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#ifndef FUSE_CORE__EIGEN_HPP_
#define FUSE_CORE__EIGEN_HPP_

#include <Eigen/Core>
#include <Eigen/Eigenvalues>

#include <sstream>
#include <string>

namespace fuse_core
{

// Define some Eigen Typedefs that use Row-Major order
using VectorXd = Eigen::Matrix<double, Eigen::Dynamic, 1>;
using Vector1d = Eigen::Matrix<double, 1, 1>;
using Vector2d = Eigen::Matrix<double, 2, 1>;
using Vector3d = Eigen::Matrix<double, 3, 1>;
using Vector4d = Eigen::Matrix<double, 4, 1>;
using Vector5d = Eigen::Matrix<double, 5, 1>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
using Vector7d = Eigen::Matrix<double, 7, 1>;
using Vector8d = Eigen::Matrix<double, 8, 1>;
using Vector9d = Eigen::Matrix<double, 9, 1>;

using MatrixXd = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
using Matrix1d = Eigen::Matrix<double, 1, 1, Eigen::RowMajor>;
using Matrix2d = Eigen::Matrix<double, 2, 2, Eigen::RowMajor>;
using Matrix3d = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>;
using Matrix4d = Eigen::Matrix<double, 4, 4, Eigen::RowMajor>;
using Matrix5d = Eigen::Matrix<double, 5, 5, Eigen::RowMajor>;
using Matrix6d = Eigen::Matrix<double, 6, 6, Eigen::RowMajor>;
using Matrix7d = Eigen::Matrix<double, 7, 7, Eigen::RowMajor>;
using Matrix8d = Eigen::Matrix<double, 8, 8, Eigen::RowMajor>;
using Matrix9d = Eigen::Matrix<double, 9, 9, Eigen::RowMajor>;

template<typename Scalar, int RowsAtCompileTime, int ColsAtCompileTime>
using Matrix = Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, Eigen::RowMajor>;

template<typename Derived>
std::string to_string(const Eigen::DenseBase<Derived> & m, const int precision = 4)
{
  static const Eigen::IOFormat pretty(precision, 0, ", ", "\n", "[", "]");

  std::ostringstream oss;
  oss << m.format(pretty) << '\n';
  return oss.str();
}

template<typename Derived>
bool isSymmetric(
  const Eigen::DenseBase<Derived> & m,
  const typename Eigen::DenseBase<Derived>::RealScalar precision =
  Eigen::NumTraits<typename Eigen::DenseBase<Derived>::Scalar>::dummy_precision())
{
  // We do not use `isApprox`:
  //
  // return m.isApprox(m.transpose(), precision);
  //
  // because it does not play well when `m` is close to zero.
  //
  // See:
  // https://eigen.tuxfamily.org/dox/classEigen_1_1DenseBase.html#ae8443357b808cd393be1b51974213f9c
  const auto & derived = m.derived();
  return (derived - derived.transpose()).cwiseAbs().maxCoeff() < precision;
}

template<typename Derived>
bool isPositiveDefinite(const Eigen::DenseBase<Derived> & m)
{
  Eigen::SelfAdjointEigenSolver<Derived> solver(m);
  return solver.eigenvalues().minCoeff() > 0.0;
}

}  // namespace fuse_core

#endif  // FUSE_CORE__EIGEN_HPP_