * r[1]);
+
+    particle_inertia[0][1] = - m_nodalMass[p] * (r[0] * r[1]);
+    particle_inertia[0][2] = - m_nodalMass[p] * (r[0] * r[2]);
+    particle_inertia[1][2] = - m_nodalMass[p] * (r[1] * r[2]);
+
+    particle_inertia[1][0] = particle_inertia[0][1];
+    particle_inertia[2][0] = particle_inertia[0][2];
+    particle_inertia[2][1] = particle_inertia[1][2];
+
+    inertia_tensor += particle_inertia;
+  }
+  m_invInertiaLocal = inertia_tensor.inverse();
+}
+
+void btReducedDeformableBody::updateInitialInertiaTensor(const btMatrix3x3& rotation)
+{
+  // m_invInertiaTensorWorldInitial = rotation.scaled(m_invInertiaLocal) * rotation.transpose();
+  m_invInertiaTensorWorldInitial = rotation * m_invInertiaLocal * rotation.transpose();
+}
+
+void btReducedDeformableBody::updateModesByRotation(const btMatrix3x3& rotation)
+{
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+    for (int i = 0; i < m_nFull; ++i)
+    {
+      btVector3 nodal_disp(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]);
+      nodal_disp = rotation * nodal_disp;
+
+      for (int k = 0; k < 3; ++k)
+      {
+        m_modes[r][3 * i + k] = nodal_disp[k];
+      }
+    }
+  }
+}
+
+void btReducedDeformableBody::updateInertiaTensor()
+{
+	m_invInertiaTensorWorld = m_rigidTransformWorld.getBasis() * m_invInertiaTensorWorldInitial * m_rigidTransformWorld.getBasis().transpose();
+}
+
+void btReducedDeformableBody::applyDamping(btScalar timeStep)
+{
+  m_linearVelocity *= btScalar(1) - m_linearDamping;
+  m_angularDamping *= btScalar(1) - m_angularDamping;
+}
+
+void btReducedDeformableBody::applyCentralImpulse(const btVector3& impulse)
+{
+  m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
+  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+  clampVelocity(m_linearVelocity);
+  #endif
+}
+
+void btReducedDeformableBody::applyTorqueImpulse(const btVector3& torque)
+{
+  m_angularVelocity += m_interpolateInvInertiaTensorWorld * torque * m_angularFactor;
+  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+  clampVelocity(m_angularVelocity);
+  #endif
+}
+
+void btReducedDeformableBody::internalApplyRigidImpulse(const btVector3& impulse, const btVector3& rel_pos)
+{
+  if (m_inverseMass == btScalar(0.))
+  {
+    std::cout << "something went wrong...probably didn't initialize?\n";
+    btAssert(false);
+  }
+  // delta linear velocity
+  m_internalDeltaLinearVelocity += impulse * m_linearFactor * m_inverseMass;
+  // delta angular velocity
+  btVector3 torque = rel_pos.cross(impulse * m_linearFactor);
+  m_internalDeltaAngularVelocity += m_interpolateInvInertiaTensorWorld * torque * m_angularFactor;
+}
+
+btVector3 btReducedDeformableBody::getRelativePos(int n_node)
+{
+  btMatrix3x3 rotation = m_interpolationWorldTransform.getBasis();
+  btVector3 ri = rotation * m_localMomentArm[n_node];
+  return ri;
+}
+
+btMatrix3x3 btReducedDeformableBody::getImpulseFactor(int n_node)
+{
+  // relative position
+  btMatrix3x3 rotation = m_interpolationWorldTransform.getBasis();
+  btVector3 ri = rotation * m_localMomentArm[n_node];
+  btMatrix3x3 ri_skew = Cross(ri);
+
+  // calculate impulse factor
+  // rigid part
+  btScalar inv_mass = m_nodalMass[n_node] > btScalar(0) ? btScalar(1) / m_mass : btScalar(0);
+  btMatrix3x3 K1 = Diagonal(inv_mass);
+  K1 -= ri_skew * m_interpolateInvInertiaTensorWorld * ri_skew;
+
+  // reduced deformable part
+  btMatrix3x3 SA;
+  SA.setZero();
+  for (int i = 0; i < 3; ++i)
+  {
+    for (int j = 0; j < 3; ++j)
+    {
+      for (int r = 0; r < m_nReduced; ++r)
+      {
+        SA[i][j] += m_modes[r][3 * n_node + i] * (m_projPA[r][3 * n_node + j] + m_projCq[r][3 * n_node + j]);
+      }
+    }
+  }
+  btMatrix3x3 RSARinv = rotation * SA * rotation.transpose();
+
+
+  TVStack omega_helper; // Sum_i m_i r*_i R S_i
+  omega_helper.resize(m_nReduced);
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+    omega_helper[r].setZero();
+    for (int i = 0; i < m_nFull; ++i)
+    {
+      btMatrix3x3 mi_rstar_i = rotation * Cross(m_localMomentArm[i]) * m_nodalMass[i];
+      btVector3 s_ri(m_modes[r][3 * i], m_modes[r][3 * i + 1], m_modes[r][3 * i + 2]);
+      omega_helper[r] += mi_rstar_i * rotation * s_ri;
+    }
+  }
+
+  btMatrix3x3 sum_multiply_A;
+  sum_multiply_A.setZero();
+  for (int i = 0; i < 3; ++i)
+  {
+    for (int j = 0; j < 3; ++j)
+    {
+      for (int r = 0; r < m_nReduced; ++r)
+      {
+        sum_multiply_A[i][j] += omega_helper[r][i] * (m_projPA[r][3 * n_node + j] + m_projCq[r][3 * n_node + j]);
+      }
+    }
+  }
+
+  btMatrix3x3 K2 = RSARinv + ri_skew * m_interpolateInvInertiaTensorWorld * sum_multiply_A * rotation.transpose();
+
+  return m_rigidOnly ? K1 : K1 + K2;
+}
+
+void btReducedDeformableBody::internalApplyFullSpaceImpulse(const btVector3& impulse, const btVector3& rel_pos, int n_node, btScalar dt)
+{
+  if (!m_rigidOnly)
+  {
+    // apply impulse force
+    applyFullSpaceNodalForce(impulse / dt, n_node);
+
+    // update delta damping force
+    tDenseArray reduced_vel_tmp;
+    reduced_vel_tmp.resize(m_nReduced);
+    for (int r = 0; r < m_nReduced; ++r)
+    {
+      reduced_vel_tmp[r] = m_reducedVelocity[r] + m_internalDeltaReducedVelocity[r];
+    }
+    applyReducedDampingForce(reduced_vel_tmp);
+    // applyReducedDampingForce(m_internalDeltaReducedVelocity);
+
+    // delta reduced velocity
+    for (int r = 0; r < m_nReduced; ++r)
+    {
+      // The reduced mass is always identity!
+      m_internalDeltaReducedVelocity[r] += dt * (m_reducedForceDamping[r] + m_reducedForceExternal[r]);
+    }
+  }
+
+  internalApplyRigidImpulse(impulse, rel_pos);
+}
+
+void btReducedDeformableBody::applyFullSpaceNodalForce(const btVector3& f_ext, int n_node)
+{
+  // f_local = R^-1 * f_ext //TODO: interpoalted transfrom
+  // btVector3 f_local = m_rigidTransformWorld.getBasis().transpose() * f_ext;
+  btVector3 f_local = m_interpolationWorldTransform.getBasis().transpose() * f_ext;
+
+  // f_ext_r = [S^T * P]_{n_node} * f_local
+  tDenseArray f_ext_r;
+  f_ext_r.resize(m_nReduced, 0);
+  for (int r = 0; r < m_nReduced; ++r)
+  {
+    m_reducedForceExternal[r] = 0;
+    for (int k = 0; k < 3; ++k)
+    {
+      f_ext_r[r] += (m_projPA[r][3 * n_node + k] + m_projCq[r][3 * n_node + k]) * f_local[k];
+    }
+
+    m_reducedForceExternal[r] += f_ext_r[r];
+  }
+}
+
+void btReducedDeformableBody::applyRigidGravity(const btVector3& gravity, btScalar dt)
+{
+  // update rigid frame velocity
+  m_linearVelocity += dt * gravity;
+}
+
+void btReducedDeformableBody::applyReducedElasticForce(const tDenseArray& reduce_dofs)
+{
+  for (int r = 0; r < m_nReduced; ++r) 
+  {
+    m_reducedForceElastic[r] = - m_ksScale * m_Kr[r] * reduce_dofs[r];
+  }
+}
+
+void btReducedDeformableBody::applyReducedDampingForce(const tDenseArray& reduce_vel)
+{
+  for (int r = 0; r < m_nReduced; ++r) 
+  {
+    m_reducedForceDamping[r] = - m_dampingBeta * m_ksScale * m_Kr[r] * reduce_vel[r];
+  }
+}
+
+btScalar btReducedDeformableBody::getTotalMass() const
+{
+  return m_mass;
+}
+
+btTransform& btReducedDeformableBody::getRigidTransform()
+{
+  return m_rigidTransformWorld;
+}
+
+const btVector3& btReducedDeformableBody::getLinearVelocity() const
+{
+  return m_linearVelocity;
+}
+
+const btVector3& btReducedDeformableBody::getAngularVelocity() const
+{
+  return m_angularVelocity;
+}
+
+void btReducedDeformableBody::disableReducedModes(const bool rigid_only)
+{
+  m_rigidOnly = rigid_only;
+}
+
+bool btReducedDeformableBody::isReducedModesOFF() const
+{
+  return m_rigidOnly;
+}
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h
new file mode 100644
index 0000000000..8968fb0cb9
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.h
@@ -0,0 +1,257 @@
+#ifndef BT_REDUCED_SOFT_BODY_H
+#define BT_REDUCED_SOFT_BODY_H
+
+#include "../btSoftBody.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btTransform.h"
+
+// Reduced deformable body is a simplified deformable object embedded in a rigid frame.
+class btReducedDeformableBody : public btSoftBody
+{
+ public:
+  //
+  //  Typedefs
+  //
+  typedef btAlignedObjectArray<btVector3> TVStack;
+  // typedef btAlignedObjectArray<btMatrix3x3> tBlockDiagMatrix;
+  typedef btAlignedObjectArray<btScalar> tDenseArray;
+  typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix;
+
+ private:
+  // flag to turn off the reduced modes
+  bool m_rigidOnly;
+
+  // Flags for transform. Once transform is applied, users cannot scale the mesh or change its total mass.
+  bool m_transform_lock;
+
+  // scaling factors
+  btScalar m_rhoScale;         // mass density scale
+  btScalar m_ksScale;          // stiffness scale
+
+  // projection matrix
+  tDenseMatrix m_projPA;        // Eqn. 4.11 from Rahul Sheth's thesis
+  tDenseMatrix m_projCq;
+  tDenseArray m_STP;
+  tDenseArray m_MrInvSTP;
+
+  TVStack m_localMomentArm; // Sq + x0
+
+  btVector3 m_internalDeltaLinearVelocity;
+  btVector3 m_internalDeltaAngularVelocity;
+  tDenseArray m_internalDeltaReducedVelocity;
+  
+  btVector3 m_linearVelocityFromReduced;  // contribution to the linear velocity from reduced velocity
+  btVector3 m_angularVelocityFromReduced; // contribution to the angular velocity from reduced velocity
+  btVector3 m_internalDeltaAngularVelocityFromReduced;
+
+ protected:
+  // rigid frame
+  btScalar m_mass;          // total mass of the rigid frame
+  btScalar m_inverseMass;   // inverse of the total mass of the rigid frame
+  btVector3 m_linearVelocity;
+  btVector3 m_angularVelocity;
+  btScalar m_linearDamping;    // linear damping coefficient
+  btScalar m_angularDamping;    // angular damping coefficient
+  btVector3 m_linearFactor;
+  btVector3 m_angularFactor;
+  // btVector3 m_invInertiaLocal;
+  btMatrix3x3 m_invInertiaLocal;
+  btTransform m_rigidTransformWorld;
+  btMatrix3x3 m_invInertiaTensorWorldInitial;
+  btMatrix3x3 m_invInertiaTensorWorld;
+  btMatrix3x3 m_interpolateInvInertiaTensorWorld;
+  btVector3 m_initialCoM;  // initial center of mass (original of the m_rigidTransformWorld)
+
+  // damping
+  btScalar m_dampingAlpha;
+  btScalar m_dampingBeta;
+
+ public:
+  //
+  //  Fields
+  //
+
+  // reduced space
+  int m_nReduced;
+  int m_nFull;
+  tDenseMatrix m_modes;														// modes of the reduced deformable model. Each inner array is a mode, outer array size = n_modes
+  tDenseArray m_reducedDofs;				   // Reduced degree of freedom
+  tDenseArray m_reducedDofsBuffer;     // Reduced degree of freedom at t^n
+  tDenseArray m_reducedVelocity;		   // Reduced velocity array
+  tDenseArray m_reducedVelocityBuffer; // Reduced velocity array at t^n
+  tDenseArray m_reducedForceExternal;          // reduced external force
+  tDenseArray m_reducedForceElastic;           // reduced internal elastic force
+  tDenseArray m_reducedForceDamping;           // reduced internal damping force
+  tDenseArray m_eigenvalues;		// eigenvalues of the reduce deformable model
+  tDenseArray m_Kr;	// reduced stiffness matrix
+  
+  // full space
+  TVStack m_x0;					     				 // Rest position
+  tDenseArray m_nodalMass;           // Mass on each node
+  btAlignedObjectArray<int> m_fixedNodes; // index of the fixed nodes
+  int m_nodeIndexOffset;             // offset of the node index needed for contact solver when there are multiple reduced deformable body in the world.
+
+  // contacts
+  btAlignedObjectArray<int> m_contactNodesList;
+
+  //
+  // Api
+  //
+  btReducedDeformableBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m);
+
+  ~btReducedDeformableBody() {}
+
+  //
+  // initializing helpers
+  //
+  void internalInitialization();
+
+  void setReducedModes(int num_modes, int full_size);
+
+  void setMassProps(const tDenseArray& mass_array);
+
+  void setInertiaProps();
+
+  void setRigidVelocity(const btVector3& v);
+
+  void setRigidAngularVelocity(const btVector3& omega);
+
+  void setStiffnessScale(const btScalar ks);
+
+  void setMassScale(const btScalar rho);
+
+  void setFixedNodes(const int n_node);
+
+  void setDamping(const btScalar alpha, const btScalar beta);
+
+  void disableReducedModes(const bool rigid_only);
+
+  virtual void setTotalMass(btScalar mass, bool fromfaces = false);
+
+  //
+  // various internal updates
+  //
+  virtual void transformTo(const btTransform& trs);
+  virtual void transform(const btTransform& trs);
+  // caution: 
+  // need to use scale before using transform, because the scale is performed in the local frame 
+  // (i.e., may have some rotation already, but the m_rigidTransformWorld doesn't have this info)
+  virtual void scale(const btVector3& scl);
+
+ private:
+  void updateRestNodalPositions();
+
+  void updateInitialInertiaTensor(const btMatrix3x3& rotation);
+
+  void updateLocalInertiaTensorFromNodes();
+
+  void updateInertiaTensor();
+
+  void updateModesByRotation(const btMatrix3x3& rotation);
+ 
+ public:
+  void updateLocalMomentArm();
+
+  void predictIntegratedTransform(btScalar dt, btTransform& predictedTransform);
+
+  // update the external force projection matrix 
+  void updateExternalForceProjectMatrix(bool initialized);
+
+  void endOfTimeStepZeroing();
+
+  void applyInternalVelocityChanges();
+
+  //
+  // position and velocity update related
+  //
+
+  // compute reduced degree of freedoms
+  void updateReducedDofs(btScalar solverdt);
+
+  // compute reduced velocity update (for explicit time stepping)
+  void updateReducedVelocity(btScalar solverdt);
+
+  // map to full degree of freedoms
+  void mapToFullPosition(const btTransform& ref_trans);
+
+  // compute full space velocity from the reduced velocity
+  void mapToFullVelocity(const btTransform& ref_trans);
+
+  // compute total angular momentum
+  const btVector3 computeTotalAngularMomentum() const;
+
+  // get a single node's full space velocity from the reduced velocity
+  const btVector3 computeNodeFullVelocity(const btTransform& ref_trans, int n_node) const;
+
+  // get a single node's all delta velocity
+  const btVector3 internalComputeNodeDeltaVelocity(const btTransform& ref_trans, int n_node) const;
+
+  //
+  // rigid motion related
+  //
+  void applyDamping(btScalar timeStep);
+
+  void applyCentralImpulse(const btVector3& impulse);
+
+  void applyTorqueImpulse(const btVector3& torque);
+
+  void proceedToTransform(btScalar dt, bool end_of_time_step);
+
+  //
+  // force related
+  //
+
+  // apply impulse to the rigid frame
+  void internalApplyRigidImpulse(const btVector3& impulse, const btVector3& rel_pos);
+
+  // apply impulse to nodes in the full space
+  void internalApplyFullSpaceImpulse(const btVector3& impulse, const btVector3& rel_pos, int n_node, btScalar dt);
+
+  // apply nodal external force in the full space
+  void applyFullSpaceNodalForce(const btVector3& f_ext, int n_node);
+
+  // apply gravity to the rigid frame
+  void applyRigidGravity(const btVector3& gravity, btScalar dt);
+
+  // apply reduced elastic force
+  void applyReducedElasticForce(const tDenseArray& reduce_dofs);
+
+  // apply reduced damping force
+  void applyReducedDampingForce(const tDenseArray& reduce_vel);
+
+  // calculate the impulse factor
+  virtual btMatrix3x3 getImpulseFactor(int n_node);
+
+  // get relative position from a node to the CoM of the rigid frame
+  btVector3 getRelativePos(int n_node);
+
+  //
+  // accessors
+  //
+  bool isReducedModesOFF() const;
+  btScalar getTotalMass() const;
+  btTransform& getRigidTransform();
+  const btVector3& getLinearVelocity() const;
+	const btVector3& getAngularVelocity() const;
+
+  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
+  void clampVelocity(btVector3& v) const {
+      v.setX(
+          fmax(-BT_CLAMP_VELOCITY_TO,
+                fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
+      );
+      v.setY(
+          fmax(-BT_CLAMP_VELOCITY_TO,
+                fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
+      );
+      v.setZ(
+          fmax(-BT_CLAMP_VELOCITY_TO,
+                fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
+      );
+  }
+  #endif
+};
+
+#endif // BT_REDUCED_SOFT_BODY_H
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp
new file mode 100644
index 0000000000..0f95bc53bf
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp
@@ -0,0 +1,215 @@
+#include "btReducedDeformableBodyHelpers.h"
+#include "../btSoftBodyHelpers.h"
+#include <iostream>
+#include <string>
+#include <sstream>
+
+btReducedDeformableBody* btReducedDeformableBodyHelpers::createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only) {
+	std::string filename = file_path + vtk_file;
+	btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
+	
+	rsb->setReducedModes(num_modes, rsb->m_nodes.size());
+	btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(rsb, file_path.c_str());
+	
+	rsb->disableReducedModes(rigid_only);
+
+	return rsb;
+}
+
+btReducedDeformableBody* btReducedDeformableBodyHelpers::createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file)
+{
+	std::ifstream fs;
+	fs.open(vtk_file);
+	btAssert(fs);
+
+	typedef btAlignedObjectArray<int> Index;
+	std::string line;
+	btAlignedObjectArray<btVector3> X;
+	btVector3 position;
+	btAlignedObjectArray<Index> indices;
+	bool reading_points = false;
+	bool reading_tets = false;
+	size_t n_points = 0;
+	size_t n_tets = 0;
+	size_t x_count = 0;
+	size_t indices_count = 0;
+	while (std::getline(fs, line))
+	{
+		std::stringstream ss(line);
+		if (line.size() == (size_t)(0))
+		{
+		}
+		else if (line.substr(0, 6) == "POINTS")
+		{
+			reading_points = true;
+			reading_tets = false;
+			ss.ignore(128, ' ');  // ignore "POINTS"
+			ss >> n_points;
+			X.resize(n_points);
+		}
+		else if (line.substr(0, 5) == "CELLS")
+		{
+			reading_points = false;
+			reading_tets = true;
+			ss.ignore(128, ' ');  // ignore "CELLS"
+			ss >> n_tets;
+			indices.resize(n_tets);
+		}
+		else if (line.substr(0, 10) == "CELL_TYPES")
+		{
+			reading_points = false;
+			reading_tets = false;
+		}
+		else if (reading_points)
+		{
+			btScalar p;
+			ss >> p;
+			position.setX(p);
+			ss >> p;
+			position.setY(p);
+			ss >> p;
+			position.setZ(p);
+			//printf("v %f %f %f\n", position.getX(), position.getY(), position.getZ());
+			X[x_count++] = position;
+		}
+		else if (reading_tets)
+		{
+			int d;
+			ss >> d;
+			if (d != 4)
+			{
+				printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
+				fs.close();
+				return 0;
+			}
+			ss.ignore(128, ' ');  // ignore "4"
+			Index tet;
+			tet.resize(4);
+			for (size_t i = 0; i < 4; i++)
+			{
+				ss >> tet[i];
+				//printf("%d ", tet[i]);
+			}
+			//printf("\n");
+			indices[indices_count++] = tet;
+		}
+	}
+	btReducedDeformableBody* rsb = new btReducedDeformableBody(&worldInfo, n_points, &X[0], 0);
+
+	for (int i = 0; i < n_tets; ++i)
+	{
+		const Index& ni = indices[i];
+		rsb->appendTetra(ni[0], ni[1], ni[2], ni[3]);
+		{
+			rsb->appendLink(ni[0], ni[1], 0, true);
+			rsb->appendLink(ni[1], ni[2], 0, true);
+			rsb->appendLink(ni[2], ni[0], 0, true);
+			rsb->appendLink(ni[0], ni[3], 0, true);
+			rsb->appendLink(ni[1], ni[3], 0, true);
+			rsb->appendLink(ni[2], ni[3], 0, true);
+		}
+	}
+
+	btSoftBodyHelpers::generateBoundaryFaces(rsb);
+	rsb->initializeDmInverse();
+	rsb->m_tetraScratches.resize(rsb->m_tetras.size());
+	rsb->m_tetraScratchesTn.resize(rsb->m_tetras.size());
+	printf("Nodes:  %u\r\n", rsb->m_nodes.size());
+	printf("Links:  %u\r\n", rsb->m_links.size());
+	printf("Faces:  %u\r\n", rsb->m_faces.size());
+	printf("Tetras: %u\r\n", rsb->m_tetras.size());
+
+	fs.close();
+
+	return rsb;
+}
+
+void btReducedDeformableBodyHelpers::readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path)
+{
+	// read in eigenmodes, stiffness and mass matrices
+	std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
+	btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str());
+
+	std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin";
+	btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Kr,  rsb->m_nReduced, Kr_file.c_str());
+
+	// std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin";
+	// btReducedDeformableBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str());
+
+	std::string modes_file = std::string(file_path) + "modes.bin";
+	btReducedDeformableBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str());
+	
+	// read in full nodal mass
+	std::string M_file = std::string(file_path) + "M_diag_mat.bin";
+	btAlignedObjectArray<btScalar> mass_array;
+	btReducedDeformableBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str());
+	rsb->setMassProps(mass_array);
+	
+	// calculate the inertia tensor in the local frame 
+ 	rsb->setInertiaProps();
+
+	// other internal initialization
+	rsb->internalInitialization();
+}
+
+// read in a vector from the binary file
+void btReducedDeformableBodyHelpers::readBinaryVec(btReducedDeformableBody::tDenseArray& vec, 
+																				  	 const unsigned int n_size, 				// #entries read
+																						 const char* file)
+{
+	std::ifstream f_in(file, std::ios::in | std::ios::binary);
+	// first get size
+	unsigned int size=0;
+	f_in.read((char*)&size, 4);//sizeof(unsigned int));
+	btAssert(size >= n_size); 	// make sure the #requested mode is smaller than the #available modes
+
+	// read data
+	vec.resize(n_size);
+	double temp;
+	for (unsigned int i = 0; i < n_size; ++i)
+	{
+		f_in.read((char*)&temp, sizeof(double));
+		vec[i] = btScalar(temp);
+	}
+  f_in.close();
+}
+
+// read in a matrix from the binary file
+void btReducedDeformableBodyHelpers::readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, 
+																						 const unsigned int n_modes, 		// #modes, outer array size
+																						 const unsigned int n_full, 		// inner array size
+																						 const char* file)
+{
+	std::ifstream f_in(file, std::ios::in | std::ios::binary);
+	// first get size
+	unsigned int v_size=0;
+	f_in.read((char*)&v_size, 4);//sizeof(unsigned int));
+	btAssert(v_size >= n_modes * n_full); 	// make sure the #requested mode is smaller than the #available modes
+
+	// read data
+	mat.resize(n_modes);
+	for (int i = 0; i < n_modes; ++i) 
+	{
+		for (int j = 0; j < n_full; ++j)
+		{
+			double temp;
+			f_in.read((char*)&temp, sizeof(double));
+
+			if (mat[i].size() != n_modes)
+				mat[i].resize(n_full);
+			mat[i][j] = btScalar(temp);
+		}
+	}
+  f_in.close();
+}
+
+void btReducedDeformableBodyHelpers::calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin)
+{
+	btScalar lx = btScalar(2.) * (half_extents[0] + margin[0]);
+	btScalar ly = btScalar(2.) * (half_extents[1] + margin[1]);
+	btScalar lz = btScalar(2.) * (half_extents[2] + margin[2]);
+
+	inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
+								   mass / (btScalar(12.0)) * (lx * lx + lz * lz),
+								   mass / (btScalar(12.0)) * (lx * lx + ly * ly));
+}
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h
new file mode 100644
index 0000000000..2b259a931f
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h
@@ -0,0 +1,25 @@
+#ifndef BT_REDUCED_SOFT_BODY_HELPERS_H
+#define BT_REDUCED_SOFT_BODY_HELPERS_H
+
+#include "btReducedDeformableBody.h"
+#include <string>
+
+struct btReducedDeformableBodyHelpers
+{
+	// create a reduced deformable object
+	static btReducedDeformableBody* createReducedDeformableObject(btSoftBodyWorldInfo& worldInfo, const std::string& file_path, const std::string& vtk_file, const int num_modes, bool rigid_only);
+	// read in geometry info from Vtk file
+  static btReducedDeformableBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
+	// read in all reduced files
+	static void readReducedDeformableInfoFromFiles(btReducedDeformableBody* rsb, const char* file_path);
+	// read in a binary vector
+	static void readBinaryVec(btReducedDeformableBody::tDenseArray& vec, const unsigned int n_size, const char* file);
+	// read in a binary matrix
+	static void readBinaryMat(btReducedDeformableBody::tDenseMatrix& mat, const unsigned int n_modes, const unsigned int n_full, const char* file);
+	
+	// calculate the local inertia tensor for a box shape reduced deformable object
+	static void calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin);
+};
+
+
+#endif // BT_REDUCED_SOFT_BODY_HELPERS_H
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp
new file mode 100644
index 0000000000..1418cc2476
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp
@@ -0,0 +1,325 @@
+#include "btReducedDeformableBodySolver.h"
+#include "btReducedDeformableBody.h"
+
+btReducedDeformableBodySolver::btReducedDeformableBodySolver()
+{
+  m_ascendOrder = true;
+  m_reducedSolver = true;
+  m_dampingAlpha = 0;
+  m_dampingBeta = 0;
+  m_gravity = btVector3(0, 0, 0);
+}
+
+void btReducedDeformableBodySolver::setGravity(const btVector3& gravity)
+{
+  m_gravity = gravity;
+}
+
+void btReducedDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt)
+{
+  m_softBodies.copyFromArray(bodies);
+	bool nodeUpdated = updateNodes();
+
+	if (nodeUpdated)
+	{
+		m_dv.resize(m_numNodes, btVector3(0, 0, 0));
+		m_ddv.resize(m_numNodes, btVector3(0, 0, 0));
+		m_residual.resize(m_numNodes, btVector3(0, 0, 0));
+		m_backupVelocity.resize(m_numNodes, btVector3(0, 0, 0));
+	}
+
+	// need to setZero here as resize only set value for newly allocated items
+	for (int i = 0; i < m_numNodes; ++i)
+	{
+		m_dv[i].setZero();
+		m_ddv[i].setZero();
+		m_residual[i].setZero();
+	}
+
+	if (dt > 0)
+	{
+		m_dt = dt;
+	}
+	m_objective->reinitialize(nodeUpdated, dt);
+
+  int N = bodies.size();
+	if (nodeUpdated)
+	{
+		m_staticConstraints.resize(N);
+		m_nodeRigidConstraints.resize(N);
+		// m_faceRigidConstraints.resize(N);
+	}
+	for (int i = 0; i < N; ++i)
+	{
+		m_staticConstraints[i].clear();
+		m_nodeRigidConstraints[i].clear();
+		// m_faceRigidConstraints[i].clear();
+	}
+
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+    rsb->m_contactNodesList.clear();
+  }
+
+  // set node index offsets
+  int sum = 0;
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+    rsb->m_nodeIndexOffset = sum;
+    sum += rsb->m_nodes.size();
+  }
+
+	btDeformableBodySolver::updateSoftBodies();
+}
+
+void btReducedDeformableBodySolver::predictMotion(btScalar solverdt)
+{
+  applyExplicitForce(solverdt);
+
+  // predict new mesh location
+  predictReduceDeformableMotion(solverdt);
+
+  //TODO: check if there is anything missed from btDeformableBodySolver::predictDeformableMotion
+}
+
+void btReducedDeformableBodySolver::predictReduceDeformableMotion(btScalar solverdt)
+{
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+    if (!rsb->isActive())
+    {
+      continue;
+    }
+
+    // clear contacts variables
+		rsb->m_nodeRigidContacts.resize(0);
+		rsb->m_faceRigidContacts.resize(0);
+		rsb->m_faceNodeContacts.resize(0);
+    
+    // calculate inverse mass matrix for all nodes
+    for (int j = 0; j < rsb->m_nodes.size(); ++j)
+    {
+      if (rsb->m_nodes[j].m_im > 0)
+      {
+        rsb->m_nodes[j].m_effectiveMass_inv = rsb->m_nodes[j].m_effectiveMass.inverse();
+      }
+    }
+
+    // rigid motion: t, R at time^*
+    rsb->predictIntegratedTransform(solverdt, rsb->getInterpolationWorldTransform());
+
+    // update reduced dofs at time^*
+    // rsb->updateReducedDofs(solverdt);
+
+    // update local moment arm at time^*
+    // rsb->updateLocalMomentArm();
+    // rsb->updateExternalForceProjectMatrix(true);
+
+    // predict full space velocity at time^* (needed for constraints)
+    rsb->mapToFullVelocity(rsb->getInterpolationWorldTransform());
+
+    // update full space nodal position at time^*
+    rsb->mapToFullPosition(rsb->getInterpolationWorldTransform());
+
+    // update bounding box
+    rsb->updateBounds();
+
+    // update tree
+    rsb->updateNodeTree(true, true);
+    if (!rsb->m_fdbvt.empty())
+    {
+      rsb->updateFaceTree(true, true);
+    }
+  }
+}
+
+void btReducedDeformableBodySolver::applyExplicitForce(btScalar solverdt)
+{
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+
+    // apply gravity to the rigid frame, get m_linearVelocity at time^*
+    rsb->applyRigidGravity(m_gravity, solverdt);
+
+    if (!rsb->isReducedModesOFF())
+    {
+      // add internal force (elastic force & damping force)
+      rsb->applyReducedElasticForce(rsb->m_reducedDofsBuffer);
+      rsb->applyReducedDampingForce(rsb->m_reducedVelocityBuffer);
+
+      // get reduced velocity at time^* 
+      rsb->updateReducedVelocity(solverdt);
+    }
+
+    // apply damping (no need at this point)
+    // rsb->applyDamping(solverdt);
+  }
+}
+
+void btReducedDeformableBodySolver::applyTransforms(btScalar timeStep)
+{
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+
+    // rigid motion
+    rsb->proceedToTransform(timeStep, true);
+
+    if (!rsb->isReducedModesOFF())
+    {
+      // update reduced dofs for time^n+1
+      rsb->updateReducedDofs(timeStep);
+
+      // update local moment arm for time^n+1
+      rsb->updateLocalMomentArm();
+      rsb->updateExternalForceProjectMatrix(true);
+    }
+
+    // update mesh nodal positions for time^n+1
+    rsb->mapToFullPosition(rsb->getRigidTransform());
+
+    // update mesh nodal velocity
+    rsb->mapToFullVelocity(rsb->getRigidTransform());
+
+    // end of time step clean up and update
+    rsb->endOfTimeStepZeroing();
+
+    // update the rendering mesh
+    rsb->interpolateRenderMesh();
+  }
+}
+
+void btReducedDeformableBodySolver::setConstraints(const btContactSolverInfo& infoGlobal)
+{
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+    if (!rsb->isActive())
+		{
+			continue;
+		}
+
+    // set fixed constraints
+    for (int j = 0; j < rsb->m_fixedNodes.size(); ++j)
+		{
+      int i_node = rsb->m_fixedNodes[j];
+			if (rsb->m_nodes[i_node].m_im == 0)
+			{
+        for (int k = 0; k < 3; ++k)
+        {
+          btVector3 dir(0, 0, 0);
+          dir[k] = 1;
+          btReducedDeformableStaticConstraint static_constraint(rsb, &rsb->m_nodes[i_node], rsb->getRelativePos(i_node), rsb->m_x0[i_node], dir, infoGlobal, m_dt);
+          m_staticConstraints[i].push_back(static_constraint);
+        }
+			}
+		}
+    btAssert(rsb->m_fixedNodes.size() * 3 == m_staticConstraints[i].size());
+
+    // set Deformable Node vs. Rigid constraint
+		for (int j = 0; j < rsb->m_nodeRigidContacts.size(); ++j)
+		{
+			const btSoftBody::DeformableNodeRigidContact& contact = rsb->m_nodeRigidContacts[j];
+			// skip fixed points
+			if (contact.m_node->m_im == 0)
+			{
+				continue;
+			}
+			btReducedDeformableNodeRigidContactConstraint constraint(rsb, contact, infoGlobal, m_dt);
+			m_nodeRigidConstraints[i].push_back(constraint);
+      rsb->m_contactNodesList.push_back(contact.m_node->index - rsb->m_nodeIndexOffset);
+		}
+    // std::cout << "contact node list size: " << rsb->m_contactNodesList.size() << "\n";
+    // std::cout << "#contact nodes: " << m_nodeRigidConstraints[i].size() << "\n";
+
+  }
+}
+
+btScalar btReducedDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
+{
+  btScalar residualSquare = 0;
+
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btAlignedObjectArray<int> m_orderNonContactConstraintPool;
+    btAlignedObjectArray<int> m_orderContactConstraintPool;
+
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+
+    // shuffle the order of applying constraint
+    m_orderNonContactConstraintPool.resize(m_staticConstraints[i].size());
+    m_orderContactConstraintPool.resize(m_nodeRigidConstraints[i].size());
+    if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
+    {
+      // fixed constraint order
+      for (int j = 0; j < m_staticConstraints[i].size(); ++j)
+      {
+        m_orderNonContactConstraintPool[j] = m_ascendOrder ? j : m_staticConstraints[i].size() - 1 - j;
+      }
+      // contact constraint order
+      for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
+      {
+        m_orderContactConstraintPool[j] = m_ascendOrder ? j : m_nodeRigidConstraints[i].size() - 1 - j;
+      }
+
+      m_ascendOrder = m_ascendOrder ? false : true;
+    }
+    else
+    {
+      for (int j = 0; j < m_staticConstraints[i].size(); ++j)
+      {
+        m_orderNonContactConstraintPool[j] = j;
+      }
+      // contact constraint order
+      for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
+      {
+        m_orderContactConstraintPool[j] = j;
+      }
+    }
+
+    // handle fixed constraint
+    for (int k = 0; k < m_staticConstraints[i].size(); ++k)
+    {
+      btReducedDeformableStaticConstraint& constraint = m_staticConstraints[i][m_orderNonContactConstraintPool[k]];
+      btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
+      residualSquare = btMax(residualSquare, localResidualSquare);
+    }
+
+    // handle contact constraint
+
+    // node vs rigid contact
+    // std::cout << "!!#contact_nodes: " << m_nodeRigidConstraints[i].size() << '\n';
+    for (int k = 0; k < m_nodeRigidConstraints[i].size(); ++k)
+    {
+      btReducedDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][m_orderContactConstraintPool[k]];
+      btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
+      residualSquare = btMax(residualSquare, localResidualSquare);
+    }
+
+    // face vs rigid contact
+    // for (int k = 0; k < m_faceRigidConstraints[i].size(); ++k)
+    // {
+    // 	btReducedDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][k];
+    // 	btScalar localResidualSquare = constraint.solveConstraint(infoGlobal);
+    // 	residualSquare = btMax(residualSquare, localResidualSquare);
+    // }
+  }
+
+  
+	return residualSquare;
+}
+
+void btReducedDeformableBodySolver::deformableBodyInternalWriteBack()
+{
+  // reduced deformable update
+  for (int i = 0; i < m_softBodies.size(); ++i)
+  {
+    btReducedDeformableBody* rsb = static_cast<btReducedDeformableBody*>(m_softBodies[i]);
+    rsb->applyInternalVelocityChanges();
+  }
+  m_ascendOrder = true;
+}
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h
new file mode 100644
index 0000000000..04c171f315
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.h
@@ -0,0 +1,61 @@
+#ifndef BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
+#define BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
+
+#include "BulletSoftBody/btDeformableBodySolver.h"
+#include "btReducedDeformableContactConstraint.h"
+
+class btReducedDeformableBody;
+
+class btReducedDeformableBodySolver : public btDeformableBodySolver
+{
+ protected:
+  bool m_ascendOrder;
+  btScalar m_dampingAlpha;
+  btScalar m_dampingBeta;
+
+  btVector3 m_gravity;
+
+  void predictReduceDeformableMotion(btScalar solverdt);
+
+  void applyExplicitForce(btScalar solverdt);
+
+ public:
+  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableStaticConstraint> > m_staticConstraints;
+  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints;
+  btAlignedObjectArray<btAlignedObjectArray<btReducedDeformableFaceRigidContactConstraint> > m_faceRigidConstraints;
+  
+  btReducedDeformableBodySolver();
+  ~btReducedDeformableBodySolver() {}
+
+  virtual void setGravity(const btVector3& gravity);
+
+  virtual SolverTypes getSolverType() const
+  {
+    return REDUCED_DEFORMABLE_SOLVER;
+  }
+
+  // resize/clear data structures
+	virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& bodies, btScalar dt);
+
+  virtual void predictMotion(btScalar solverdt);
+
+  virtual void applyTransforms(btScalar timeStep);
+
+  // set up contact constraints
+	virtual void setConstraints(const btContactSolverInfo& infoGlobal);
+
+  // solve all constraints (fixed and contact)
+  virtual btScalar solveContactConstraints(btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
+
+  // apply all the delta velocities
+  virtual void deformableBodyInternalWriteBack();
+
+  // virtual void setProjection() {}
+
+  // virtual void setLagrangeMultiplier() {}
+
+  // virtual void setupDeformableSolve(bool implicit);
+
+};
+
+#endif // BT_REDUCED_DEFORMABLE_BODY_DYNAMICS_WORLD_H
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp
new file mode 100644
index 0000000000..3c78d2d225
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp
@@ -0,0 +1,579 @@
+#include "btReducedDeformableContactConstraint.h"
+#include <iostream>
+
+// ================= static constraints ===================
+btReducedDeformableStaticConstraint::btReducedDeformableStaticConstraint(
+  btReducedDeformableBody* rsb, 
+  btSoftBody::Node* node,
+	const btVector3& ri,
+	const btVector3& x0,
+	const btVector3& dir,
+  const btContactSolverInfo& infoGlobal,
+	btScalar dt)
+  : m_rsb(rsb), m_ri(ri), m_targetPos(x0), m_impulseDirection(dir), m_dt(dt), btDeformableStaticConstraint(node, infoGlobal)
+{
+	m_erp = 0.2;
+	m_appliedImpulse = 0;
+
+	// get impulse factor
+  m_impulseFactorMatrix = rsb->getImpulseFactor(m_node->index);
+	m_impulseFactor = (m_impulseFactorMatrix * m_impulseDirection).dot(m_impulseDirection);
+
+	btScalar vel_error = btDot(-m_node->m_v, m_impulseDirection);
+	btScalar pos_error = btDot(m_targetPos - m_node->m_x, m_impulseDirection);
+
+	m_rhs = (vel_error + m_erp * pos_error / m_dt) / m_impulseFactor;
+}
+
+btScalar btReducedDeformableStaticConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
+{
+	// target velocity of fixed constraint is 0
+	btVector3 deltaVa = getDeltaVa();
+	btScalar deltaV_rel = btDot(deltaVa, m_impulseDirection);
+  btScalar deltaImpulse = m_rhs - deltaV_rel / m_impulseFactor;
+	m_appliedImpulse = m_appliedImpulse + deltaImpulse;
+
+	btVector3 impulse = deltaImpulse * m_impulseDirection;
+	applyImpulse(impulse);
+
+	// calculate residual
+	btScalar residualSquare = m_impulseFactor * deltaImpulse;
+	residualSquare *= residualSquare;
+
+	return residualSquare;
+}
+  
+// this calls reduced deformable body's internalApplyFullSpaceImpulse
+void btReducedDeformableStaticConstraint::applyImpulse(const btVector3& impulse)
+{
+	// apply full space impulse
+	m_rsb->internalApplyFullSpaceImpulse(impulse, m_ri, m_node->index, m_dt);
+}
+
+btVector3 btReducedDeformableStaticConstraint::getDeltaVa() const
+{
+	return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_node->index);
+}
+
+// ================= base contact constraints ===================
+btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint(
+  btReducedDeformableBody* rsb, 
+  const btSoftBody::DeformableRigidContact& c, 
+  const btContactSolverInfo& infoGlobal,
+	btScalar dt)
+  : m_rsb(rsb), m_dt(dt), btDeformableRigidContactConstraint(c, infoGlobal)
+{
+	m_nodeQueryIndex = 0;
+	m_appliedNormalImpulse = 0;
+  m_appliedTangentImpulse = 0;
+	m_rhs = 0;
+	m_rhs_tangent = 0;
+	m_cfm = infoGlobal.m_deformable_cfm;
+	m_cfm_friction = 0;
+	m_erp = infoGlobal.m_deformable_erp;
+	m_erp_friction = infoGlobal.m_deformable_erp;
+	m_friction = infoGlobal.m_friction;
+
+	m_collideStatic = m_contact->m_cti.m_colObj->isStaticObject();
+	m_collideMultibody = (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK);
+}
+
+void btReducedDeformableRigidContactConstraint::setSolverBody(const int bodyId, btSolverBody& solver_body)
+{
+	if (!m_collideMultibody)
+	{
+		m_solverBodyId = bodyId;
+		m_solverBody = &solver_body;
+		m_linearComponentNormal = -m_contactNormalA * m_solverBody->internalGetInvMass();
+		btVector3	torqueAxis = -m_relPosA.cross(m_contactNormalA);
+		m_angularComponentNormal = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxis;
+		
+		m_linearComponentTangent = m_contactTangent * m_solverBody->internalGetInvMass();
+		btVector3 torqueAxisTangent = m_relPosA.cross(m_contactTangent);
+		m_angularComponentTangent = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxisTangent;
+	}
+}
+
+btVector3 btReducedDeformableRigidContactConstraint::getVa() const
+{
+	btVector3 Va(0, 0, 0);
+	if (!m_collideStatic)
+	{
+		Va = btDeformableRigidContactConstraint::getVa();
+	}
+	return Va;
+}
+
+btScalar btReducedDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal)
+{
+	// btVector3 Va = getVa();
+	// btVector3 deltaVa = Va - m_bufferVelocityA;
+	// if (!m_collideStatic)
+	// {
+		// std::cout << "moving collision!!!\n";
+		// std::cout << "relPosA: " << m_relPosA[0] << "\t" << m_relPosA[1] << "\t" << m_relPosA[2] << "\n";
+		// std::cout << "moving rigid linear_vel: " << m_solverBody->m_originalBody->getLinearVelocity()[0] << '\t'
+		//  << m_solverBody->m_originalBody->getLinearVelocity()[1] << '\t'
+		//   << m_solverBody->m_originalBody->getLinearVelocity()[2] << '\n';
+	// }
+	btVector3 deltaVa = getDeltaVa();
+	btVector3 deltaVb = getDeltaVb();
+
+	// if (!m_collideStatic)
+	// {
+	// 	std::cout << "deltaVa: " << deltaVa[0] << '\t' << deltaVa[1] << '\t' << deltaVa[2] << '\n';
+	// 	std::cout << "deltaVb: " << deltaVb[0] << '\t' << deltaVb[1] << '\t' << deltaVb[2] << '\n';
+	// }
+
+	// get delta relative velocity and magnitude (i.e., how much impulse has been applied?)
+	btVector3 deltaV_rel = deltaVa - deltaVb;
+	btScalar deltaV_rel_normal = -btDot(deltaV_rel, m_contactNormalA);
+
+	// if (!m_collideStatic)
+	// {
+	// 	std::cout << "deltaV_rel: " << deltaV_rel[0] << '\t' << deltaV_rel[1] << '\t' << deltaV_rel[2] << "\n";
+	// 	std::cout << "deltaV_rel_normal: " << deltaV_rel_normal << "\n";
+	// 	std::cout << "normal_A: " << m_contactNormalA[0] << '\t' << m_contactNormalA[1] << '\t' << m_contactNormalA[2] << '\n';
+	// }
+	
+	// get the normal impulse to be applied
+	btScalar deltaImpulse = m_rhs - m_appliedNormalImpulse * m_cfm - deltaV_rel_normal / m_normalImpulseFactor;
+	// if (!m_collideStatic)
+	// {
+	// 	std::cout << "m_rhs: " << m_rhs << '\t' << "m_appliedNormalImpulse: "  << m_appliedNormalImpulse << "\n";
+	// 	std::cout << "m_normalImpulseFactor: " << m_normalImpulseFactor << '\n';
+	// }
+
+	{
+		// cumulative impulse that has been applied
+		btScalar sum = m_appliedNormalImpulse + deltaImpulse;
+		// if the cumulative impulse is pushing the object into the rigid body, set it zero
+		if (sum < 0)
+		{
+			deltaImpulse = -m_appliedNormalImpulse;
+			m_appliedNormalImpulse = 0;
+		}
+		else
+		{
+			m_appliedNormalImpulse = sum;
+		}	
+	}
+
+	// if (!m_collideStatic)
+	// {
+	// 	std::cout << "m_appliedNormalImpulse: " << m_appliedNormalImpulse << '\n';
+	// 	std::cout << "deltaImpulse: " << deltaImpulse << '\n';
+	// }
+
+	// residual is the nodal normal velocity change in current iteration
+	btScalar residualSquare = deltaImpulse * m_normalImpulseFactor;	// get residual
+	residualSquare *= residualSquare;
+
+	
+	// apply Coulomb friction (based on delta velocity, |dv_t| = |dv_n * friction|)
+	btScalar deltaImpulse_tangent = 0;
+	btScalar deltaImpulse_tangent2 = 0;
+	{
+		// calculate how much impulse is needed
+		// btScalar deltaV_rel_tangent = btDot(deltaV_rel, m_contactTangent);
+		// btScalar impulse_changed = deltaV_rel_tangent * m_tangentImpulseFactorInv;
+		// deltaImpulse_tangent = m_rhs_tangent - impulse_changed;
+
+		// btScalar sum = m_appliedTangentImpulse + deltaImpulse_tangent;
+		btScalar lower_limit = - m_appliedNormalImpulse * m_friction;
+		btScalar upper_limit = m_appliedNormalImpulse * m_friction;
+		// if (sum > upper_limit)
+		// {
+		// 	deltaImpulse_tangent = upper_limit - m_appliedTangentImpulse;
+		// 	m_appliedTangentImpulse = upper_limit;
+		// }
+		// else if (sum < lower_limit)
+		// {
+		// 	deltaImpulse_tangent = lower_limit - m_appliedTangentImpulse;
+		// 	m_appliedTangentImpulse = lower_limit;
+		// }
+		// else
+		// {
+		// 	m_appliedTangentImpulse = sum;
+		// }
+		// 
+		calculateTangentialImpulse(deltaImpulse_tangent, m_appliedTangentImpulse, m_rhs_tangent,
+															 m_tangentImpulseFactorInv, m_contactTangent, lower_limit, upper_limit, deltaV_rel);
+		
+		if (m_collideMultibody)
+		{
+			calculateTangentialImpulse(deltaImpulse_tangent2, m_appliedTangentImpulse2, m_rhs_tangent2,
+															   m_tangentImpulseFactorInv2, m_contactTangent2, lower_limit, upper_limit, deltaV_rel);
+		}
+															 
+
+		if (!m_collideStatic)
+		{
+			// std::cout << "m_contactTangent: " << m_contactTangent[0] << "\t"  << m_contactTangent[1] << "\t"  << m_contactTangent[2] << "\n";
+			// std::cout << "deltaV_rel_tangent: " << deltaV_rel_tangent << '\n';
+			// std::cout << "deltaImpulseTangent: " << deltaImpulse_tangent << '\n';
+			// std::cout << "m_appliedTangentImpulse: " << m_appliedTangentImpulse << '\n';
+		}
+	}
+
+	// get the total impulse vector
+	btVector3 impulse_normal = deltaImpulse * m_contactNormalA;
+	btVector3 impulse_tangent = deltaImpulse_tangent * (-m_contactTangent);
+	btVector3 impulse_tangent2 = deltaImpulse_tangent2 * (-m_contactTangent2);
+	btVector3 impulse = impulse_normal + impulse_tangent + impulse_tangent2;
+
+	applyImpulse(impulse);
+	
+	// apply impulse to the rigid/multibodies involved and change their velocities
+	if (!m_collideStatic)
+	{
+		// std::cout << "linear_component: " << m_linearComponentNormal[0] << '\t'
+		// 																	<< m_linearComponentNormal[1] << '\t'
+		// 																	<< m_linearComponentNormal[2] << '\n';
+		// std::cout << "angular_component: " << m_angularComponentNormal[0] << '\t'
+		// 																	<< m_angularComponentNormal[1] << '\t'
+		// 																	<< m_angularComponentNormal[2] << '\n';
+
+		if (!m_collideMultibody)		// collision with rigid body
+		{
+			// std::cout << "rigid impulse applied!!\n";
+			// std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t'
+			// << m_solverBody->getDeltaLinearVelocity()[1] << '\t'
+			// 	<< m_solverBody->getDeltaLinearVelocity()[2] << '\n';
+			// std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t'
+			// << m_solverBody->getDeltaAngularVelocity()[1] << '\t'
+			// 	<< m_solverBody->getDeltaAngularVelocity()[2] << '\n';
+
+			m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, deltaImpulse);
+			m_solverBody->internalApplyImpulse(m_linearComponentTangent, m_angularComponentTangent, deltaImpulse_tangent);
+
+			// std::cout << "after\n";
+			// std::cout << "rigid impulse applied!!\n";
+			// std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t'
+			// << m_solverBody->getDeltaLinearVelocity()[1] << '\t'
+			// 	<< m_solverBody->getDeltaLinearVelocity()[2] << '\n';
+			// std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t'
+			// << m_solverBody->getDeltaAngularVelocity()[1] << '\t'
+			// 	<< m_solverBody->getDeltaAngularVelocity()[2] << '\n';
+		}
+		else		// collision with multibody
+		{
+			btMultiBodyLinkCollider* multibodyLinkCol = 0;
+			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj);
+			if (multibodyLinkCol)
+			{
+				const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
+				// apply normal component of the impulse
+				multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, -deltaImpulse);
+				
+				// const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
+				// std::cout << "deltaV_normal: ";
+				// for (int i = 0; i < ndof; ++i)
+				// {
+				// 	std::cout << i << "\t" << deltaV_normal[i] << '\n';
+				// }
+
+				if (impulse_tangent.norm() > SIMD_EPSILON)
+				{
+					// apply tangential component of the impulse
+					const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
+					multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, deltaImpulse_tangent);
+					const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
+					multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, deltaImpulse_tangent2);
+				}
+			}
+		}
+	}
+	return residualSquare;
+}
+
+void btReducedDeformableRigidContactConstraint::calculateTangentialImpulse(btScalar& deltaImpulse_tangent, 
+																		 																			 btScalar& appliedImpulse, 
+																																					 const btScalar rhs_tangent,
+																																					 const btScalar tangentImpulseFactorInv,
+																																					 const btVector3& tangent,
+																		 																			 const btScalar lower_limit,
+																																					 const btScalar upper_limit,
+																																					 const btVector3& deltaV_rel)
+{
+	btScalar deltaV_rel_tangent = btDot(deltaV_rel, tangent);
+	btScalar impulse_changed = deltaV_rel_tangent * tangentImpulseFactorInv;
+	deltaImpulse_tangent = rhs_tangent - m_cfm_friction * appliedImpulse - impulse_changed;
+
+	btScalar sum = appliedImpulse + deltaImpulse_tangent;
+	if (sum > upper_limit)
+	{
+		deltaImpulse_tangent = upper_limit - appliedImpulse;
+		appliedImpulse = upper_limit;
+	}
+	else if (sum < lower_limit)
+	{
+		deltaImpulse_tangent = lower_limit - appliedImpulse;
+		appliedImpulse = lower_limit;
+	}
+	else
+	{
+		appliedImpulse = sum;
+	}
+}
+
+// ================= node vs rigid constraints ===================
+btReducedDeformableNodeRigidContactConstraint::btReducedDeformableNodeRigidContactConstraint(
+  btReducedDeformableBody* rsb, 
+  const btSoftBody::DeformableNodeRigidContact& contact, 
+  const btContactSolverInfo& infoGlobal,
+	btScalar dt)
+  : m_node(contact.m_node), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt)
+{
+	m_contactNormalA = contact.m_cti.m_normal;
+  m_contactNormalB = -contact.m_cti.m_normal;
+
+	if (contact.m_node->index < rsb->m_nodes.size())
+	{
+		m_nodeQueryIndex = contact.m_node->index;
+	}
+	else
+	{
+		m_nodeQueryIndex = m_node->index - rsb->m_nodeIndexOffset;
+	}
+
+	if (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
+	{
+		m_relPosA = contact.m_c1;
+	}
+	else
+	{
+		m_relPosA = btVector3(0,0,0);
+	}
+	m_relPosB = m_node->m_x - m_rsb->getRigidTransform().getOrigin();
+
+	if (m_collideStatic)		// colliding with static object, only consider reduced deformable body's impulse factor
+	{
+		m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex);
+	}
+	else		// colliding with dynamic object, consider both reduced deformable and rigid body's impulse factors
+	{
+		m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex) + contact.m_c0;
+	}
+
+	m_normalImpulseFactor = (m_impulseFactor * m_contactNormalA).dot(m_contactNormalA);
+	m_tangentImpulseFactor = 0;
+
+	warmStarting();
+}
+
+void btReducedDeformableNodeRigidContactConstraint::warmStarting()
+{
+	btVector3 va = getVa();
+	btVector3 vb = getVb();
+	m_bufferVelocityA = va;
+	m_bufferVelocityB = vb;
+
+	// we define the (+) direction of errors to be the outward surface normal of the rigid object
+	btVector3 v_rel = vb - va;
+	// get tangent direction of the relative velocity
+	btVector3 v_tangent = v_rel - v_rel.dot(m_contactNormalA) * m_contactNormalA;
+	if (v_tangent.norm() < SIMD_EPSILON)
+	{
+		m_contactTangent = btVector3(0, 0, 0);
+		// tangent impulse factor
+		m_tangentImpulseFactor = 0;
+		m_tangentImpulseFactorInv = 0;
+	}
+	else
+	{
+		if (!m_collideMultibody)
+		{
+			m_contactTangent = v_tangent.normalized();
+			m_contactTangent2.setZero();
+			// tangent impulse factor 1
+			m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent);
+			m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor;
+			// tangent impulse factor 2
+			m_tangentImpulseFactor2 = 0;
+			m_tangentImpulseFactorInv2 = 0;
+		}
+		else	// multibody requires 2 contact directions
+		{
+			m_contactTangent = m_contact->t1;
+			m_contactTangent2 = m_contact->t2;
+
+			// tangent impulse factor 1
+			m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent);
+			m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor;
+			// tangent impulse factor 2
+			m_tangentImpulseFactor2 = (m_impulseFactor * m_contactTangent2).dot(m_contactTangent2);
+			m_tangentImpulseFactorInv2 = btScalar(1) / m_tangentImpulseFactor2;
+		}
+	}
+
+
+	// initial guess for normal impulse
+	{
+		btScalar velocity_error = btDot(v_rel, m_contactNormalA);	// magnitude of relative velocity
+		btScalar position_error = 0;
+		if (m_penetration > 0)
+		{
+			velocity_error += m_penetration / m_dt;
+		}
+		else
+		{
+			// add penetration correction vel
+			position_error = m_penetration * m_erp / m_dt;
+		}
+		// get the initial estimate of impulse magnitude to be applied
+		m_rhs = -(velocity_error + position_error) / m_normalImpulseFactor;
+	}
+
+	// initial guess for tangential impulse
+	{
+		btScalar velocity_error = btDot(v_rel, m_contactTangent);
+		m_rhs_tangent = velocity_error * m_tangentImpulseFactorInv;
+
+		if (m_collideMultibody)
+		{
+			btScalar velocity_error2 = btDot(v_rel, m_contactTangent2);
+			m_rhs_tangent2 = velocity_error2 * m_tangentImpulseFactorInv2;
+		}
+	}
+
+	// warm starting
+	// applyImpulse(m_rhs * m_contactNormalA);
+	// if (!m_collideStatic)
+	// {
+	// 	const btSoftBody::sCti& cti = m_contact->m_cti;
+	// 	if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
+	// 	{
+	// 		m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, -m_rhs);
+	// 	}
+	// }
+}
+
+btVector3 btReducedDeformableNodeRigidContactConstraint::getVb() const
+{
+	return m_node->m_v;
+}
+
+btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVa() const
+{
+	btVector3 deltaVa(0, 0, 0);
+	if (!m_collideStatic)
+	{
+		if (!m_collideMultibody)		// for rigid body
+		{
+			deltaVa = m_solverBody->internalGetDeltaLinearVelocity() + m_solverBody->internalGetDeltaAngularVelocity().cross(m_relPosA);
+		}
+		else		// for multibody
+		{
+			btMultiBodyLinkCollider* multibodyLinkCol = 0;
+			multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj);
+			if (multibodyLinkCol)
+			{
+				const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
+				const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0];
+				const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0];
+				const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0];
+				const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector();
+				// add in the normal component of the va
+				btScalar vel = 0;
+				for (int k = 0; k < ndof; ++k)
+				{
+					vel += local_dv[k] * J_n[k];
+				}
+				deltaVa = m_contact->m_cti.m_normal * vel;
+				
+				// add in the tangential components of the va
+				vel = 0;
+				for (int k = 0; k < ndof; ++k)
+				{
+					vel += local_dv[k] * J_t1[k];
+				}
+				deltaVa += m_contact->t1 * vel;
+
+				vel = 0;
+				for (int k = 0; k < ndof; ++k)
+				{
+					vel += local_dv[k] * J_t2[k];
+				}
+				deltaVa += m_contact->t2 * vel;
+			}
+		}
+	}
+	return deltaVa;
+}
+
+btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVb() const
+{	
+	// std::cout << "node: " << m_node->index << '\n';
+	return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_nodeQueryIndex);
+}
+
+btVector3 btReducedDeformableNodeRigidContactConstraint::getSplitVb() const
+{
+	return m_node->m_splitv;
+}
+
+btVector3 btReducedDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const
+{
+	return m_total_normal_dv + m_total_tangent_dv;
+}
+
+void btReducedDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse)
+{
+  m_rsb->internalApplyFullSpaceImpulse(impulse, m_relPosB, m_nodeQueryIndex, m_dt);
+	// m_rsb->applyFullSpaceImpulse(impulse, m_relPosB, m_node->index, m_dt);
+	// m_rsb->mapToFullVelocity(m_rsb->getInterpolationWorldTransform());
+	// if (!m_collideStatic)
+	// {
+	// 	// std::cout << "impulse applied: " << impulse[0] << '\t' << impulse[1] << '\t' << impulse[2] << '\n';
+	// 	// std::cout << "node: " << m_node->index << " vel: " << m_node->m_v[0] << '\t' << m_node->m_v[1] << '\t' << m_node->m_v[2] << '\n';
+	// 	btVector3 v_after = getDeltaVb() + m_node->m_v;
+	// 	// std::cout << "vel after: " << v_after[0] << '\t' << v_after[1] << '\t' << v_after[2] << '\n';
+	// }
+	// std::cout << "node: " << m_node->index << " pos: " << m_node->m_x[0] << '\t' << m_node->m_x[1] << '\t' << m_node->m_x[2] << '\n';
+}
+
+// ================= face vs rigid constraints ===================
+btReducedDeformableFaceRigidContactConstraint::btReducedDeformableFaceRigidContactConstraint(
+  btReducedDeformableBody* rsb, 
+  const btSoftBody::DeformableFaceRigidContact& contact, 
+  const btContactSolverInfo& infoGlobal,
+	btScalar dt, 
+  bool useStrainLimiting)
+  : m_face(contact.m_face), m_useStrainLimiting(useStrainLimiting), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt)
+{}
+
+btVector3 btReducedDeformableFaceRigidContactConstraint::getVb() const
+{
+	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
+	btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2];
+	return vb;
+}
+
+btVector3 btReducedDeformableFaceRigidContactConstraint::getSplitVb() const
+{
+	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
+	btVector3 vb = (m_face->m_n[0]->m_splitv) * contact->m_bary[0] + (m_face->m_n[1]->m_splitv) * contact->m_bary[1] + (m_face->m_n[2]->m_splitv) * contact->m_bary[2];
+	return vb;
+}
+
+btVector3 btReducedDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const
+{
+	btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv;
+	const btSoftBody::DeformableFaceRigidContact* contact = getContact();
+	if (m_face->m_n[0] == node)
+	{
+		return face_dv * contact->m_weights[0];
+	}
+	if (m_face->m_n[1] == node)
+	{
+		return face_dv * contact->m_weights[1];
+	}
+	btAssert(node == m_face->m_n[2]);
+	return face_dv * contact->m_weights[2];
+}
+
+void btReducedDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse)
+{
+  //
+}
\ No newline at end of file
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h
new file mode 100644
index 0000000000..10d0938c5d
--- /dev/null
+++ b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.h
@@ -0,0 +1,194 @@
+#include "../btDeformableContactConstraint.h"
+#include "btReducedDeformableBody.h"
+
+// ================= static constraints ===================
+class btReducedDeformableStaticConstraint : public btDeformableStaticConstraint
+{
+ public:
+  btReducedDeformableBody* m_rsb;
+  btScalar m_dt;
+  btVector3 m_ri;
+  btVector3 m_targetPos;
+  btVector3 m_impulseDirection;
+  btMatrix3x3 m_impulseFactorMatrix;
+  btScalar m_impulseFactor;
+  btScalar m_rhs;
+  btScalar m_appliedImpulse;
+  btScalar m_erp;
+
+  btReducedDeformableStaticConstraint(btReducedDeformableBody* rsb, 
+                                      btSoftBody::Node* node,
+                                      const btVector3& ri,
+                                      const btVector3& x0,
+                                      const btVector3& dir,
+                                      const btContactSolverInfo& infoGlobal,
+                                      btScalar dt);
+	// btReducedDeformableStaticConstraint(const btReducedDeformableStaticConstraint& other);
+  btReducedDeformableStaticConstraint() {}
+  virtual ~btReducedDeformableStaticConstraint() {}
+
+  virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
+  
+  // this calls reduced deformable body's applyFullSpaceImpulse
+  virtual void applyImpulse(const btVector3& impulse);
+
+  btVector3 getDeltaVa() const;
+
+  // virtual void applySplitImpulse(const btVector3& impulse) {}
+};
+
+// ================= base contact constraints ===================
+class btReducedDeformableRigidContactConstraint : public btDeformableRigidContactConstraint
+{
+ public:
+  bool m_collideStatic;     // flag for collision with static object
+  bool m_collideMultibody;  // flag for collision with multibody
+
+  int m_nodeQueryIndex;
+  int m_solverBodyId;       // for debugging
+
+  btReducedDeformableBody* m_rsb;
+  btSolverBody* m_solverBody;
+  btScalar m_dt;
+
+  btScalar m_appliedNormalImpulse;
+  btScalar m_appliedTangentImpulse;
+  btScalar m_appliedTangentImpulse2;
+  btScalar m_normalImpulseFactor;
+  btScalar m_tangentImpulseFactor;
+  btScalar m_tangentImpulseFactor2;
+  btScalar m_tangentImpulseFactorInv;
+  btScalar m_tangentImpulseFactorInv2;
+  btScalar m_rhs;
+  btScalar m_rhs_tangent;
+  btScalar m_rhs_tangent2;
+  
+  btScalar m_cfm;
+  btScalar m_cfm_friction;
+  btScalar m_erp;
+  btScalar m_erp_friction;
+  btScalar m_friction;
+
+  btVector3 m_contactNormalA;     // surface normal for rigid body (opposite direction as impulse)
+  btVector3 m_contactNormalB;     // surface normal for reduced deformable body (opposite direction as impulse)
+  btVector3 m_contactTangent;     // tangential direction of the relative velocity
+  btVector3 m_contactTangent2;    // 2nd tangential direction of the relative velocity
+  btVector3 m_relPosA;            // relative position of the contact point for A (rigid)
+  btVector3 m_relPosB;            // relative position of the contact point for B
+  btMatrix3x3 m_impulseFactor;    // total impulse matrix
+
+  btVector3 m_bufferVelocityA;    // velocity at the beginning of the iteration
+  btVector3 m_bufferVelocityB;
+  btVector3 m_linearComponentNormal;    // linear components for the solver body
+  btVector3 m_angularComponentNormal;   // angular components for the solver body
+  // since 2nd contact direction only applies to multibody, these components will never be used
+  btVector3 m_linearComponentTangent;
+  btVector3 m_angularComponentTangent;
+
+  btReducedDeformableRigidContactConstraint(btReducedDeformableBody* rsb, 
+                                            const btSoftBody::DeformableRigidContact& c, 
+                                            const btContactSolverInfo& infoGlobal,
+                                            btScalar dt);
+	// btReducedDeformableRigidContactConstraint(const btReducedDeformableRigidContactConstraint& other);
+  btReducedDeformableRigidContactConstraint() {}
+  virtual ~btReducedDeformableRigidContactConstraint() {}
+
+  void setSolverBody(const int bodyId, btSolverBody& solver_body);
+
+  virtual void warmStarting() {}
+
+  virtual btScalar solveConstraint(const btContactSolverInfo& infoGlobal);
+
+  void calculateTangentialImpulse(btScalar& deltaImpulse_tangent, 
+                                  btScalar& appliedImpulse, 
+                                  const btScalar rhs_tangent,
+                                  const btScalar tangentImpulseFactorInv,
+                                  const btVector3& tangent,
+                                  const btScalar lower_limit,
+                                  const btScalar upper_limit,
+                                  const btVector3& deltaV_rel);
+
+  virtual void applyImpulse(const btVector3& impulse) {}
+
+  virtual void applySplitImpulse(const btVector3& impulse) {} // TODO: may need later
+
+  virtual btVector3 getVa() const;
+  virtual btVector3 getDeltaVa() const = 0;
+  virtual btVector3 getDeltaVb() const = 0;
+};
+
+// ================= node vs rigid constraints ===================
+class btReducedDeformableNodeRigidContactConstraint : public btReducedDeformableRigidContactConstraint
+{
+ public:
+  btSoftBody::Node* m_node;
+
+  btReducedDeformableNodeRigidContactConstraint(btReducedDeformableBody* rsb, 
+                                                const btSoftBody::DeformableNodeRigidContact& contact, 
+                                                const btContactSolverInfo& infoGlobal,
+                                                btScalar dt);
+	// btReducedDeformableNodeRigidContactConstraint(const btReducedDeformableNodeRigidContactConstraint& other);
+  btReducedDeformableNodeRigidContactConstraint() {}
+  virtual ~btReducedDeformableNodeRigidContactConstraint() {}
+
+  virtual void warmStarting();
+
+  // get the velocity of the deformable node in contact
+	virtual btVector3 getVb() const;
+
+  // get the velocity change of the rigid body
+  virtual btVector3 getDeltaVa() const;
+
+  // get velocity change of the node in contat
+  virtual btVector3 getDeltaVb() const;
+
+	// get the split impulse velocity of the deformable face at the contact point
+	virtual btVector3 getSplitVb() const;
+
+	// get the velocity change of the input soft body node in the constraint
+	virtual btVector3 getDv(const btSoftBody::Node*) const;
+
+	// cast the contact to the desired type
+	const btSoftBody::DeformableNodeRigidContact* getContact() const
+	{
+		return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact);
+	}
+  
+  // this calls reduced deformable body's applyFullSpaceImpulse
+  virtual void applyImpulse(const btVector3& impulse);
+};
+
+// ================= face vs rigid constraints ===================
+class btReducedDeformableFaceRigidContactConstraint : public btReducedDeformableRigidContactConstraint
+{
+ public:
+  btSoftBody::Face* m_face;
+	bool m_useStrainLimiting;
+
+  btReducedDeformableFaceRigidContactConstraint(btReducedDeformableBody* rsb, 
+                                                const btSoftBody::DeformableFaceRigidContact& contact, 
+                                                const btContactSolverInfo& infoGlobal,
+                                                btScalar dt, 
+                                                bool useStrainLimiting);
+	// btReducedDeformableFaceRigidContactConstraint(const btReducedDeformableFaceRigidContactConstraint& other);
+  btReducedDeformableFaceRigidContactConstraint() {}
+  virtual ~btReducedDeformableFaceRigidContactConstraint() {}
+
+  // get the velocity of the deformable face at the contact point
+	virtual btVector3 getVb() const;
+
+	// get the split impulse velocity of the deformable face at the contact point
+	virtual btVector3 getSplitVb() const;
+
+	// get the velocity change of the input soft body node in the constraint
+	virtual btVector3 getDv(const btSoftBody::Node*) const;
+
+	// cast the contact to the desired type
+	const btSoftBody::DeformableFaceRigidContact* getContact() const
+	{
+		return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact);
+	}
+
+  // this calls reduced deformable body's applyFullSpaceImpulse
+  virtual void applyImpulse(const btVector3& impulse);
+};
\ No newline at end of file
diff --git a/src/BulletSoftBody/CMakeLists.txt b/src/BulletSoftBody/CMakeLists.txt
index 9452768019..c12eef5fe2 100644
--- a/src/BulletSoftBody/CMakeLists.txt
+++ b/src/BulletSoftBody/CMakeLists.txt
@@ -24,6 +24,11 @@ SET(BulletSoftBody_SRCS
 	btDeformableMultiBodyDynamicsWorld.cpp
 	btDeformableContactConstraint.cpp
 	poly34.cpp
+
+	BulletReducedDeformableBody/btReducedDeformableBody.cpp
+	BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp
+	BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp
+	BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp
 )
 
 
@@ -63,6 +68,11 @@ SET(BulletSoftBody_HDRS
 	poly34.h
 
 	btSoftBodySolverVertexBuffer.h
+
+	BulletReducedDeformableBody/btReducedDeformableBody.h
+	BulletReducedDeformableBody/btReducedDeformableBodyHelpers.h
+	BulletReducedDeformableBody/btReducedDeformableBodySolver.h
+	BulletReducedDeformableBody/btReducedDeformableContactConstraint.h
 )
 
 
diff --git a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
index 5a79ef86e2..acbf515e93 100644
--- a/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
+++ b/src/BulletSoftBody/btDefaultSoftBodySolver.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btDefaultSoftBodySolver.h b/src/BulletSoftBody/btDefaultSoftBodySolver.h
index 3965b07c58..d54edcae07 100644
--- a/src/BulletSoftBody/btDefaultSoftBodySolver.h
+++ b/src/BulletSoftBody/btDefaultSoftBodySolver.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
index eb05b9f010..60b6fe3882 100644
--- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
+++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.h
@@ -25,12 +25,18 @@
 #include "btDeformableNeoHookeanForce.h"
 #include "btDeformableContactProjection.h"
 #include "btPreconditioner.h"
-#include "btDeformableMultiBodyDynamicsWorld.h"
+// #include "btDeformableMultiBodyDynamicsWorld.h"
 #include "LinearMath/btQuickprof.h"
 
 class btDeformableBackwardEulerObjective
 {
 public:
+	enum _
+	{
+		Mass_preconditioner,
+		KKT_preconditioner
+	};
+
 	typedef btAlignedObjectArray<btVector3> TVStack;
 	btScalar m_dt;
 	btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 4b11fccecb..4e9df5f83e 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -23,6 +23,7 @@ btDeformableBodySolver::btDeformableBodySolver()
 	: m_numNodes(0), m_cg(kMaxConjugateGradientIterations), m_cr(kMaxConjugateGradientIterations), m_maxNewtonIterations(1), m_newtonTolerance(1e-4), m_lineSearch(false), m_useProjection(false)
 {
 	m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
+	m_reducedSolver = false;
 }
 
 btDeformableBodySolver::~btDeformableBodySolver()
@@ -401,13 +402,17 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
 			}
 		}
 	}
-	m_objective->applyExplicitForce(m_residual);
+	applyExplicitForce();
 	for (int i = 0; i < m_softBodies.size(); ++i)
 	{
 		btSoftBody* psb = m_softBodies[i];
-
 		if (psb->isActive())
 		{
+			/* Clear contacts when softbody is active*/
+			psb->m_nodeRigidContacts.resize(0);
+			psb->m_faceRigidContacts.resize(0);
+			psb->m_faceNodeContacts.resize(0);
+			psb->m_faceNodeContactsCCD.resize(0);
 			// predict motion for collision detection
 			predictDeformableMotion(psb, solverdt);
 		}
@@ -472,10 +477,6 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
 	{
 		psb->updateFaceTree(true, true);
 	}
-	/* Clear contacts */
-	psb->m_nodeRigidContacts.resize(0);
-	psb->m_faceRigidContacts.resize(0);
-	psb->m_faceNodeContacts.resize(0);
 	/* Optimize dbvt's        */
 	//    psb->m_ndbvt.optimizeIncremental(1);
 	//    psb->m_fdbvt.optimizeIncremental(1);
@@ -504,3 +505,89 @@ void btDeformableBodySolver::setLineSearch(bool lineSearch)
 {
 	m_lineSearch = lineSearch;
 }
+
+void btDeformableBodySolver::applyExplicitForce()
+{
+	m_objective->applyExplicitForce(m_residual);
+}
+
+void btDeformableBodySolver::applyTransforms(btScalar timeStep)
+{
+	for (int i = 0; i < m_softBodies.size(); ++i)
+	{
+		btSoftBody* psb = m_softBodies[i];
+		for (int j = 0; j < psb->m_nodes.size(); ++j)
+		{
+			btSoftBody::Node& node = psb->m_nodes[j];
+			btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
+			btScalar clampDeltaV = maxDisplacement / timeStep;
+			for (int c = 0; c < 3; c++)
+			{
+				if (node.m_v[c] > clampDeltaV)
+				{
+					node.m_v[c] = clampDeltaV;
+				}
+				if (node.m_v[c] < -clampDeltaV)
+				{
+					node.m_v[c] = -clampDeltaV;
+				}
+			}
+			node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
+			node.m_q = node.m_x;
+			node.m_vn = node.m_v;
+		}
+		// enforce anchor constraints
+		for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
+		{
+			btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j];
+			btSoftBody::Node* n = a.m_node;
+			n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local;
+
+			// update multibody anchor info
+			if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
+			{
+				btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj);
+				if (multibodyLinkCol)
+				{
+					btVector3 nrm;
+					const btCollisionShape* shp = multibodyLinkCol->getCollisionShape();
+					const btTransform& wtr = multibodyLinkCol->getWorldTransform();
+					psb->m_worldInfo->m_sparsesdf.Evaluate(
+						wtr.invXform(n->m_x),
+						shp,
+						nrm,
+						0);
+					a.m_cti.m_normal = wtr.getBasis() * nrm;
+					btVector3 normal = a.m_cti.m_normal;
+					btVector3 t1 = generateUnitOrthogonalVector(normal);
+					btVector3 t2 = btCross(normal, t1);
+					btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
+					findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal);
+					findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1);
+					findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2);
+
+					btScalar* J_n = &jacobianData_normal.m_jacobians[0];
+					btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
+					btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
+
+					btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
+					btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
+					btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
+
+					btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
+									t1.getX(), t1.getY(), t1.getZ(),
+									t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
+					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
+					btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
+					a.m_c0 = rot.transpose() * local_impulse_matrix * rot;
+					a.jacobianData_normal = jacobianData_normal;
+					a.jacobianData_t1 = jacobianData_t1;
+					a.jacobianData_t2 = jacobianData_t2;
+					a.t1 = t1;
+					a.t2 = t2;
+				}
+			}
+		}
+		psb->interpolateRenderMesh();
+	}
+}
\ No newline at end of file
diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
index ae674d6e89..68354f1996 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.h
+++ b/src/BulletSoftBody/btDeformableBodySolver.h
@@ -24,8 +24,8 @@
 #include "btConjugateResidual.h"
 #include "btConjugateGradient.h"
 struct btCollisionObjectWrapper;
-class btDeformableBackwardEulerObjective;
-class btDeformableMultiBodyDynamicsWorld;
+// class btDeformableBackwardEulerObjective;
+// class btDeformableMultiBodyDynamicsWorld;
 
 class btDeformableBodySolver : public btSoftBodySolver
 {
@@ -46,6 +46,7 @@ class btDeformableBodySolver : public btSoftBodySolver
 	int m_maxNewtonIterations;                                     // max number of newton iterations
 	btScalar m_newtonTolerance;                                    // stop newton iterations if f(x) < m_newtonTolerance
 	bool m_lineSearch;                                             // If true, use newton's method with line search under implicit scheme
+	bool m_reducedSolver;																					 // flag for reduced soft body solver
 public:
 	// handles data related to objective function
 	btDeformableBackwardEulerObjective* m_objective;
@@ -68,11 +69,18 @@ class btDeformableBodySolver : public btSoftBodySolver
 	// solve the momentum equation
 	virtual void solveDeformableConstraints(btScalar solverdt);
 
+	// set gravity (get from deformable world)
+	virtual void setGravity(const btVector3& gravity)
+	{
+		// for full deformable object, we don't store gravity in the solver
+		// this function is overriden in the reduced deformable object
+	}
+
 	// resize/clear data structures
-	void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
+	virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
 
 	// set up contact constraints
-	void setConstraints(const btContactSolverInfo& infoGlobal);
+	virtual void setConstraints(const btContactSolverInfo& infoGlobal);
 
 	// add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion
 	virtual void predictMotion(btScalar solverdt);
@@ -85,7 +93,7 @@ class btDeformableBodySolver : public btSoftBodySolver
 	void backupVelocity();
 
 	// set m_dv and m_backupVelocity to desired value to prepare for momentum solve
-	void setupDeformableSolve(bool implicit);
+	virtual void setupDeformableSolve(bool implicit);
 
 	// set the current velocity to that backed up in m_backupVelocity
 	void revertVelocity();
@@ -150,6 +158,62 @@ class btDeformableBodySolver : public btSoftBodySolver
 	// used in line search
 	btScalar kineticEnergy();
 
+	// add explicit force to the velocity in the objective class
+	virtual void applyExplicitForce();
+
+	// execute position/velocity update and apply anchor constraints in the integrateTransforms from the Dynamics world
+	virtual void applyTransforms(btScalar timeStep);
+
+	virtual void setStrainLimiting(bool opt)
+	{
+		m_objective->m_projection.m_useStrainLimiting = opt;
+	}
+
+	virtual void setPreconditioner(int opt)
+	{
+		switch (opt)
+		{
+			case btDeformableBackwardEulerObjective::Mass_preconditioner:
+				m_objective->m_preconditioner = m_objective->m_massPreconditioner;
+				break;
+
+			case btDeformableBackwardEulerObjective::KKT_preconditioner:
+				m_objective->m_preconditioner = m_objective->m_KKTPreconditioner;
+				break;
+			
+			default:
+				btAssert(false);
+				break;
+		}
+	}
+
+	virtual btAlignedObjectArray<btDeformableLagrangianForce*>* getLagrangianForceArray()
+	{
+		return &(m_objective->m_lf);
+	}
+
+	virtual const btAlignedObjectArray<btSoftBody::Node*>* getIndices()
+	{
+		return m_objective->getIndices();
+	}
+
+	virtual void setProjection()
+	{
+		m_objective->m_projection.setProjection();
+	}
+
+	virtual void setLagrangeMultiplier()
+	{
+		m_objective->m_projection.setLagrangeMultiplier();
+	}
+
+	virtual bool isReducedSolver()
+	{
+		return m_reducedSolver;
+	}
+	
+	virtual void deformableBodyInternalWriteBack() {}
+
 	// unused functions
 	virtual void optimize(btAlignedObjectArray<btSoftBody*>& softBodies, bool forceUpdate = false) {}
 	virtual void solveConstraints(btScalar dt) {}
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp
index 09398d79a5..9c8e72f503 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.cpp
+++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp
@@ -268,7 +268,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
 	{
 		dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep;
 	}
-	// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
+	// dn is the normal component of velocity difference. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
 	btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0)));
 	if (!infoGlobal.m_splitImpulse)
 	{
@@ -487,6 +487,9 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
 	btVector3 dv = impulse * contact->m_c2;
 	btSoftBody::Face* face = contact->m_face;
 
+	// save applied impulse
+	contact->m_cti.m_impulse = impulse;
+
 	btVector3& v0 = face->m_n[0]->m_v;
 	btVector3& v1 = face->m_n[1]->m_v;
 	btVector3& v2 = face->m_n[2]->m_v;
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h
index 1e2c9f5bce..ddecb40fcb 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.h
+++ b/src/BulletSoftBody/btDeformableContactConstraint.h
@@ -37,7 +37,7 @@ class btDeformableContactConstraint
 	{
 	}
 
-	btDeformableContactConstraint() {}
+	btDeformableContactConstraint() : m_static(false) {}
 
 	btDeformableContactConstraint(const btDeformableContactConstraint& other)
 		: m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal)
@@ -150,7 +150,7 @@ class btDeformableRigidContactConstraint : public btDeformableContactConstraint
 
 	btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
 	btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
-	btDeformableRigidContactConstraint() {}
+	btDeformableRigidContactConstraint() : m_binding(false) {}
 	virtual ~btDeformableRigidContactConstraint()
 	{
 	}
diff --git a/src/BulletSoftBody/btDeformableMousePickingForce.h b/src/BulletSoftBody/btDeformableMousePickingForce.h
index d218d96214..697408355c 100644
--- a/src/BulletSoftBody/btDeformableMousePickingForce.h
+++ b/src/BulletSoftBody/btDeformableMousePickingForce.h
@@ -29,7 +29,7 @@ class btDeformableMousePickingForce : public btDeformableLagrangianForce
 
 public:
 	typedef btAlignedObjectArray<btVector3> TVStack;
-	btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, btVector3 mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
+	btDeformableMousePickingForce(btScalar k, btScalar d, const btSoftBody::Face& face, const btVector3& mouse_pos, btScalar maxForce = 0.3) : m_elasticStiffness(k), m_dampingStiffness(d), m_face(face), m_mouse_pos(mouse_pos), m_maxForce(maxForce)
 	{
 	}
 
diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
index 631fd5fbed..0f3005417e 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
@@ -14,11 +14,16 @@
  */
 
 #include "btDeformableMultiBodyConstraintSolver.h"
+#include "BulletReducedDeformableBody/btReducedDeformableBodySolver.h"
 #include <iostream>
+
 // override the iterations method to include deformable/multibody contact
 btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
 	{
+		// pair deformable body with solver body
+		pairDeformableAndSolverBody(bodies, numBodies, numDeformableBodies, infoGlobal);
+
 		///this is a special step to resolve penetrations (just for contacts)
 		solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
 
@@ -37,6 +42,10 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
 			// solver body velocity <- rigid body velocity
 			writeToSolverBody(bodies, numBodies, infoGlobal);
 
+
+			// std::cout << "------------Iteration " << iteration << "------------\n";
+			// std::cout << "m_leastSquaresResidual: " << m_leastSquaresResidual << "\n";
+
 			if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
 			{
 #ifdef VERBOSE_RESIDUAL_PRINTF
@@ -51,6 +60,9 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
 				m_analyticsData.m_numBodies = numBodies;
 				m_analyticsData.m_numContactManifolds = numManifolds;
 				m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual;
+				
+				m_deformableSolver->deformableBodyInternalWriteBack();
+				// std::cout << "[===================Next Step===================]\n";
 				break;
 			}
 		}
@@ -78,6 +90,12 @@ void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollision
 
 void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
 {
+	// reduced soft body solver directly modifies the solver body
+	if (m_deformableSolver->isReducedSolver())
+	{
+		return;
+	}
+
 	for (int i = 0; i < numBodies; i++)
 	{
 		int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
@@ -94,6 +112,12 @@ void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject*
 
 void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
 {
+	// reduced soft body solver directly modifies the solver body
+	if (m_deformableSolver->isReducedSolver())
+	{
+		return;
+	}
+
 	for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
 	{
 		btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
@@ -105,6 +129,53 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS
 	}
 }
 
+
+void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
+{
+	if (!m_deformableSolver->isReducedSolver())
+	{
+		return;
+	}
+
+	btReducedDeformableBodySolver* solver = static_cast<btReducedDeformableBodySolver*>(m_deformableSolver);
+	
+	for (int i = 0; i < numDeformableBodies; ++i)
+	{
+		for (int k = 0; k < solver->m_nodeRigidConstraints[i].size(); ++k)
+    {
+      btReducedDeformableNodeRigidContactConstraint& constraint = solver->m_nodeRigidConstraints[i][k];
+
+			if (!constraint.m_contact->m_cti.m_colObj->isStaticObject())
+			{
+				btCollisionObject& col_obj = const_cast<btCollisionObject&>(*constraint.m_contact->m_cti.m_colObj);
+
+				// object index in the solver body pool
+				int bodyId = getOrInitSolverBody(col_obj, infoGlobal.m_timeStep);
+				
+				const btRigidBody* body = btRigidBody::upcast(bodies[bodyId]);
+				if (body && body->getInvMass())
+				{
+						// std::cout << "Node: " << constraint.m_node->index << ", body: " << bodyId << "\n";
+					btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
+					constraint.setSolverBody(bodyId, solverBody);
+				}
+			}
+    }
+
+		// for (int j = 0; j < numBodies; j++)
+		// {
+		// 	int bodyId = getOrInitSolverBody(*bodies[j], infoGlobal.m_timeStep);
+
+		// 	btRigidBody* body = btRigidBody::upcast(bodies[j]);
+		// 	if (body && body->getInvMass())
+		// 	{
+		// 		btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
+		// 		m_deformableSolver->pairConstraintWithSolverBody(i, bodyId, solverBody);
+		// 	}
+		// }	
+	}
+}
+
 void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
 {
 	BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
diff --git a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
index 94aabce838..28733fa49d 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h
@@ -43,6 +43,9 @@ btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver
 	// write the velocity of the underlying rigid body to the the the solver body
 	void writeToSolverBody(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
 
+	// let each deformable body knows which solver body is in constact
+	void pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal);
+
 	virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
 	virtual btScalar solveDeformableGroupIterations(btCollisionObject * *bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index 983e622b5f..030cbaf90f 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -94,7 +94,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
 
 	beforeSolverCallbacks(timeStep);
 
-	///solve contact constraints and then deformable bodies momemtum equation
+	// ///solve contact constraints and then deformable bodies momemtum equation
 	solveConstraints(timeStep);
 
 	afterSolverCallbacks(timeStep);
@@ -201,7 +201,7 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
 			if (psb->isActive())
 			{
 				// clear contact points in the previous iteration
-				psb->m_faceNodeContacts.clear();
+				psb->m_faceNodeContactsCCD.clear();
 
 				// update m_q and normals for CCD calculation
 				for (int j = 0; j < psb->m_nodes.size(); ++j)
@@ -237,7 +237,8 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
 			btSoftBody* psb = m_softBodies[i];
 			if (psb->isActive())
 			{
-				penetration_count += psb->m_faceNodeContacts.size();
+				penetration_count += psb->m_faceNodeContactsCCD.size();
+				;
 			}
 		}
 		if (penetration_count == 0)
@@ -297,83 +298,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
 	BT_PROFILE("integrateTransforms");
 	positionCorrection(timeStep);
 	btMultiBodyDynamicsWorld::integrateTransforms(timeStep);
-	for (int i = 0; i < m_softBodies.size(); ++i)
-	{
-		btSoftBody* psb = m_softBodies[i];
-		for (int j = 0; j < psb->m_nodes.size(); ++j)
-		{
-			btSoftBody::Node& node = psb->m_nodes[j];
-			btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement;
-			btScalar clampDeltaV = maxDisplacement / timeStep;
-			for (int c = 0; c < 3; c++)
-			{
-				if (node.m_v[c] > clampDeltaV)
-				{
-					node.m_v[c] = clampDeltaV;
-				}
-				if (node.m_v[c] < -clampDeltaV)
-				{
-					node.m_v[c] = -clampDeltaV;
-				}
-			}
-			node.m_x = node.m_x + timeStep * (node.m_v + node.m_splitv);
-			node.m_q = node.m_x;
-			node.m_vn = node.m_v;
-		}
-		// enforce anchor constraints
-		for (int j = 0; j < psb->m_deformableAnchors.size(); ++j)
-		{
-			btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j];
-			btSoftBody::Node* n = a.m_node;
-			n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local;
-
-			// update multibody anchor info
-			if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
-			{
-				btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj);
-				if (multibodyLinkCol)
-				{
-					btVector3 nrm;
-					const btCollisionShape* shp = multibodyLinkCol->getCollisionShape();
-					const btTransform& wtr = multibodyLinkCol->getWorldTransform();
-					psb->m_worldInfo->m_sparsesdf.Evaluate(
-						wtr.invXform(n->m_x),
-						shp,
-						nrm,
-						0);
-					a.m_cti.m_normal = wtr.getBasis() * nrm;
-					btVector3 normal = a.m_cti.m_normal;
-					btVector3 t1 = generateUnitOrthogonalVector(normal);
-					btVector3 t2 = btCross(normal, t1);
-					btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
-					findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal);
-					findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1);
-					findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2);
-
-					btScalar* J_n = &jacobianData_normal.m_jacobians[0];
-					btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];
-					btScalar* J_t2 = &jacobianData_t2.m_jacobians[0];
-
-					btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0];
-					btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0];
-
-					btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(),
-									t1.getX(), t1.getY(), t1.getZ(),
-									t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
-					const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-					btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
-					a.m_c0 = rot.transpose() * local_impulse_matrix * rot;
-					a.jacobianData_normal = jacobianData_normal;
-					a.jacobianData_t1 = jacobianData_t1;
-					a.jacobianData_t2 = jacobianData_t2;
-					a.t1 = t1;
-					a.t2 = t2;
-				}
-			}
-		}
-		psb->interpolateRenderMesh();
-	}
+	m_deformableBodySolver->applyTransforms(timeStep);
 }
 
 void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
@@ -390,9 +315,9 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
 
 	// set up the directions in which the velocity does not change in the momentum solve
 	if (m_useProjection)
-		m_deformableBodySolver->m_objective->m_projection.setProjection();
+		m_deformableBodySolver->setProjection();
 	else
-		m_deformableBodySolver->m_objective->m_projection.setLagrangeMultiplier();
+		m_deformableBodySolver->setLagrangeMultiplier();
 
 	// for explicit scheme, m_backupVelocity = v_{n+1}^*
 	// for implicit scheme, m_backupVelocity = v_n
@@ -518,6 +443,12 @@ void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar time
 	m_deformableBodySolver->predictMotion(timeStep);
 }
 
+void btDeformableMultiBodyDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	btDiscreteDynamicsWorld::setGravity(gravity);
+	m_deformableBodySolver->setGravity(gravity);
+}
+
 void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
 {
 	m_internalTime += timeStep;
@@ -532,14 +463,14 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
 	if (m_useProjection)
 	{
 		m_deformableBodySolver->m_useProjection = true;
-		m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
-		m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner;
+		m_deformableBodySolver->setStrainLimiting(true);
+		m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::Mass_preconditioner);
 	}
 	else
 	{
 		m_deformableBodySolver->m_useProjection = false;
-		m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = false;
-		m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
+		m_deformableBodySolver->setStrainLimiting(false);
+		m_deformableBodySolver->setPreconditioner(btDeformableBackwardEulerObjective::KKT_preconditioner);
 	}
 }
 
@@ -681,7 +612,7 @@ void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep)
 
 void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force)
 {
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
+	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray();
 	bool added = false;
 	for (int i = 0; i < forces.size(); ++i)
 	{
@@ -695,14 +626,14 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL
 	if (!added)
 	{
 		force->addSoftBody(psb);
-		force->setIndices(m_deformableBodySolver->m_objective->getIndices());
+		force->setIndices(m_deformableBodySolver->getIndices());
 		forces.push_back(force);
 	}
 }
 
 void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformableLagrangianForce* force)
 {
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
+	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray();
 	int removed_index = -1;
 	for (int i = 0; i < forces.size(); ++i)
 	{
@@ -720,7 +651,7 @@ void btDeformableMultiBodyDynamicsWorld::removeForce(btSoftBody* psb, btDeformab
 
 void btDeformableMultiBodyDynamicsWorld::removeSoftBodyForce(btSoftBody* psb)
 {
-	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf;
+	btAlignedObjectArray<btDeformableLagrangianForce*>& forces = *m_deformableBodySolver->getLagrangianForceArray();
 	for (int i = 0; i < forces.size(); ++i)
 	{
 		forces[i]->removeSoftBody(psb);
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
index 4b7069aac7..5971ecd9a9 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
@@ -19,7 +19,7 @@
 #include "btSoftMultiBodyDynamicsWorld.h"
 #include "btDeformableLagrangianForce.h"
 #include "btDeformableMassSpringForce.h"
-#include "btDeformableBodySolver.h"
+// #include "btDeformableBodySolver.h"
 #include "btDeformableMultiBodyConstraintSolver.h"
 #include "btSoftBodyHelpers.h"
 #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
@@ -121,6 +121,8 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
 		return m_sbi;
 	}
 
+	virtual void setGravity(const btVector3& gravity);
+
 	void reinitialize(btScalar timeStep);
 
 	void applyRigidBodyGravity(btScalar timeStep);
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index d1980ea6c5..c873099b49 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -231,6 +231,9 @@ void btSoftBody::initDefaults()
 	m_gravityFactor = 1;
 	m_cacheBarycenter = false;
 	m_fdbvnt = 0;
+
+	// reduced flag
+	m_reducedModel = false;
 }
 
 //
@@ -1483,6 +1486,21 @@ void btSoftBody::randomizeConstraints()
 #undef NEXTRAND
 }
 
+void btSoftBody::updateState(const btAlignedObjectArray<btVector3>& q, const btAlignedObjectArray<btVector3>& v)
+{
+	int node_count = m_nodes.size();
+	btAssert(node_count == q.size());
+	btAssert(node_count == v.size());
+	for (int i = 0; i < node_count; i++)
+	{
+		Node& n = m_nodes[i];
+		n.m_x = q[i];
+		n.m_q = q[i];
+		n.m_v = v[i];
+		n.m_vn = v[i];
+	}
+}
+
 //
 void btSoftBody::releaseCluster(int index)
 {
@@ -2789,7 +2807,7 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
 //
 // Compute barycentric coordinates (u, v, w) for
 // point p with respect to triangle (a, b, c)
-static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary)
+static void getBarycentric(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, btVector3& bary)
 {
 	btVector3 v0 = b - a, v1 = c - a, v2 = p - a;
 	btScalar d00 = v0.dot(v0);
@@ -2798,8 +2816,17 @@ static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVec
 	btScalar d20 = v2.dot(v0);
 	btScalar d21 = v2.dot(v1);
 	btScalar denom = d00 * d11 - d01 * d01;
-	bary.setY((d11 * d20 - d01 * d21) / denom);
-	bary.setZ((d00 * d21 - d01 * d20) / denom);
+	// In the case of a degenerate triangle, pick a vertex.
+	if (btFabs(denom) < SIMD_EPSILON) 
+	{
+		bary.setY(btScalar(0.0));
+		bary.setZ(btScalar(0.0));
+	} 
+	else 
+	{
+		bary.setY((d11 * d20 - d01 * d21) / denom);
+		bary.setZ((d00 * d21 - d01 * d20) / denom);
+  	}
 	bary.setX(btScalar(1) - bary.getY() - bary.getZ());
 }
 
@@ -2821,7 +2848,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
 	btScalar dst;
 	btGjkEpaSolver2::sResults results;
 
-//	#define USE_QUADRATURE 1
+	//	#define USE_QUADRATURE 1
 
 	// use collision quadrature point
 #ifdef USE_QUADRATURE
@@ -3879,7 +3906,7 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 			btVector3 va(0, 0, 0);
 			btRigidBody* rigidCol = 0;
 			btMultiBodyLinkCollider* multibodyLinkCol = 0;
-			btScalar* deltaV;
+			btScalar* deltaV = NULL;
 
 			if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
 			{
@@ -4095,7 +4122,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
 		case fCollision::SDF_RD:
 		{
 			btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
-			if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
+			if (this->isActive())
 			{
 				const btTransform wtr = pcoWrap->getWorldTransform();
 				const btScalar timemargin = 0;
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index f578487b8c..27705e6009 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -223,10 +223,12 @@ class btSoftBody : public btCollisionObject
 	/* sCti is Softbody contact info	*/
 	struct sCti
 	{
-		const btCollisionObject* m_colObj; /* Rigid body			*/
-		btVector3 m_normal;                /* Outward normal		*/
-		btScalar m_offset;                 /* Offset from origin	*/
+		const btCollisionObject* m_colObj; /* Rigid body			        */
+		btVector3 m_normal;                /* Outward normal		        */
+		mutable btVector3 m_impulse;	   /* Applied impulse        	    */
+		btScalar m_offset;                 /* Offset from origin	        */
 		btVector3 m_bary;                  /* Barycentric weights for faces */
+		sCti() : m_impulse(0, 0, 0) {}
 	};
 
 	/* sMedium		*/
@@ -298,7 +300,7 @@ class btSoftBody : public btCollisionObject
 	};
 	struct RenderFace
 	{
-		RenderNode* m_n[3];          // Node pointers
+		RenderNode* m_n[3];  // Node pointers
 	};
 
 	/* Face			*/
@@ -407,6 +409,7 @@ class btSoftBody : public btCollisionObject
 		btScalar m_friction;  // Friction
 		btScalar m_imf;       // inverse mass of the face at contact point
 		btScalar m_c0;        // scale of the impulse matrix;
+		const btCollisionObject* m_colObj;  // Collision object to collide with.
 	};
 
 	/* SContact		*/
@@ -786,7 +789,7 @@ class btSoftBody : public btCollisionObject
 	typedef btAlignedObjectArray<Cluster*> tClusterArray;
 	typedef btAlignedObjectArray<Note> tNoteArray;
 	typedef btAlignedObjectArray<Node> tNodeArray;
-	typedef btAlignedObjectArray< RenderNode> tRenderNodeArray;
+	typedef btAlignedObjectArray<RenderNode> tRenderNodeArray;
 	typedef btAlignedObjectArray<btDbvtNode*> tLeafArray;
 	typedef btAlignedObjectArray<Link> tLinkArray;
 	typedef btAlignedObjectArray<Face> tFaceArray;
@@ -798,6 +801,7 @@ class btSoftBody : public btCollisionObject
 	typedef btAlignedObjectArray<Material*> tMaterialArray;
 	typedef btAlignedObjectArray<Joint*> tJointArray;
 	typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray;
+	typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > tDenseMatrix;
 
 	//
 	// Fields
@@ -813,7 +817,7 @@ class btSoftBody : public btCollisionObject
 	tRenderNodeArray m_renderNodes;    // Render Nodes
 	tLinkArray m_links;                // Links
 	tFaceArray m_faces;                // Faces
-	tRenderFaceArray m_renderFaces;          // Faces
+	tRenderFaceArray m_renderFaces;    // Faces
 	tTetraArray m_tetras;              // Tetras
 	btAlignedObjectArray<TetraScratch> m_tetraScratches;
 	btAlignedObjectArray<TetraScratch> m_tetraScratchesTn;
@@ -823,6 +827,7 @@ class btSoftBody : public btCollisionObject
 	btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
 	btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts;
 	btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts;
+	btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContactsCCD;
 	tSContactArray m_scontacts;     // Soft contacts
 	tJointArray m_joints;           // Joints
 	tMaterialArray m_materials;     // Materials
@@ -855,6 +860,8 @@ class btSoftBody : public btCollisionObject
 
 	btScalar m_restLengthScale;
 
+	bool m_reducedModel;	// Reduced deformable model flag
+	
 	//
 	// Api
 	//
@@ -892,7 +899,7 @@ class btSoftBody : public btCollisionObject
 				   int node1) const;
 	bool checkLink(const Node* node0,
 				   const Node* node1) const;
-	/* Check for existring face												*/
+	/* Check for existing face												*/
 	bool checkFace(int node0,
 				   int node1,
 				   int node2) const;
@@ -1001,15 +1008,15 @@ class btSoftBody : public btCollisionObject
 	/* Get best fit rigid transform                                         */
 	btTransform getRigidTransform();
 	/* Transform to given pose                                              */
-	void transformTo(const btTransform& trs);
+	virtual void transformTo(const btTransform& trs);
 	/* Transform															*/
-	void transform(const btTransform& trs);
+	virtual void transform(const btTransform& trs);
 	/* Translate															*/
-	void translate(const btVector3& trs);
+	virtual void translate(const btVector3& trs);
 	/* Rotate															*/
-	void rotate(const btQuaternion& rot);
+	virtual void rotate(const btQuaternion& rot);
 	/* Scale																*/
-	void scale(const btVector3& scl);
+	virtual void scale(const btVector3& scl);
 	/* Get link resting lengths scale										*/
 	btScalar getRestLengthScale();
 	/* Scale resting length of all springs									*/
@@ -1051,6 +1058,9 @@ class btSoftBody : public btCollisionObject
 								   Material* mat = 0);
 	/* Randomize constraints to reduce solver bias							*/
 	void randomizeConstraints();
+
+	void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs);
+
 	/* Release clusters														*/
 	void releaseCluster(int index);
 	void releaseClusters();
@@ -1096,6 +1106,13 @@ class btSoftBody : public btCollisionObject
 	void setZeroVelocity();
 	bool wantsSleeping();
 
+	virtual btMatrix3x3 getImpulseFactor(int n_node)
+	{
+		btMatrix3x3 tmp;
+		tmp.setIdentity();
+		return tmp;
+	}
+
 	//
 	// Functionality to deal with new accelerated solvers.
 	//
@@ -1317,8 +1334,8 @@ class btSoftBody : public btCollisionObject
 		}
 		for (int k = 0; k < m_faceNodeContacts.size(); ++k)
 		{
-			int i = indices[k];
-			btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[i];
+			int idx = indices[k];
+			btSoftBody::DeformableFaceNodeContact& c = m_faceNodeContacts[idx];
 			btSoftBody::Node* node = c.m_node;
 			btSoftBody::Face* face = c.m_face;
 			const btVector3& w = c.m_bary;
diff --git a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index 750718f57f..383f528ee5 100644
--- a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -195,8 +195,7 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObje
 
 	if (triBody->getCollisionShape()->isConcave())
 	{
-		const btCollisionObject* triOb = triBody->getCollisionObject();
-		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
+		const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBody->getCollisionShape());
 
 		//	if (convexBody->getCollisionShape()->isConvex())
 		{
diff --git a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index 3adedbd805..0dbceebf37 100644
--- a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftBodyData.h b/src/BulletSoftBody/btSoftBodyData.h
index cec6f401ec..8469c3ce72 100644
--- a/src/BulletSoftBody/btSoftBodyData.h
+++ b/src/BulletSoftBody/btSoftBodyData.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.cpp b/src/BulletSoftBody/btSoftBodyHelpers.cpp
index f63e48f9a5..fbb7298306 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.cpp
+++ b/src/BulletSoftBody/btSoftBodyHelpers.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -18,6 +18,7 @@ subject to the following restrictions:
 #include <stdio.h>
 #include <string>
 #include <iostream>
+#include <iomanip> 
 #include <sstream>
 #include <string.h>
 #include <algorithm>
@@ -1487,6 +1488,37 @@ void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
 	fs.close();
 }
 
+
+void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
+{
+	std::ofstream fs;
+	fs.open(file);
+	btAssert(fs);
+	fs << std::scientific << std::setprecision(16);
+
+	// Only write out for trimesh, directly write out all the nodes and faces.xs
+	for (int i = 0; i < psb->m_nodes.size(); ++i)
+	{
+		fs << "q";
+		for (int d = 0; d < 3; d++)
+		{
+			fs << " " << psb->m_nodes[i].m_q[d];
+		}
+		fs << "\n";
+	}
+
+	for (int i = 0; i < psb->m_nodes.size(); ++i)
+	{
+		fs << "v";
+		for (int d = 0; d < 3; d++)
+		{
+			fs << " " << psb->m_nodes[i].m_v[d];
+		}
+		fs << "\n";
+	}
+	fs.close();
+}
+
 void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)
 {
 	std::ifstream fs_read;
diff --git a/src/BulletSoftBody/btSoftBodyHelpers.h b/src/BulletSoftBody/btSoftBodyHelpers.h
index 237d29761d..e48d7b7513 100644
--- a/src/BulletSoftBody/btSoftBodyHelpers.h
+++ b/src/BulletSoftBody/btSoftBodyHelpers.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2008 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -146,6 +146,11 @@ struct btSoftBodyHelpers
 
 	static void writeObj(const char* file, const btSoftBody* psb);
 
+	static void writeState(const char* file, const btSoftBody* psb);
+
+  //this code cannot be here, dependency on example code are not allowed
+	//static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
+
 	static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
 
 	static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& p, btVector4& bary);
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index c17bbb5cd4..137258675b 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -1691,12 +1691,19 @@ struct btSoftColliders
 						if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
 						{
 							const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
-							static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
-							const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
 							const btVector3 ra = n.m_x - wtr.getOrigin();
 
-							c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra);
-							//                            c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
+							static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
+							const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
+							if (psb->m_reducedModel)
+							{
+								c.m_c0 = MassMatrix(imb, iwi, ra); //impulse factor K of the rigid body only (not the inverse)
+							}
+							else
+							{
+								c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra);
+								//                            c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
+							}
 							c.m_c1 = ra;
 						}
 						else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
@@ -1724,7 +1731,16 @@ struct btSoftColliders
 												t1.getX(), t1.getY(), t1.getZ(),
 												t2.getX(), t2.getY(), t2.getZ());  // world frame to local frame
 								const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-								btMatrix3x3 local_impulse_matrix = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
+								
+								btMatrix3x3 local_impulse_matrix;
+								if (psb->m_reducedModel)
+								{
+									local_impulse_matrix = OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof);
+								}
+								else
+								{
+									local_impulse_matrix = (n.m_effectiveMass_inv + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse();
+								}
 								c.m_c0 = rot.transpose() * local_impulse_matrix * rot;
 								c.jacobianData_normal = jacobianData_normal;
 								c.jacobianData_t1 = jacobianData_t1;
@@ -1940,6 +1956,11 @@ struct btSoftColliders
 					c.m_face = face;
 					c.m_bary = w;
 					c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
+					// Initialize unused fields.
+					c.m_weights = btVector3(0, 0, 0);
+					c.m_imf = 0;
+					c.m_c0 = 0;
+					c.m_colObj = psb[1];
 					psb[0]->m_faceNodeContacts.push_back(c);
 				}
 			}
@@ -2011,6 +2032,11 @@ struct btSoftColliders
 				c.m_face = face;
 				c.m_bary = bary;
 				c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
+				// Initialize unused fields.
+				c.m_weights = btVector3(0, 0, 0);
+				c.m_imf = 0;
+				c.m_c0 = 0;
+				c.m_colObj = psb[1];
 				psb[0]->m_faceNodeContacts.push_back(c);
 			}
 		}
@@ -2037,7 +2063,13 @@ struct btSoftColliders
 				c.m_face = face;
 				c.m_bary = bary;
 				c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-				psb[0]->m_faceNodeContacts.push_back(c);
+				// Initialize unused fields.
+				c.m_weights = btVector3(0, 0, 0);
+				c.m_margin = mrg;
+				c.m_imf = 0;
+				c.m_c0 = 0;
+				c.m_colObj = psb[1];
+				psb[0]->m_faceNodeContactsCCD.push_back(c);
 			}
 		}
 		void Process(const btDbvntNode* lface1,
@@ -2096,7 +2128,13 @@ struct btSoftColliders
 					c.m_face = face;
 					c.m_bary = bary;
 					c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF;
-					psb[0]->m_faceNodeContacts.push_back(c);
+					// Initialize unused fields.
+					c.m_weights = btVector3(0, 0, 0);
+					c.m_margin = mrg;
+					c.m_imf = 0;
+					c.m_c0 = 0;
+					c.m_colObj = psb[1];
+					psb[0]->m_faceNodeContactsCCD.push_back(c);
 				}
 			}
 		}
diff --git a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
index 3127369ccd..af728c0536 100644
--- a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+++ b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
index 0396a52dac..0feb84f94d 100644
--- a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
+++ b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h b/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
index bc538db4a2..c41ebf74d8 100644
--- a/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
+++ b/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftBodySolvers.h b/src/BulletSoftBody/btSoftBodySolvers.h
index dbb2624eee..7eafc6c318 100644
--- a/src/BulletSoftBody/btSoftBodySolvers.h
+++ b/src/BulletSoftBody/btSoftBodySolvers.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -36,7 +36,8 @@ class btSoftBodySolver
 		CL_SIMD_SOLVER,
 		DX_SOLVER,
 		DX_SIMD_SOLVER,
-		DEFORMABLE_SOLVER
+		DEFORMABLE_SOLVER,
+		REDUCED_DEFORMABLE_SOLVER
 	};
 
 protected:
diff --git a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
index 329bd19d71..dcdd932028 100644
--- a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
index f295945a6d..40cb1ec53a 100644
--- a/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
index 5b65216e4b..656b009e0c 100644
--- a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
+++ b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index 9773af19a0..7b2454590c 100644
--- a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index 510b731fc1..dc9b004a37 100644
--- a/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
index be49c444d7..0ecc7a0fa1 100644
--- a/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
+++ b/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
index 9c3e904f64..4e890baf7f 100644
--- a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
+++ b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index 6f871f5b85..30923be668 100644
--- a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h
index d611726bcd..243b80f8ae 100644
--- a/src/BulletSoftBody/btSparseSDF.h
+++ b/src/BulletSoftBody/btSparseSDF.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -233,9 +233,9 @@ struct btSparseSdf
 			//int sz = sizeof(Cell);
 			if (ncells > m_clampCells)
 			{
-				static int numResets = 0;
-				numResets++;
-				//				printf("numResets=%d\n",numResets);
+				//static int numResets = 0;
+				//numResets++;
+				//printf("numResets=%d\n",numResets);
 				Reset();
 			}
 
diff --git a/src/BulletSoftBody/premake4.lua b/src/BulletSoftBody/premake4.lua
index c8a6e5151d..370bd98c17 100644
--- a/src/BulletSoftBody/premake4.lua
+++ b/src/BulletSoftBody/premake4.lua
@@ -10,5 +10,6 @@
     end
 	files {
 		"**.cpp",
+                "BulletReducedDeformableBody/**.cpp",
 		"**.h"
 	}
diff --git a/src/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/src/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
index 922e449cce..5010cca847 100644
--- a/src/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
+++ b/src/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
@@ -82,6 +82,10 @@ typedef BOOL(WINAPI* Pfn_GetLogicalProcessorInformation)(PSYSTEM_LOGICAL_PROCESS
 void getProcessorInformation(btProcessorInfo* procInfo)
 {
 	memset(procInfo, 0, sizeof(*procInfo));
+#if WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_APP) && !WINAPI_FAMILY_PARTITION(WINAPI_PARTITION_DESKTOP)
+	// Can't dlopen libraries on UWP.
+	return;
+#else
 	Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
 		(Pfn_GetLogicalProcessorInformation)GetProcAddress(GetModuleHandle(TEXT("kernel32")), "GetLogicalProcessorInformation");
 	if (getLogicalProcInfo == NULL)
@@ -160,6 +164,7 @@ void getProcessorInformation(btProcessorInfo* procInfo)
 		}
 	}
 	free(buf);
+#endif
 }
 
 ///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
diff --git a/src/LinearMath/btAabbUtil2.h b/src/LinearMath/btAabbUtil2.h
index eea49dd33f..67ff479c79 100644
--- a/src/LinearMath/btAabbUtil2.h
+++ b/src/LinearMath/btAabbUtil2.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btAlignedAllocator.cpp b/src/LinearMath/btAlignedAllocator.cpp
index be8f8aa6d0..c8f436fb91 100644
--- a/src/LinearMath/btAlignedAllocator.cpp
+++ b/src/LinearMath/btAlignedAllocator.cpp
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 #include "btAlignedAllocator.h"
+#include <string.h>
 
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 int gNumAlignedAllocs = 0;
@@ -23,7 +24,9 @@ int gTotalBytesAlignedAllocs = 0;  //detect memory leaks
 
 static void *btAllocDefault(size_t size)
 {
-	return malloc(size);
+  char* data = (char*) malloc(size);
+  memset(data,0,size);//keep msan happy
+  return data;
 }
 
 static void btFreeDefault(void *ptr)
@@ -73,6 +76,8 @@ static inline void *btAlignedAllocDefault(size_t size, int alignment)
 	{
 		ret = (void *)(real);
 	}
+  //keep msan happy
+  memset((char*) ret, 0, size);
 	return (ret);
 }
 
diff --git a/src/LinearMath/btAlignedAllocator.h b/src/LinearMath/btAlignedAllocator.h
index 971f62bfb0..f6bbcdbbf1 100644
--- a/src/LinearMath/btAlignedAllocator.h
+++ b/src/LinearMath/btAlignedAllocator.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btAlignedObjectArray.h b/src/LinearMath/btAlignedObjectArray.h
index b3d5d64b58..ac3e189eb6 100644
--- a/src/LinearMath/btAlignedObjectArray.h
+++ b/src/LinearMath/btAlignedObjectArray.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -22,7 +22,7 @@ subject to the following restrictions:
 ///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW
 ///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors
 ///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator=
-///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and
+///see discussion here: https://bulletphysics.orgphpBB2/viewtopic.php?t=1231 and
 ///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240
 
 #define BT_USE_PLACEMENT_NEW 1
diff --git a/src/LinearMath/btConvexHull.cpp b/src/LinearMath/btConvexHull.cpp
index e7de2a3694..94b68baf54 100644
--- a/src/LinearMath/btConvexHull.cpp
+++ b/src/LinearMath/btConvexHull.cpp
@@ -678,7 +678,9 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc,  // describes the
 	if (vcount < 8) vcount = 8;
 
 	btAlignedObjectArray<btVector3> vertexSource;
-	vertexSource.resize(static_cast<int>(vcount));
+	btVector3 zero;
+	zero.setZero();
+	vertexSource.resize(static_cast<int>(vcount), zero);
 
 	btVector3 scale;
 
diff --git a/src/LinearMath/btGeometryUtil.cpp b/src/LinearMath/btGeometryUtil.cpp
index 115e3eab81..62bbef2c9a 100644
--- a/src/LinearMath/btGeometryUtil.cpp
+++ b/src/LinearMath/btGeometryUtil.cpp
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btGeometryUtil.h b/src/LinearMath/btGeometryUtil.h
index 0ce5b76d92..5ed87022e9 100644
--- a/src/LinearMath/btGeometryUtil.h
+++ b/src/LinearMath/btGeometryUtil.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btIDebugDraw.h b/src/LinearMath/btIDebugDraw.h
index 82ec19a69b..df4db2ff5a 100644
--- a/src/LinearMath/btIDebugDraw.h
+++ b/src/LinearMath/btIDebugDraw.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
 ///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
-///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
+///A class that implements the btIDebugDraw interface will need to provide non-empty implementations of the the drawLine and getDebugMode methods at a minimum.
 ///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
 class btIDebugDraw
 {
diff --git a/src/LinearMath/btList.h b/src/LinearMath/btList.h
index b255938c30..9072abcd04 100644
--- a/src/LinearMath/btList.h
+++ b/src/LinearMath/btList.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h
index 9c90fee1d2..4391a52cd8 100644
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btMinMax.h b/src/LinearMath/btMinMax.h
index 92fea0275a..cdc54f3fb2 100644
--- a/src/LinearMath/btMinMax.h
+++ b/src/LinearMath/btMinMax.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btMotionState.h b/src/LinearMath/btMotionState.h
index ae6a51611d..87aa602996 100644
--- a/src/LinearMath/btMotionState.h
+++ b/src/LinearMath/btMotionState.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btPoolAllocator.h b/src/LinearMath/btPoolAllocator.h
index 4e7b49660a..816cd627ac 100644
--- a/src/LinearMath/btPoolAllocator.h
+++ b/src/LinearMath/btPoolAllocator.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btQuadWord.h b/src/LinearMath/btQuadWord.h
index ab2d3175ad..851596b178 100644
--- a/src/LinearMath/btQuadWord.h
+++ b/src/LinearMath/btQuadWord.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index 53e8169b80..40d6e145c5 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btRandom.h b/src/LinearMath/btRandom.h
index e659af8605..7753130046 100644
--- a/src/LinearMath/btRandom.h
+++ b/src/LinearMath/btRandom.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index 36b90cc944..5fbccaa868 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 307
+#define BT_BULLET_VERSION 326
 
 inline int btGetVersion()
 {
@@ -107,7 +107,7 @@ inline int btIsDoublePrecision()
  			#define btFsel(a,b,c) __fsel((a),(b),(c))
 		#else
 
-#if defined (_M_ARM)
+#if defined (_M_ARM) || defined (_M_ARM64)
             //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
 #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
 
diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h
index 4d1c760e24..e0cdbd7d14 100644
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -480,8 +480,8 @@ class btDefaultSerializer : public btSerializer
 		}
 
 		buffer[9] = '3';
-		buffer[10] = '0';
-		buffer[11] = '8';
+		buffer[10] = '2';
+		buffer[11] = '6';
 	}
 
 	virtual void startSerialization()
@@ -499,7 +499,6 @@ class btDefaultSerializer : public btSerializer
 		writeDNA();
 
 		//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
-		int mysize = 0;
 		if (!m_totalSize)
 		{
 			if (m_buffer)
@@ -511,14 +510,12 @@ class btDefaultSerializer : public btSerializer
 			unsigned char* currentPtr = m_buffer;
 			writeHeader(m_buffer);
 			currentPtr += BT_HEADER_LENGTH;
-			mysize += BT_HEADER_LENGTH;
 			for (int i = 0; i < m_chunkPtrs.size(); i++)
 			{
-				int curLength = sizeof(btChunk) + m_chunkPtrs[i]->m_length;
+				int curLength = (int)sizeof(btChunk) + m_chunkPtrs[i]->m_length;
 				memcpy(currentPtr, m_chunkPtrs[i], curLength);
 				btAlignedFree(m_chunkPtrs[i]);
 				currentPtr += curLength;
-				mysize += curLength;
 			}
 		}
 
diff --git a/src/LinearMath/btStackAlloc.h b/src/LinearMath/btStackAlloc.h
index 3fc2084976..761d6a4293 100644
--- a/src/LinearMath/btStackAlloc.h
+++ b/src/LinearMath/btStackAlloc.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btTransform.h b/src/LinearMath/btTransform.h
index 6f2f99818c..b60c061ebc 100644
--- a/src/LinearMath/btTransform.h
+++ b/src/LinearMath/btTransform.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -34,6 +34,7 @@ btTransform
 	btVector3 m_origin;
 
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 	/**@brief No initialization constructor */
 	btTransform() {}
 	/**@brief Constructor from btQuaternion (optional btVector3 )
diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index b874dd6807..a5aab208f6 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btVector3.cpp b/src/LinearMath/btVector3.cpp
index 13111157af..55796c41e9 100644
--- a/src/LinearMath/btVector3.cpp
+++ b/src/LinearMath/btVector3.cpp
@@ -1,6 +1,6 @@
 /*
  Copyright (c) 2011 Apple Inc.
- http://continuousphysics.com/Bullet/
+ https://bulletphysics.org
  
  This software is provided 'as-is', without any express or implied warranty.
  In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/LinearMath/btVector3.h b/src/LinearMath/btVector3.h
index d65ed9808d..9da162772c 100644
--- a/src/LinearMath/btVector3.h
+++ b/src/LinearMath/btVector3.h
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/btBulletCollisionCommon.h b/src/btBulletCollisionCommon.h
index 4f523756a7..2de34ad3b6 100644
--- a/src/btBulletCollisionCommon.h
+++ b/src/btBulletCollisionCommon.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/src/btBulletDynamicsAll.cpp b/src/btBulletDynamicsAll.cpp
index a8069e30ae..6e73880dc2 100644
--- a/src/btBulletDynamicsAll.cpp
+++ b/src/btBulletDynamicsAll.cpp
@@ -36,6 +36,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"
 #include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.cpp"
+#include "BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.cpp"
 #include "BulletDynamics/Vehicle/btRaycastVehicle.cpp"
 #include "BulletDynamics/Vehicle/btWheelInfo.cpp"
 #include "BulletDynamics/Character/btKinematicCharacterController.cpp"
diff --git a/src/btBulletDynamicsCommon.h b/src/btBulletDynamicsCommon.h
index a421fa4461..fef4380f62 100644
--- a/src/btBulletDynamicsCommon.h
+++ b/src/btBulletDynamicsCommon.h
@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
diff --git a/test/BulletDynamics/CMakeLists.txt b/test/BulletDynamics/CMakeLists.txt
index ceeb2b4f4c..bdc219d69b 100644
--- a/test/BulletDynamics/CMakeLists.txt
+++ b/test/BulletDynamics/CMakeLists.txt
@@ -10,7 +10,8 @@ ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
 LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath gtest)
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(pthread)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 ADD_EXECUTABLE(Test_btKinematicCharacterController test_btKinematicCharacterController.cpp)
diff --git a/test/BulletDynamics/pendulum/CMakeLists.txt b/test/BulletDynamics/pendulum/CMakeLists.txt
index 570dc07154..f5001c2b37 100644
--- a/test/BulletDynamics/pendulum/CMakeLists.txt
+++ b/test/BulletDynamics/pendulum/CMakeLists.txt
@@ -14,7 +14,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 	ADD_EXECUTABLE(Test_BulletDynamics
diff --git a/test/InverseDynamics/CMakeLists.txt b/test/InverseDynamics/CMakeLists.txt
index 292d4c4773..6f2aa12ba0 100644
--- a/test/InverseDynamics/CMakeLists.txt
+++ b/test/InverseDynamics/CMakeLists.txt
@@ -17,7 +17,8 @@ IF (BULLET_BUILD_RBDL_COMPARE_TEST)
         LINK_LIBRARIES( BulletDynamics BulletCollision  Bullet3Common LinearMath gtest rbdl_urdfreader rbdl)
     ENDIF (MSVC)
     IF (NOT WIN32)
-    	LINK_LIBRARIES(	pthread	)
+        FIND_PACKAGE(Threads)
+        LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
     ENDIF()
     
     
@@ -81,7 +82,8 @@ LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
@@ -113,7 +115,8 @@ LINK_LIBRARIES(
 BulletDynamics BulletCollision  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-        LINK_LIBRARIES(         pthread )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
@@ -176,7 +179,8 @@ LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest 
 )
 IF (NOT WIN32)
-        LINK_LIBRARIES(         pthread )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 5835d19911..4be05977c1 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -20,7 +20,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 	IF (NOT APPLE)
 		LINK_LIBRARIES(${DL})
 	ENDIF()
diff --git a/test/collision/CMakeLists.txt b/test/collision/CMakeLists.txt
index b36c151be5..71e0960572 100644
--- a/test/collision/CMakeLists.txt
+++ b/test/collision/CMakeLists.txt
@@ -14,7 +14,8 @@ LINK_LIBRARIES(
 )
 
 IF (NOT WIN32)
-	LINK_LIBRARIES(		pthread	)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 ENDIF()
 
 	ADD_EXECUTABLE(Test_Collision
@@ -24,10 +25,13 @@ ENDIF()
 		../../src/BulletCollision/CollisionShapes/btSphereShape.cpp
 		../../src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
 		../../src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+		../../src/BulletCollision/CollisionShapes/btConcaveShape.cpp
 		../../src/BulletCollision/CollisionShapes/btConvexShape.cpp
 		../../src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
 		../../src/BulletCollision/CollisionShapes/btCollisionShape.cpp
 		../../src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+		../../src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
+		../../src/BulletCollision/CollisionShapes/btTriangleCallback.cpp
 	)
 
 ADD_TEST(Test_Collision_PASS Test_Collision)
diff --git a/test/collision/main.cpp b/test/collision/main.cpp
index 8f85873ffe..5be7a91f71 100644
--- a/test/collision/main.cpp
+++ b/test/collision/main.cpp
@@ -20,9 +20,12 @@ subject to the following restrictions:
 ///Todo: the test needs proper coverage and using a convex hull point cloud
 ///Also the GJK, EPA and MPR should be improved, both quality and performance
 
+#include <vector>
+
 #include <gtest/gtest.h>
 
 #include "SphereSphereCollision.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
 
@@ -30,6 +33,8 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa3.h"
 #include "BulletCollision/NarrowPhaseCollision/btMprPenetration.h"
 
+namespace {
+
 btVector3 MyBulletShapeSupportFunc(const void* shapeAptr, const btVector3& dir, bool includeMargin)
 {
 	btConvexShape* shape = (btConvexShape*)shapeAptr;
@@ -249,6 +254,48 @@ TEST(BulletCollisionTest, AnalyticSphereSphereDistance)
 	testSphereSphereDistance(SSTM_ANALYTIC, 0.00001);
 }
 
+class TriangleCollector : public btTriangleCallback
+{
+public:
+	std::vector<btVector3> *triangles;
+
+	explicit TriangleCollector(std::vector<btVector3>* triangles) : triangles(triangles) {}
+	virtual ~TriangleCollector() {}
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+	{
+		triangles->push_back(*triangle);
+	}
+};
+
+TEST(BulletCollisionTest, Heightfield_ProcessAllTriangles_FiltersByUpAxis)
+{
+	// A flat 2x2 heightfield.
+	const btScalar heightFieldData[] = {
+		10.0, 10.0,
+		10.0, 10.0,
+	};
+	btHeightfieldTerrainShape shape(
+		/*heightStickWidth=*/2, /*heightStickLength=*/2,
+		&heightFieldData[0], /*heightScale=*/1,
+		/*minHeight=*/-10.0, /*maxHeight=*/10.0,
+		/*upAxis=*/2, PHY_FLOAT, /*flipQuadEdges=*/false);
+
+	std::vector<btVector3> triangles;
+	TriangleCollector collector(&triangles);
+
+	// AABB overlaps with the heightfield on upAxis.
+	shape.processAllTriangles(&collector, btVector3(0, 0, 0), btVector3(20, 20, 20));
+	EXPECT_EQ(triangles.size(), 2);
+
+	// AABB does not overlap with the heightfield on upAxis.
+	triangles.clear();
+	shape.processAllTriangles(&collector, btVector3(0, 0, 0), btVector3(20, 20, 5));
+	EXPECT_EQ(triangles.size(), 0);
+}
+
+}  // namespace
+
 int main(int argc, char** argv)
 {
 #if _MSC_VER