Todo List

Member Eigen::Transform< _Scalar, _Dim >::Identity ()

In the future this function should be returning a Transform expression.

Member Eigen::umeyama (const MatrixBase< Derived > &src, const MatrixBase< OtherDerived > &dst, bool with_scaling=true)

Should the return type of umeyama() become a Transform?

Class ExportCholeskySolver

Extend the generator to be able to solve RX = B, too.

Member ExportLinearSolver::init (unsigned _nRows, unsigned _nCols, unsigned _nBacksolves, bool _reuse, bool _unroll, const std::string &_id)

DOC

Member ExportLinearSolver::init (unsigned _nRows, unsigned _nCols, unsigned _nBacksolves, unsigned _nRightHandSides, bool _reuse, bool _unroll, const std::string &_id)

DOC

Member main ()

I have not tested this

should do this based on yInit (take care of signs of lambda)

Member SQProblemSchur::calcDetSchur (int_t idxDel)

I think we do not need to transform all columns of R, i+3 or so should be sufficient

Member SQProblemSchur::repairSingularWorkingSet ()

make sure that this is so.