diff --git a/Eigen/Core b/Eigen/Core
index c637517..99cd473 100644
--- a/Eigen/Core
+++ b/Eigen/Core
@@ -305,11 +305,7 @@
 #include "src/Core/Product.h"
 #include "src/Core/CoreEvaluators.h"
 #include "src/Core/AssignEvaluator.h"
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN  // work around Doxygen bug triggered by Assign.h r814874
-                                 // at least confirmed with Doxygen 1.5.5 and 1.5.6
 #include "src/Core/Assign.h"
-#endif
 
 #include "src/Core/ArrayBase.h"
 #include "src/Core/util/BlasUtil.h"
diff --git a/Eigen/Geometry b/Eigen/Geometry
index 019c98b..efe3e1f 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -22,13 +22,11 @@
  *  - fixed-size homogeneous transformations
  *  - translation, scaling, 2D and 3D rotations
  *  - \link Quaternion quaternions \endlink
- *  - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
- *  - orthogonal vector generation (\ref MatrixBase::unitOrthogonal)
- *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes
- * \endlink
+ *  - cross products (\ref MatrixBase::cross(), \ref MatrixBase::cross3())
+ *  - orthogonal vector generation (MatrixBase::unitOrthogonal)
+ *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
  *  - \link AlignedBox axis aligned bounding boxes \endlink
- *  - \link umeyama least-square transformation fitting \endlink
- *
+ *  - \link umeyama() least-square transformation fitting \endlink
  * \code
  * #include <Eigen/Geometry>
  * \endcode
diff --git a/Eigen/src/AccelerateSupport/AccelerateSupport.h b/Eigen/src/AccelerateSupport/AccelerateSupport.h
index 09967ff..13a26df 100644
--- a/Eigen/src/AccelerateSupport/AccelerateSupport.h
+++ b/Eigen/src/AccelerateSupport/AccelerateSupport.h
@@ -11,7 +11,7 @@
 class AccelerateImpl;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateLLT
+ * \typedef AccelerateLLT
  * \brief A direct Cholesky (LLT) factorization and solver based on Accelerate
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
@@ -25,7 +25,7 @@
 using AccelerateLLT = AccelerateImpl<MatrixType, UpLo | Symmetric, SparseFactorizationCholesky, true>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateLDLT
+ * \typedef AccelerateLDLT
  * \brief The default Cholesky (LDLT) factorization and solver based on Accelerate
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
@@ -39,7 +39,7 @@
 using AccelerateLDLT = AccelerateImpl<MatrixType, UpLo | Symmetric, SparseFactorizationLDLT, true>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateLDLTUnpivoted
+ * \typedef AccelerateLDLTUnpivoted
  * \brief A direct Cholesky-like LDL^T factorization and solver based on Accelerate with only 1x1 pivots and no pivoting
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
@@ -53,7 +53,7 @@
 using AccelerateLDLTUnpivoted = AccelerateImpl<MatrixType, UpLo | Symmetric, SparseFactorizationLDLTUnpivoted, true>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateLDLTSBK
+ * \typedef AccelerateLDLTSBK
  * \brief A direct Cholesky (LDLT) factorization and solver based on Accelerate with Supernode Bunch-Kaufman and static
  * pivoting
  *
@@ -68,7 +68,7 @@
 using AccelerateLDLTSBK = AccelerateImpl<MatrixType, UpLo | Symmetric, SparseFactorizationLDLTSBK, true>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateLDLTTPP
+ * \typedef AccelerateLDLTTPP
  * \brief A direct Cholesky (LDLT) factorization and solver based on Accelerate with full threshold partial pivoting
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
@@ -82,7 +82,7 @@
 using AccelerateLDLTTPP = AccelerateImpl<MatrixType, UpLo | Symmetric, SparseFactorizationLDLTTPP, true>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateQR
+ * \typedef AccelerateQR
  * \brief A QR factorization and solver based on Accelerate
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
@@ -95,7 +95,7 @@
 using AccelerateQR = AccelerateImpl<MatrixType, 0, SparseFactorizationQR, false>;
 
 /** \ingroup AccelerateSupport_Module
- * \class AccelerateCholeskyAtA
+ * \typedef AccelerateCholeskyAtA
  * \brief A QR factorization and solver based on Accelerate without storing Q (equivalent to A^TA = R^T R)
  *
  * \warning Only single and double precision real scalar types are supported by Accelerate
diff --git a/Eigen/src/Core/Array.h b/Eigen/src/Core/Array.h
index fb1f48a..3376dfc 100644
--- a/Eigen/src/Core/Array.h
+++ b/Eigen/src/Core/Array.h
@@ -134,8 +134,15 @@
     return *this;
   }
 
-  /** \copydoc PlainObjectBase(const Scalar& a0, const Scalar& a1, const Scalar& a2, const Scalar& a3, const
-   * ArgTypes&... args)
+  /** \brief Construct a row of column vector with fixed size from an arbitrary number of coefficients.
+   *
+   * \only_for_vectors
+   *
+   * This constructor is for 1D array or vectors with more than 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.
+   *
    *
    * Example: \include Array_variadic_ctor_cxx11.cpp
    * Output: \verbinclude Array_variadic_ctor_cxx11.out
diff --git a/Eigen/src/Core/ArrayBase.h b/Eigen/src/Core/ArrayBase.h
index 6237df4..8465f54 100644
--- a/Eigen/src/Core/ArrayBase.h
+++ b/Eigen/src/Core/ArrayBase.h
@@ -81,9 +81,6 @@
 
   typedef typename Base::CoeffReturnType CoeffReturnType;
 
-#endif  // not EIGEN_PARSED_BY_DOXYGEN
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
   typedef typename Base::PlainObject PlainObject;
 
   /** \internal Represents a matrix with all coefficients equal to one another*/
@@ -118,19 +115,57 @@
     return derived();
   }
 
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const Scalar& scalar);
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const Scalar& scalar);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const Scalar& other) {
+    internal::call_assignment(this->derived(), PlainObject::Constant(rows(), cols(), other),
+                              internal::add_assign_op<Scalar, Scalar>());
+    return derived();
+  }
 
-  template <typename OtherDerived>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const ArrayBase<OtherDerived>& other);
-  template <typename OtherDerived>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const ArrayBase<OtherDerived>& other);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const Scalar& other) {
+    internal::call_assignment(this->derived(), PlainObject::Constant(rows(), cols(), other),
+                              internal::sub_assign_op<Scalar, Scalar>());
+    return derived();
+  }
 
+  /** replaces \c *this by \c *this + \a other.
+   *
+   * \returns a reference to \c *this
+   */
   template <typename OtherDerived>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*=(const ArrayBase<OtherDerived>& other);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator+=(const ArrayBase<OtherDerived>& other) {
+    call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar, typename OtherDerived::Scalar>());
+    return derived();
+  }
 
+  /** replaces \c *this by \c *this - \a other.
+   *
+   * \returns a reference to \c *this
+   */
   template <typename OtherDerived>
-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator/=(const ArrayBase<OtherDerived>& other);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator-=(const ArrayBase<OtherDerived>& other) {
+    call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar, typename OtherDerived::Scalar>());
+    return derived();
+  }
+
+  /** replaces \c *this by \c *this * \a other coefficient wise.
+   *
+   * \returns a reference to \c *this
+   */
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*=(const ArrayBase<OtherDerived>& other) {
+    call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar, typename OtherDerived::Scalar>());
+    return derived();
+  }
+
+  /** replaces \c *this by \c *this / \a other coefficient wise.
+   *
+   * \returns a reference to \c *this
+   */
+  template <typename OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator/=(const ArrayBase<OtherDerived>& other) {
+    call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar, typename OtherDerived::Scalar>());
+    return derived();
+  }
 
  public:
   EIGEN_DEVICE_FUNC ArrayBase<Derived>& array() { return *this; }
@@ -173,50 +208,6 @@
   }
 };
 
-/** replaces \c *this by \c *this - \a other.
- *
- * \returns a reference to \c *this
- */
-template <typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived>& other) {
-  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar, typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this + \a other.
- *
- * \returns a reference to \c *this
- */
-template <typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other) {
-  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar, typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this * \a other coefficient wise.
- *
- * \returns a reference to \c *this
- */
-template <typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other) {
-  call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar, typename OtherDerived::Scalar>());
-  return derived();
-}
-
-/** replaces \c *this by \c *this / \a other coefficient wise.
- *
- * \returns a reference to \c *this
- */
-template <typename Derived>
-template <typename OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other) {
-  call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar, typename OtherDerived::Scalar>());
-  return derived();
-}
-
 }  // end namespace Eigen
 
 #endif  // EIGEN_ARRAYBASE_H
diff --git a/Eigen/src/Core/CwiseNullaryOp.h b/Eigen/src/Core/CwiseNullaryOp.h
index aa139bf..9c305c6 100644
--- a/Eigen/src/Core/CwiseNullaryOp.h
+++ b/Eigen/src/Core/CwiseNullaryOp.h
@@ -287,7 +287,7 @@
 }
 
 /**
- * \copydoc DenseBase::LinSpaced(Index, const Scalar&, const Scalar&)
+ * \copydoc DenseBase::LinSpaced(Index, const DenseBase::Scalar&, const DenseBase::Scalar&)
  * Special version for fixed size types which does not require the size parameter.
  */
 template <typename Derived>
diff --git a/Eigen/src/Core/MathFunctions.h b/Eigen/src/Core/MathFunctions.h
index 57fb3bd..c081499 100644
--- a/Eigen/src/Core/MathFunctions.h
+++ b/Eigen/src/Core/MathFunctions.h
@@ -1251,8 +1251,6 @@
 EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE EIGEN_CONSTEXPR T div_ceil(T a, T b) {
   using UnsignedT = typename internal::make_unsigned<T>::type;
   EIGEN_STATIC_ASSERT((NumTraits<T>::IsInteger), THIS FUNCTION IS FOR INTEGER TYPES)
-  eigen_assert(a >= 0);
-  eigen_assert(b > 0);
   // Note: explicitly declaring a and b as non-negative values allows the compiler to use better optimizations
   const UnsignedT ua = UnsignedT(a);
   const UnsignedT ub = UnsignedT(b);
@@ -1268,8 +1266,6 @@
   using UnsignedU = typename internal::make_unsigned<U>::type;
   EIGEN_STATIC_ASSERT((NumTraits<T>::IsInteger), THIS FUNCTION IS FOR INTEGER TYPES)
   EIGEN_STATIC_ASSERT((NumTraits<U>::IsInteger), THIS FUNCTION IS FOR INTEGER TYPES)
-  eigen_assert(a >= 0);
-  eigen_assert(b > 0);
   // Note: explicitly declaring a and b as non-negative values allows the compiler to use better optimizations
   const UnsignedT ua = UnsignedT(a);
   const UnsignedU ub = UnsignedU(b);
@@ -1279,7 +1275,6 @@
 /** Log base 2 for 32 bits positive integers.
  * Conveniently returns 0 for x==0. */
 EIGEN_CONSTEXPR inline int log2(int x) {
-  eigen_assert(x >= 0);
   unsigned int v(x);
   constexpr int table[32] = {0, 9,  1,  10, 13, 21, 2,  29, 11, 14, 16, 18, 22, 25, 3, 30,
                              8, 12, 20, 28, 15, 17, 24, 7,  19, 27, 23, 6,  26, 5,  4, 31};
diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index 1ea1a66..67590fb 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -224,8 +224,6 @@
     return Base::_set(other);
   }
 
-  /* Here, doxygen failed to copy the brief information when using \copydoc */
-
   /**
    * \brief Copies the generic expression \a other into *this.
    * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
@@ -266,7 +264,15 @@
     return *this;
   }
 
-  /** \copydoc PlainObjectBase(const Scalar&, const Scalar&, const Scalar&,  const Scalar&, const ArgTypes&... args)
+  /** \brief Construct a row of column vector with fixed size from an arbitrary number of coefficients.
+   *
+   * \only_for_vectors
+   *
+   * This constructor is for 1D array or vectors with more than 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.
+   *
    *
    * Example: \include Matrix_variadic_ctor_cxx11.cpp
    * Output: \verbinclude Matrix_variadic_ctor_cxx11.out
@@ -280,6 +286,7 @@
 
   /** \brief Constructs a Matrix and initializes it from the coefficients given as initializer-lists grouped by row.
    * \cpp11
+   * \anchor matrix_initializer_list
    *
    * In the general case, the constructor takes a list of rows, each row being represented as a list of coefficients:
    *
diff --git a/Eigen/src/Core/NumTraits.h b/Eigen/src/Core/NumTraits.h
index 67a6c08..1dc3448 100644
--- a/Eigen/src/Core/NumTraits.h
+++ b/Eigen/src/Core/NumTraits.h
@@ -115,6 +115,7 @@
 }
 }  // namespace numext
 
+// clang-format off
 /** \class NumTraits
  * \ingroup Core_Module
  *
@@ -126,48 +127,50 @@
  *
  * The provided data consists of:
  * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real,
- *     then \c Real is just a typedef to \a T. If \a T is \c std::complex<U> then \c Real
+ *     then \c Real is just a typedef to \a T. If \a T is `std::complex<U>` then \c Real
  *     is a typedef to \a U.
  * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values,
  *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
  *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
  *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
  *     only intended as a helper for code that needs to explicitly promote types.
- * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c
- * std::complex<U>, Literal is defined as \c U. Of course, this type must be fully compatible with \a T. In doubt, just
- * use \a T here. \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you
- * don't know what this means, just use \a T here. \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c
- * std::complex type, and to 0 otherwise. \li An enum value \a IsInteger. It is equal to \c 1 if \a T is an integer type
- * such as \c int, and to \c 0 otherwise. \li Enum values ReadCost, AddCost and MulCost representing a rough estimate of
- * the number of CPU cycles needed to by move / add / mul instructions respectively, assuming the data is already stored
- * in CPU registers. Stay vague here. No need to do architecture-specific stuff. If you don't know what this means, just
- * use \c Eigen::HugeCost. \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T
- * is unsigned. \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type
- * \a T must be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1
- * otherwise. \li An epsilon() function which, unlike <a
- * href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">std::numeric_limits::epsilon()</a>, it returns a
- * \a Real instead of a \a T. \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 max_digits10() function returning the number of decimal digits
- * required to uniquely represent all distinct values of the type. This is the analogue of <a
- * href="http://en.cppreference.com/w/cpp/types/numeric_limits/max_digits10">std::numeric_limits<T>::max_digits10</a>
+ * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for
+ *     `std::complex<U>`, Literal is defined as \a U. Of course, this type must be fully compatible with \a T. In doubt,
+ *     just use \a T here.
+ * \li A typedef \c Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
+ *     this means, just use \a T here.
+ * \li An enum value \c IsComplex. It is equal to 1 if \a T is a \c std::complex type, and to 0 otherwise.
+ * \li An enum value \c IsInteger. It is equal to \c 1 if \a T is an integer type such as \c int, and to \c 0 otherwise.
+ * \li Enum values \c ReadCost, \c AddCost and \c MulCost representing a rough estimate of the number of CPU cycles needed to by
+ *     move / add / mul instructions respectively, assuming the data is already stored in CPU registers. Stay vague here.
+ *     No need to do architecture-specific stuff. If you don't know what this means, just use \c Eigen::HugeCost.
+ * \li An enum value \c IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
+ * \li An enum value \c RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must be
+ *     called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
+ * \li An epsilon() function which, unlike <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">
+ *     `std::numeric_limits::epsilon()`</a>, it returns a \c Real instead of a \a T.
+ * \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 max_digits10() function returning the number of decimal digits required to uniquely represent all distinct values
+ *     of the type. This is the analogue of <a
+ *     href="http://en.cppreference.com/w/cpp/types/numeric_limits/max_digits10">`std::numeric_limits<T>::max_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>.
+ *     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.
+ * \li quiet_NaN() function returning a non-signaling "not-a-number", if available.
  */
-
+// clang-format on
 template <typename T>
 struct GenericNumTraits {
   enum {
diff --git a/Eigen/src/Core/PlainObjectBase.h b/Eigen/src/Core/PlainObjectBase.h
index 8a54014..eca7e1f 100644
--- a/Eigen/src/Core/PlainObjectBase.h
+++ b/Eigen/src/Core/PlainObjectBase.h
@@ -80,27 +80,6 @@
 
 }  // end namespace internal
 
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-namespace doxygen {
-
-// This is a workaround to doxygen not being able to understand the inheritance logic
-// when it is hidden by the dense_xpr_base helper struct.
-// Moreover, doxygen fails to include members that are not documented in the declaration body of
-// MatrixBase if we inherits MatrixBase<Matrix<Scalar_, Rows_, Cols_, Options_, MaxRows_, MaxCols_> >,
-// this is why we simply inherits MatrixBase, though this does not make sense.
-
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template <typename Derived>
-struct dense_xpr_base_dispatcher;
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template <typename Scalar_, int Rows_, int Cols_, int Options_, int MaxRows_, int MaxCols_>
-struct dense_xpr_base_dispatcher<Matrix<Scalar_, Rows_, Cols_, Options_, MaxRows_, MaxCols_>> : public MatrixBase {};
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template <typename Scalar_, int Rows_, int Cols_, int Options_, int MaxRows_, int MaxCols_>
-struct dense_xpr_base_dispatcher<Array<Scalar_, Rows_, Cols_, Options_, MaxRows_, MaxCols_>> : public ArrayBase {};
-
-}  // namespace doxygen
-
 /** \class PlainObjectBase
  * \ingroup Core_Module
  * \brief %Dense storage base class for matrices and arrays.
@@ -113,12 +92,7 @@
  * \sa \ref TopicClassHierarchy
  */
 template <typename Derived>
-class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher<Derived>
-#else
-template <typename Derived>
-class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
-#endif
-{
+class PlainObjectBase : public internal::dense_xpr_base<Derived>::type {
  public:
   enum { Options = internal::traits<Derived>::Options };
   typedef typename internal::dense_xpr_base<Derived>::type Base;
diff --git a/Eigen/src/Core/ProductEvaluators.h b/Eigen/src/Core/ProductEvaluators.h
index 77a658a..9de6481 100644
--- a/Eigen/src/Core/ProductEvaluators.h
+++ b/Eigen/src/Core/ProductEvaluators.h
@@ -294,6 +294,7 @@
     }
   };
   struct add {
+    /** Add to dst. */
     template <typename Dst, typename Src>
     EIGEN_DEVICE_FUNC void operator()(const Dst& dst, const Src& src) const {
       dst.const_cast_derived() += src;
@@ -305,9 +306,12 @@
       dst.const_cast_derived() -= src;
     }
   };
+  /** Scaled add. */
   struct adds {
     Scalar m_scale;
+    /** Constructor */
     explicit adds(const Scalar& s) : m_scale(s) {}
+    /** Scaled add to dst. */
     template <typename Dst, typename Src>
     void EIGEN_DEVICE_FUNC operator()(const Dst& dst, const Src& src) const {
       dst.const_cast_derived() += m_scale * src;
diff --git a/Eigen/src/Core/SelfCwiseBinaryOp.h b/Eigen/src/Core/SelfCwiseBinaryOp.h
index 4dc92f1..f73ceb4 100644
--- a/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ b/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -25,20 +25,6 @@
 }
 
 template <typename Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other) {
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(), cols(), other),
-                            internal::add_assign_op<Scalar, Scalar>());
-  return derived();
-}
-
-template <typename Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other) {
-  internal::call_assignment(this->derived(), PlainObject::Constant(rows(), cols(), other),
-                            internal::sub_assign_op<Scalar, Scalar>());
-  return derived();
-}
-
-template <typename Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other) {
   internal::call_assignment(this->derived(), PlainObject::Constant(rows(), cols(), other),
                             internal::div_assign_op<Scalar, Scalar>());
diff --git a/Eigen/src/Core/SkewSymmetricMatrix3.h b/Eigen/src/Core/SkewSymmetricMatrix3.h
index b3fcc3a..1945fd3 100644
--- a/Eigen/src/Core/SkewSymmetricMatrix3.h
+++ b/Eigen/src/Core/SkewSymmetricMatrix3.h
@@ -321,7 +321,7 @@
   return (this->transpose() + *this).isZero(prec);
 }
 
-/** \returns the matrix product of \c *this by the skew symmetric matrix \skew.
+/** \returns the matrix product of \c *this by the skew symmetric matrix \a skew.
  */
 template <typename Derived>
 template <typename SkewDerived>
diff --git a/Eigen/src/Core/arch/AVX512/PacketMathFP16.h b/Eigen/src/Core/arch/AVX512/PacketMathFP16.h
index 038e233..df5a0ef 100644
--- a/Eigen/src/Core/arch/AVX512/PacketMathFP16.h
+++ b/Eigen/src/Core/arch/AVX512/PacketMathFP16.h
@@ -1,877 +1,877 @@
-// 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_PACKET_MATH_FP16_AVX512_H
-#define EIGEN_PACKET_MATH_FP16_AVX512_H
-
-// IWYU pragma: private
-#include "../../InternalHeaderCheck.h"
-
-namespace Eigen {
-
-namespace internal {
-
-typedef __m512h Packet32h;
-typedef eigen_packet_wrapper<__m256i, 1> Packet16h;
-typedef eigen_packet_wrapper<__m128i, 2> Packet8h;
-
-template <>
-struct is_arithmetic<Packet8h> {
-  enum { value = true };
-};
-
-template <>
-struct packet_traits<half> : default_packet_traits {
-  typedef Packet32h type;
-  typedef Packet16h half;
-  enum {
-    Vectorizable = 1,
-    AlignedOnScalar = 1,
-    size = 32,
-
-    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,
-    HasExp = 1,
-    HasExpm1 = 1,
-    HasSqrt = 1,
-    HasRsqrt = 1,
-    // These ones should be implemented in future
-    HasBessel = 0,
-    HasNdtri = 0,
-    HasSin = EIGEN_FAST_MATH,
-    HasCos = EIGEN_FAST_MATH,
-    HasTanh = EIGEN_FAST_MATH,
-    HasErf = 0,  // EIGEN_FAST_MATH,
-    HasBlend = 0
-  };
-};
-
-template <>
-struct unpacket_traits<Packet32h> {
-  typedef Eigen::half type;
-  typedef Packet16h half;
-  enum {
-    size = 32,
-    alignment = Aligned64,
-    vectorizable = true,
-    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 <>
-struct unpacket_traits<Packet8h> {
-  typedef Eigen::half type;
-  typedef Packet8h half;
-  enum {
-    size = 8,
-    alignment = Aligned16,
-    vectorizable = true,
-    masked_load_available = false,
-    masked_store_available = false
-  };
-};
-
-// Memory functions
-
-// pset1
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pset1<Packet32h>(const Eigen::half& from) {
-  // half/half_raw is bit compatible
-  return _mm512_set1_ph(numext::bit_cast<_Float16>(from));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pzero(const Packet32h& /*a*/) {
-  return _mm512_setzero_ph();
-}
-
-// pset1frombits
-template <>
-EIGEN_STRONG_INLINE Packet32h pset1frombits<Packet32h>(unsigned short from) {
-  return _mm512_castsi512_ph(_mm512_set1_epi16(from));
-}
-
-// pfirst
-
-template <>
-EIGEN_STRONG_INLINE Eigen::half pfirst<Packet32h>(const Packet32h& from) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  return half_impl::raw_uint16_to_half(
-      static_cast<unsigned short>(_mm256_extract_epi16(_mm512_extracti32x8_epi32(_mm512_castph_si512(from), 0), 0)));
-#else
-  Eigen::half dest[32];
-  _mm512_storeu_ph(dest, from);
-  return dest[0];
-#endif
-}
-
-// pload
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pload<Packet32h>(const Eigen::half* from) {
-  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_ph(from);
-}
-
-// ploadu
-
-template <>
-EIGEN_STRONG_INLINE Packet32h ploadu<Packet32h>(const Eigen::half* from) {
-  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_ph(from);
-}
-
-// pstore
-
-template <>
-EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet32h& from) {
-  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_ph(to, from);
-}
-
-// pstoreu
-
-template <>
-EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet32h& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_ph(to, from);
-}
-
-// ploaddup
-template <>
-EIGEN_STRONG_INLINE Packet32h ploaddup<Packet32h>(const Eigen::half* from) {
-  __m512h a = _mm512_castph256_ph512(_mm256_loadu_ph(from));
-  return _mm512_permutexvar_ph(_mm512_set_epi16(15, 15, 14, 14, 13, 13, 12, 12, 11, 11, 10, 10, 9, 9, 8, 8, 7, 7, 6, 6,
-                                                5, 5, 4, 4, 3, 3, 2, 2, 1, 1, 0, 0),
-                               a);
-}
-
-// ploadquad
-template <>
-EIGEN_STRONG_INLINE Packet32h ploadquad<Packet32h>(const Eigen::half* from) {
-  __m512h a = _mm512_castph128_ph512(_mm_loadu_ph(from));
-  return _mm512_permutexvar_ph(
-      _mm512_set_epi16(7, 7, 7, 7, 6, 6, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 3, 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0),
-      a);
-}
-
-// pabs
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pabs<Packet32h>(const Packet32h& a) {
-  return _mm512_abs_ph(a);
-}
-
-// psignbit
-
-template <>
-EIGEN_STRONG_INLINE Packet32h psignbit<Packet32h>(const Packet32h& a) {
-  return _mm512_castsi512_ph(_mm512_srai_epi16(_mm512_castph_si512(a), 15));
-}
-
-// pmin
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pmin<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_min_ph(a, b);
-}
-
-// pmax
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pmax<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_max_ph(a, b);
-}
-
-// plset
-template <>
-EIGEN_STRONG_INLINE Packet32h plset<Packet32h>(const half& a) {
-  return _mm512_add_ph(pset1<Packet32h>(a), _mm512_set_ph(31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17,
-                                                          16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0));
-}
-
-// por
-
-template <>
-EIGEN_STRONG_INLINE Packet32h por(const Packet32h& a, const Packet32h& b) {
-  return _mm512_castsi512_ph(_mm512_or_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
-}
-
-// pxor
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pxor(const Packet32h& a, const Packet32h& b) {
-  return _mm512_castsi512_ph(_mm512_xor_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
-}
-
-// pand
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pand(const Packet32h& a, const Packet32h& b) {
-  return _mm512_castsi512_ph(_mm512_and_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
-}
-
-// pandnot
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pandnot(const Packet32h& a, const Packet32h& b) {
-  return _mm512_castsi512_ph(_mm512_andnot_si512(_mm512_castph_si512(b), _mm512_castph_si512(a)));
-}
-
-// pselect
-
-template <>
-EIGEN_DEVICE_FUNC inline Packet32h pselect(const Packet32h& mask, const Packet32h& a, const Packet32h& b) {
-  __mmask32 mask32 = _mm512_cmp_epi16_mask(_mm512_castph_si512(mask), _mm512_setzero_epi32(), _MM_CMPINT_EQ);
-  return _mm512_mask_blend_ph(mask32, a, b);
-}
-
-// pcmp_eq
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pcmp_eq(const Packet32h& a, const Packet32h& b) {
-  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_EQ_OQ);
-  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
-}
-
-// pcmp_le
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pcmp_le(const Packet32h& a, const Packet32h& b) {
-  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_LE_OQ);
-  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
-}
-
-// pcmp_lt
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pcmp_lt(const Packet32h& a, const Packet32h& b) {
-  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_LT_OQ);
-  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
-}
-
-// pcmp_lt_or_nan
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pcmp_lt_or_nan(const Packet32h& a, const Packet32h& b) {
-  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_NGE_UQ);
-  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi16(0), mask, static_cast<short>(0xffffu)));
-}
-
-// padd
-
-template <>
-EIGEN_STRONG_INLINE Packet32h padd<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_add_ph(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  return _mm256_castph_si256(_mm256_add_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  return _mm_castph_si128(_mm_add_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
-}
-
-// psub
-
-template <>
-EIGEN_STRONG_INLINE Packet32h psub<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_sub_ph(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h psub<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  return _mm256_castph_si256(_mm256_sub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h psub<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  return _mm_castph_si128(_mm_sub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
-}
-
-// pmul
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pmul<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_mul_ph(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  return _mm256_castph_si256(_mm256_mul_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  return _mm_castph_si128(_mm_mul_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
-}
-
-// pdiv
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pdiv<Packet32h>(const Packet32h& a, const Packet32h& b) {
-  return _mm512_div_ph(a, b);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pdiv<Packet16h>(const Packet16h& a, const Packet16h& b) {
-  return _mm256_castph_si256(_mm256_div_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pdiv<Packet8h>(const Packet8h& a, const Packet8h& b) {
-  return _mm_castph_si128(_mm_div_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
-}
-
-// pround
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pround<Packet32h>(const Packet32h& a) {
-  // Work-around for default std::round rounding mode.
-
-  // Mask for the sign bit
-  const Packet32h signMask = pset1frombits<Packet32h>(static_cast<numext::uint16_t>(0x8000u));
-  // The largest half-preicision float less than 0.5
-  const Packet32h prev0dot5 = pset1frombits<Packet32h>(static_cast<numext::uint16_t>(0x37FFu));
-
-  return _mm512_roundscale_ph(padd(por(pand(a, signMask), prev0dot5), a), _MM_FROUND_TO_ZERO);
-}
-
-// print
-
-template <>
-EIGEN_STRONG_INLINE Packet32h print<Packet32h>(const Packet32h& a) {
-  return _mm512_roundscale_ph(a, _MM_FROUND_CUR_DIRECTION);
-}
-
-// pceil
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pceil<Packet32h>(const Packet32h& a) {
-  return _mm512_roundscale_ph(a, _MM_FROUND_TO_POS_INF);
-}
-
-// pfloor
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pfloor<Packet32h>(const Packet32h& a) {
-  return _mm512_roundscale_ph(a, _MM_FROUND_TO_NEG_INF);
-}
-
-// ptrunc
-
-template <>
-EIGEN_STRONG_INLINE Packet32h ptrunc<Packet32h>(const Packet32h& a) {
-  return _mm512_roundscale_ph(a, _MM_FROUND_TO_ZERO);
-}
-
-// predux
-template <>
-EIGEN_STRONG_INLINE half predux<Packet32h>(const Packet32h& a) {
-  return (half)_mm512_reduce_add_ph(a);
-}
-
-template <>
-EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& a) {
-  return (half)_mm256_reduce_add_ph(_mm256_castsi256_ph(a));
-}
-
-template <>
-EIGEN_STRONG_INLINE half predux<Packet8h>(const Packet8h& a) {
-  return (half)_mm_reduce_add_ph(_mm_castsi128_ph(a));
-}
-
-// predux_half_dowto4
-template <>
-EIGEN_STRONG_INLINE Packet16h predux_half_dowto4<Packet32h>(const Packet32h& a) {
-#ifdef EIGEN_VECTORIZE_AVX512DQ
-  __m256i lowHalf = _mm256_castps_si256(_mm512_extractf32x8_ps(_mm512_castph_ps(a), 0));
-  __m256i highHalf = _mm256_castps_si256(_mm512_extractf32x8_ps(_mm512_castph_ps(a), 1));
-
-  return Packet16h(padd<Packet16h>(lowHalf, highHalf));
-#else
-  Eigen::half data[32];
-  _mm512_storeu_ph(data, a);
-
-  __m256i lowHalf = _mm256_castph_si256(_mm256_loadu_ph(data));
-  __m256i highHalf = _mm256_castph_si256(_mm256_loadu_ph(data + 16));
-
-  return Packet16h(padd<Packet16h>(lowHalf, highHalf));
-#endif
-}
-
-// predux_max
-
-// predux_min
-
-// predux_mul
-
-#ifdef EIGEN_VECTORIZE_FMA
-
-// pmadd
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pmadd(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
-  return _mm512_fmadd_ph(a, b, c);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pmadd(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
-  return _mm256_castph_si256(_mm256_fmadd_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pmadd(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
-  return _mm_castph_si128(_mm_fmadd_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
-}
-
-// pmsub
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pmsub(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
-  return _mm512_fmsub_ph(a, b, c);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pmsub(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
-  return _mm256_castph_si256(_mm256_fmsub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pmsub(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
-  return _mm_castph_si128(_mm_fmsub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
-}
-
-// pnmadd
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pnmadd(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
-  return _mm512_fnmadd_ph(a, b, c);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pnmadd(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
-  return _mm256_castph_si256(_mm256_fnmadd_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pnmadd(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
-  return _mm_castph_si128(_mm_fnmadd_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
-}
-
-// pnmsub
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pnmsub(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
-  return _mm512_fnmsub_ph(a, b, c);
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet16h pnmsub(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
-  return _mm256_castph_si256(_mm256_fnmsub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
-}
-
-template <>
-EIGEN_STRONG_INLINE Packet8h pnmsub(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
-  return _mm_castph_si128(_mm_fnmsub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
-}
-
-#endif
-
-// pnegate
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pnegate<Packet32h>(const Packet32h& a) {
-  return psub(pzero(a), a);
-}
-
-// pconj
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pconj<Packet32h>(const Packet32h& a) {
-  return a;
-}
-
-// psqrt
-
-template <>
-EIGEN_STRONG_INLINE Packet32h psqrt<Packet32h>(const Packet32h& a) {
-  return _mm512_sqrt_ph(a);
-}
-
-// prsqrt
-
-template <>
-EIGEN_STRONG_INLINE Packet32h prsqrt<Packet32h>(const Packet32h& a) {
-  return _mm512_rsqrt_ph(a);
-}
-
-// preciprocal
-
-template <>
-EIGEN_STRONG_INLINE Packet32h preciprocal<Packet32h>(const Packet32h& a) {
-  return _mm512_rcp_ph(a);
-}
-
-// ptranspose
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet32h, 32>& a) {
-  __m512i t[32];
-
-  EIGEN_UNROLL_LOOP
-  for (int i = 0; i < 16; i++) {
-    t[2 * i] = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[2 * i]), _mm512_castph_si512(a.packet[2 * i + 1]));
-    t[2 * i + 1] =
-        _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[2 * i]), _mm512_castph_si512(a.packet[2 * i + 1]));
-  }
-
-  __m512i p[32];
-
-  EIGEN_UNROLL_LOOP
-  for (int i = 0; i < 8; i++) {
-    p[4 * i] = _mm512_unpacklo_epi32(t[4 * i], t[4 * i + 2]);
-    p[4 * i + 1] = _mm512_unpackhi_epi32(t[4 * i], t[4 * i + 2]);
-    p[4 * i + 2] = _mm512_unpacklo_epi32(t[4 * i + 1], t[4 * i + 3]);
-    p[4 * i + 3] = _mm512_unpackhi_epi32(t[4 * i + 1], t[4 * i + 3]);
-  }
-
-  __m512i q[32];
-
-  EIGEN_UNROLL_LOOP
-  for (int i = 0; i < 4; i++) {
-    q[8 * i] = _mm512_unpacklo_epi64(p[8 * i], p[8 * i + 4]);
-    q[8 * i + 1] = _mm512_unpackhi_epi64(p[8 * i], p[8 * i + 4]);
-    q[8 * i + 2] = _mm512_unpacklo_epi64(p[8 * i + 1], p[8 * i + 5]);
-    q[8 * i + 3] = _mm512_unpackhi_epi64(p[8 * i + 1], p[8 * i + 5]);
-    q[8 * i + 4] = _mm512_unpacklo_epi64(p[8 * i + 2], p[8 * i + 6]);
-    q[8 * i + 5] = _mm512_unpackhi_epi64(p[8 * i + 2], p[8 * i + 6]);
-    q[8 * i + 6] = _mm512_unpacklo_epi64(p[8 * i + 3], p[8 * i + 7]);
-    q[8 * i + 7] = _mm512_unpackhi_epi64(p[8 * i + 3], p[8 * i + 7]);
-  }
-
-  __m512i f[32];
-
-#define PACKET32H_TRANSPOSE_HELPER(X, Y)                                                            \
-  do {                                                                                              \
-    f[Y * 8] = _mm512_inserti32x4(f[Y * 8], _mm512_extracti32x4_epi32(q[X * 8], Y), X);             \
-    f[Y * 8 + 1] = _mm512_inserti32x4(f[Y * 8 + 1], _mm512_extracti32x4_epi32(q[X * 8 + 1], Y), X); \
-    f[Y * 8 + 2] = _mm512_inserti32x4(f[Y * 8 + 2], _mm512_extracti32x4_epi32(q[X * 8 + 2], Y), X); \
-    f[Y * 8 + 3] = _mm512_inserti32x4(f[Y * 8 + 3], _mm512_extracti32x4_epi32(q[X * 8 + 3], Y), X); \
-    f[Y * 8 + 4] = _mm512_inserti32x4(f[Y * 8 + 4], _mm512_extracti32x4_epi32(q[X * 8 + 4], Y), X); \
-    f[Y * 8 + 5] = _mm512_inserti32x4(f[Y * 8 + 5], _mm512_extracti32x4_epi32(q[X * 8 + 5], Y), X); \
-    f[Y * 8 + 6] = _mm512_inserti32x4(f[Y * 8 + 6], _mm512_extracti32x4_epi32(q[X * 8 + 6], Y), X); \
-    f[Y * 8 + 7] = _mm512_inserti32x4(f[Y * 8 + 7], _mm512_extracti32x4_epi32(q[X * 8 + 7], Y), X); \
-  } while (false);
-
-  PACKET32H_TRANSPOSE_HELPER(0, 0);
-  PACKET32H_TRANSPOSE_HELPER(1, 1);
-  PACKET32H_TRANSPOSE_HELPER(2, 2);
-  PACKET32H_TRANSPOSE_HELPER(3, 3);
-
-  PACKET32H_TRANSPOSE_HELPER(1, 0);
-  PACKET32H_TRANSPOSE_HELPER(2, 0);
-  PACKET32H_TRANSPOSE_HELPER(3, 0);
-  PACKET32H_TRANSPOSE_HELPER(2, 1);
-  PACKET32H_TRANSPOSE_HELPER(3, 1);
-  PACKET32H_TRANSPOSE_HELPER(3, 2);
-
-  PACKET32H_TRANSPOSE_HELPER(0, 1);
-  PACKET32H_TRANSPOSE_HELPER(0, 2);
-  PACKET32H_TRANSPOSE_HELPER(0, 3);
-  PACKET32H_TRANSPOSE_HELPER(1, 2);
-  PACKET32H_TRANSPOSE_HELPER(1, 3);
-  PACKET32H_TRANSPOSE_HELPER(2, 3);
-
-#undef PACKET32H_TRANSPOSE_HELPER
-
-  EIGEN_UNROLL_LOOP
-  for (int i = 0; i < 32; i++) {
-    a.packet[i] = _mm512_castsi512_ph(f[i]);
-  }
-}
-
-EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet32h, 4>& a) {
-  __m512i p0, p1, p2, p3, t0, t1, t2, t3, a0, a1, a2, a3;
-  t0 = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[0]), _mm512_castph_si512(a.packet[1]));
-  t1 = _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[0]), _mm512_castph_si512(a.packet[1]));
-  t2 = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[2]), _mm512_castph_si512(a.packet[3]));
-  t3 = _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[2]), _mm512_castph_si512(a.packet[3]));
-
-  p0 = _mm512_unpacklo_epi32(t0, t2);
-  p1 = _mm512_unpackhi_epi32(t0, t2);
-  p2 = _mm512_unpacklo_epi32(t1, t3);
-  p3 = _mm512_unpackhi_epi32(t1, t3);
-
-  a0 = p0;
-  a1 = p1;
-  a2 = p2;
-  a3 = p3;
-
-  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p1, 0), 1);
-  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p0, 1), 0);
-
-  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p2, 0), 2);
-  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p0, 2), 0);
-
-  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p3, 0), 3);
-  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p0, 3), 0);
-
-  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p2, 1), 2);
-  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p1, 2), 1);
-
-  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p3, 2), 3);
-  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p2, 3), 2);
-
-  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p3, 1), 3);
-  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p1, 3), 1);
-
-  a.packet[0] = _mm512_castsi512_ph(a0);
-  a.packet[1] = _mm512_castsi512_ph(a1);
-  a.packet[2] = _mm512_castsi512_ph(a2);
-  a.packet[3] = _mm512_castsi512_ph(a3);
-}
-
-// preverse
-
-template <>
-EIGEN_STRONG_INLINE Packet32h preverse(const Packet32h& a) {
-  return _mm512_permutexvar_ph(_mm512_set_epi16(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19,
-                                                20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31),
-                               a);
-}
-
-// pscatter
-
-template <>
-EIGEN_STRONG_INLINE void pscatter<half, Packet32h>(half* to, const Packet32h& from, Index stride) {
-  EIGEN_ALIGN64 half aux[32];
-  pstore(aux, from);
-
-  EIGEN_UNROLL_LOOP
-  for (int i = 0; i < 32; i++) {
-    to[stride * i] = aux[i];
-  }
-}
-
-// pgather
-
-template <>
-EIGEN_STRONG_INLINE Packet32h pgather<Eigen::half, Packet32h>(const Eigen::half* from, Index stride) {
-  return _mm512_castsi512_ph(_mm512_set_epi16(
-      from[31 * stride].x, from[30 * stride].x, from[29 * stride].x, from[28 * stride].x, from[27 * stride].x,
-      from[26 * stride].x, from[25 * stride].x, from[24 * stride].x, from[23 * stride].x, from[22 * stride].x,
-      from[21 * stride].x, from[20 * stride].x, from[19 * stride].x, from[18 * stride].x, from[17 * stride].x,
-      from[16 * stride].x, 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 Packet16h pcos<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h psin<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h plog<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h plog2<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h plog1p<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h pexp<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h pexpm1<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h ptanh<Packet16h>(const Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h pfrexp<Packet16h>(const Packet16h&, Packet16h&);
-template <>
-EIGEN_STRONG_INLINE Packet16h pldexp<Packet16h>(const Packet16h&, const Packet16h&);
-
-EIGEN_STRONG_INLINE Packet32h combine2Packet16h(const Packet16h& a, const Packet16h& b) {
-  __m512d result = _mm512_undefined_pd();
-  result = _mm512_insertf64x4(result, _mm256_castsi256_pd(a), 0);
-  result = _mm512_insertf64x4(result, _mm256_castsi256_pd(b), 1);
-  return _mm512_castpd_ph(result);
-}
-
-EIGEN_STRONG_INLINE void extract2Packet16h(const Packet32h& x, Packet16h& a, Packet16h& b) {
-  a = _mm256_castpd_si256(_mm512_extractf64x4_pd(_mm512_castph_pd(x), 0));
-  b = _mm256_castpd_si256(_mm512_extractf64x4_pd(_mm512_castph_pd(x), 1));
-}
-
-// psin
-template <>
-EIGEN_STRONG_INLINE Packet32h psin<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = psin(low);
-  Packet16h highOut = psin(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// pcos
-template <>
-EIGEN_STRONG_INLINE Packet32h pcos<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = pcos(low);
-  Packet16h highOut = pcos(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// plog
-template <>
-EIGEN_STRONG_INLINE Packet32h plog<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = plog(low);
-  Packet16h highOut = plog(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// plog2
-template <>
-EIGEN_STRONG_INLINE Packet32h plog2<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = plog2(low);
-  Packet16h highOut = plog2(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// plog1p
-template <>
-EIGEN_STRONG_INLINE Packet32h plog1p<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = plog1p(low);
-  Packet16h highOut = plog1p(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// pexp
-template <>
-EIGEN_STRONG_INLINE Packet32h pexp<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = pexp(low);
-  Packet16h highOut = pexp(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// pexpm1
-template <>
-EIGEN_STRONG_INLINE Packet32h pexpm1<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = pexpm1(low);
-  Packet16h highOut = pexpm1(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// ptanh
-template <>
-EIGEN_STRONG_INLINE Packet32h ptanh<Packet32h>(const Packet32h& a) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h lowOut = ptanh(low);
-  Packet16h highOut = ptanh(high);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// pfrexp
-template <>
-EIGEN_STRONG_INLINE Packet32h pfrexp<Packet32h>(const Packet32h& a, Packet32h& exponent) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h exp1 = _mm256_undefined_si256();
-  Packet16h exp2 = _mm256_undefined_si256();
-
-  Packet16h lowOut = pfrexp(low, exp1);
-  Packet16h highOut = pfrexp(high, exp2);
-
-  exponent = combine2Packet16h(exp1, exp2);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-// pldexp
-template <>
-EIGEN_STRONG_INLINE Packet32h pldexp<Packet32h>(const Packet32h& a, const Packet32h& exponent) {
-  Packet16h low;
-  Packet16h high;
-  extract2Packet16h(a, low, high);
-
-  Packet16h exp1;
-  Packet16h exp2;
-  extract2Packet16h(exponent, exp1, exp2);
-
-  Packet16h lowOut = pldexp(low, exp1);
-  Packet16h highOut = pldexp(high, exp2);
-
-  return combine2Packet16h(lowOut, highOut);
-}
-
-}  // end namespace internal
-}  // end namespace Eigen
-
-#endif  // EIGEN_PACKET_MATH_FP16_AVX512_H
+// 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_PACKET_MATH_FP16_AVX512_H
+#define EIGEN_PACKET_MATH_FP16_AVX512_H
+
+// IWYU pragma: private
+#include "../../InternalHeaderCheck.h"
+
+namespace Eigen {
+
+namespace internal {
+
+typedef __m512h Packet32h;
+typedef eigen_packet_wrapper<__m256i, 1> Packet16h;
+typedef eigen_packet_wrapper<__m128i, 2> Packet8h;
+
+template <>
+struct is_arithmetic<Packet8h> {
+  enum { value = true };
+};
+
+template <>
+struct packet_traits<half> : default_packet_traits {
+  typedef Packet32h type;
+  typedef Packet16h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 32,
+
+    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,
+    HasExp = 1,
+    HasExpm1 = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    // These ones should be implemented in future
+    HasBessel = 0,
+    HasNdtri = 0,
+    HasSin = EIGEN_FAST_MATH,
+    HasCos = EIGEN_FAST_MATH,
+    HasTanh = EIGEN_FAST_MATH,
+    HasErf = 0,  // EIGEN_FAST_MATH,
+    HasBlend = 0
+  };
+};
+
+template <>
+struct unpacket_traits<Packet32h> {
+  typedef Eigen::half type;
+  typedef Packet16h half;
+  enum {
+    size = 32,
+    alignment = Aligned64,
+    vectorizable = true,
+    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 <>
+struct unpacket_traits<Packet8h> {
+  typedef Eigen::half type;
+  typedef Packet8h half;
+  enum {
+    size = 8,
+    alignment = Aligned16,
+    vectorizable = true,
+    masked_load_available = false,
+    masked_store_available = false
+  };
+};
+
+// Memory functions
+
+// pset1
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pset1<Packet32h>(const Eigen::half& from) {
+  // half/half_raw is bit compatible
+  return _mm512_set1_ph(numext::bit_cast<_Float16>(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pzero(const Packet32h& /*a*/) {
+  return _mm512_setzero_ph();
+}
+
+// pset1frombits
+template <>
+EIGEN_STRONG_INLINE Packet32h pset1frombits<Packet32h>(unsigned short from) {
+  return _mm512_castsi512_ph(_mm512_set1_epi16(from));
+}
+
+// pfirst
+
+template <>
+EIGEN_STRONG_INLINE Eigen::half pfirst<Packet32h>(const Packet32h& from) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return half_impl::raw_uint16_to_half(
+      static_cast<unsigned short>(_mm256_extract_epi16(_mm512_extracti32x8_epi32(_mm512_castph_si512(from), 0), 0)));
+#else
+  Eigen::half dest[32];
+  _mm512_storeu_ph(dest, from);
+  return dest[0];
+#endif
+}
+
+// pload
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pload<Packet32h>(const Eigen::half* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_ph(from);
+}
+
+// ploadu
+
+template <>
+EIGEN_STRONG_INLINE Packet32h ploadu<Packet32h>(const Eigen::half* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_ph(from);
+}
+
+// pstore
+
+template <>
+EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet32h& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_ph(to, from);
+}
+
+// pstoreu
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet32h& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_ph(to, from);
+}
+
+// ploaddup
+template <>
+EIGEN_STRONG_INLINE Packet32h ploaddup<Packet32h>(const Eigen::half* from) {
+  __m512h a = _mm512_castph256_ph512(_mm256_loadu_ph(from));
+  return _mm512_permutexvar_ph(_mm512_set_epi16(15, 15, 14, 14, 13, 13, 12, 12, 11, 11, 10, 10, 9, 9, 8, 8, 7, 7, 6, 6,
+                                                5, 5, 4, 4, 3, 3, 2, 2, 1, 1, 0, 0),
+                               a);
+}
+
+// ploadquad
+template <>
+EIGEN_STRONG_INLINE Packet32h ploadquad<Packet32h>(const Eigen::half* from) {
+  __m512h a = _mm512_castph128_ph512(_mm_loadu_ph(from));
+  return _mm512_permutexvar_ph(
+      _mm512_set_epi16(7, 7, 7, 7, 6, 6, 6, 6, 5, 5, 5, 5, 4, 4, 4, 4, 3, 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0),
+      a);
+}
+
+// pabs
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pabs<Packet32h>(const Packet32h& a) {
+  return _mm512_abs_ph(a);
+}
+
+// psignbit
+
+template <>
+EIGEN_STRONG_INLINE Packet32h psignbit<Packet32h>(const Packet32h& a) {
+  return _mm512_castsi512_ph(_mm512_srai_epi16(_mm512_castph_si512(a), 15));
+}
+
+// pmin
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pmin<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_min_ph(a, b);
+}
+
+// pmax
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pmax<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_max_ph(a, b);
+}
+
+// plset
+template <>
+EIGEN_STRONG_INLINE Packet32h plset<Packet32h>(const half& a) {
+  return _mm512_add_ph(pset1<Packet32h>(a), _mm512_set_ph(31, 30, 29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 19, 18, 17,
+                                                          16, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0));
+}
+
+// por
+
+template <>
+EIGEN_STRONG_INLINE Packet32h por(const Packet32h& a, const Packet32h& b) {
+  return _mm512_castsi512_ph(_mm512_or_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
+}
+
+// pxor
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pxor(const Packet32h& a, const Packet32h& b) {
+  return _mm512_castsi512_ph(_mm512_xor_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
+}
+
+// pand
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pand(const Packet32h& a, const Packet32h& b) {
+  return _mm512_castsi512_ph(_mm512_and_si512(_mm512_castph_si512(a), _mm512_castph_si512(b)));
+}
+
+// pandnot
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pandnot(const Packet32h& a, const Packet32h& b) {
+  return _mm512_castsi512_ph(_mm512_andnot_si512(_mm512_castph_si512(b), _mm512_castph_si512(a)));
+}
+
+// pselect
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet32h pselect(const Packet32h& mask, const Packet32h& a, const Packet32h& b) {
+  __mmask32 mask32 = _mm512_cmp_epi16_mask(_mm512_castph_si512(mask), _mm512_setzero_epi32(), _MM_CMPINT_EQ);
+  return _mm512_mask_blend_ph(mask32, a, b);
+}
+
+// pcmp_eq
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pcmp_eq(const Packet32h& a, const Packet32h& b) {
+  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_EQ_OQ);
+  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
+}
+
+// pcmp_le
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pcmp_le(const Packet32h& a, const Packet32h& b) {
+  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_LE_OQ);
+  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
+}
+
+// pcmp_lt
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pcmp_lt(const Packet32h& a, const Packet32h& b) {
+  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_LT_OQ);
+  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi32(0), mask, static_cast<short>(0xffffu)));
+}
+
+// pcmp_lt_or_nan
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pcmp_lt_or_nan(const Packet32h& a, const Packet32h& b) {
+  __mmask32 mask = _mm512_cmp_ph_mask(a, b, _CMP_NGE_UQ);
+  return _mm512_castsi512_ph(_mm512_mask_set1_epi16(_mm512_set1_epi16(0), mask, static_cast<short>(0xffffu)));
+}
+
+// padd
+
+template <>
+EIGEN_STRONG_INLINE Packet32h padd<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_add_ph(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  return _mm256_castph_si256(_mm256_add_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  return _mm_castph_si128(_mm_add_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
+}
+
+// psub
+
+template <>
+EIGEN_STRONG_INLINE Packet32h psub<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_sub_ph(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h psub<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  return _mm256_castph_si256(_mm256_sub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h psub<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  return _mm_castph_si128(_mm_sub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
+}
+
+// pmul
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pmul<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_mul_ph(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  return _mm256_castph_si256(_mm256_mul_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  return _mm_castph_si128(_mm_mul_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
+}
+
+// pdiv
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pdiv<Packet32h>(const Packet32h& a, const Packet32h& b) {
+  return _mm512_div_ph(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pdiv<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  return _mm256_castph_si256(_mm256_div_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pdiv<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  return _mm_castph_si128(_mm_div_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b)));
+}
+
+// pround
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pround<Packet32h>(const Packet32h& a) {
+  // Work-around for default std::round rounding mode.
+
+  // Mask for the sign bit
+  const Packet32h signMask = pset1frombits<Packet32h>(static_cast<numext::uint16_t>(0x8000u));
+  // The largest half-preicision float less than 0.5
+  const Packet32h prev0dot5 = pset1frombits<Packet32h>(static_cast<numext::uint16_t>(0x37FFu));
+
+  return _mm512_roundscale_ph(padd(por(pand(a, signMask), prev0dot5), a), _MM_FROUND_TO_ZERO);
+}
+
+// print
+
+template <>
+EIGEN_STRONG_INLINE Packet32h print<Packet32h>(const Packet32h& a) {
+  return _mm512_roundscale_ph(a, _MM_FROUND_CUR_DIRECTION);
+}
+
+// pceil
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pceil<Packet32h>(const Packet32h& a) {
+  return _mm512_roundscale_ph(a, _MM_FROUND_TO_POS_INF);
+}
+
+// pfloor
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pfloor<Packet32h>(const Packet32h& a) {
+  return _mm512_roundscale_ph(a, _MM_FROUND_TO_NEG_INF);
+}
+
+// ptrunc
+
+template <>
+EIGEN_STRONG_INLINE Packet32h ptrunc<Packet32h>(const Packet32h& a) {
+  return _mm512_roundscale_ph(a, _MM_FROUND_TO_ZERO);
+}
+
+// predux
+template <>
+EIGEN_STRONG_INLINE half predux<Packet32h>(const Packet32h& a) {
+  return (half)_mm512_reduce_add_ph(a);
+}
+
+template <>
+EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& a) {
+  return (half)_mm256_reduce_add_ph(_mm256_castsi256_ph(a));
+}
+
+template <>
+EIGEN_STRONG_INLINE half predux<Packet8h>(const Packet8h& a) {
+  return (half)_mm_reduce_add_ph(_mm_castsi128_ph(a));
+}
+
+// predux_half_dowto4
+template <>
+EIGEN_STRONG_INLINE Packet16h predux_half_dowto4<Packet32h>(const Packet32h& a) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  __m256i lowHalf = _mm256_castps_si256(_mm512_extractf32x8_ps(_mm512_castph_ps(a), 0));
+  __m256i highHalf = _mm256_castps_si256(_mm512_extractf32x8_ps(_mm512_castph_ps(a), 1));
+
+  return Packet16h(padd<Packet16h>(lowHalf, highHalf));
+#else
+  Eigen::half data[32];
+  _mm512_storeu_ph(data, a);
+
+  __m256i lowHalf = _mm256_castph_si256(_mm256_loadu_ph(data));
+  __m256i highHalf = _mm256_castph_si256(_mm256_loadu_ph(data + 16));
+
+  return Packet16h(padd<Packet16h>(lowHalf, highHalf));
+#endif
+}
+
+// predux_max
+
+// predux_min
+
+// predux_mul
+
+#ifdef EIGEN_VECTORIZE_FMA
+
+// pmadd
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pmadd(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
+  return _mm512_fmadd_ph(a, b, c);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pmadd(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
+  return _mm256_castph_si256(_mm256_fmadd_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pmadd(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
+  return _mm_castph_si128(_mm_fmadd_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
+}
+
+// pmsub
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pmsub(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
+  return _mm512_fmsub_ph(a, b, c);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pmsub(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
+  return _mm256_castph_si256(_mm256_fmsub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pmsub(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
+  return _mm_castph_si128(_mm_fmsub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
+}
+
+// pnmadd
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pnmadd(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
+  return _mm512_fnmadd_ph(a, b, c);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pnmadd(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
+  return _mm256_castph_si256(_mm256_fnmadd_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pnmadd(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
+  return _mm_castph_si128(_mm_fnmadd_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
+}
+
+// pnmsub
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pnmsub(const Packet32h& a, const Packet32h& b, const Packet32h& c) {
+  return _mm512_fnmsub_ph(a, b, c);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16h pnmsub(const Packet16h& a, const Packet16h& b, const Packet16h& c) {
+  return _mm256_castph_si256(_mm256_fnmsub_ph(_mm256_castsi256_ph(a), _mm256_castsi256_ph(b), _mm256_castsi256_ph(c)));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8h pnmsub(const Packet8h& a, const Packet8h& b, const Packet8h& c) {
+  return _mm_castph_si128(_mm_fnmsub_ph(_mm_castsi128_ph(a), _mm_castsi128_ph(b), _mm_castsi128_ph(c)));
+}
+
+#endif
+
+// pnegate
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pnegate<Packet32h>(const Packet32h& a) {
+  return psub(pzero(a), a);
+}
+
+// pconj
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pconj<Packet32h>(const Packet32h& a) {
+  return a;
+}
+
+// psqrt
+
+template <>
+EIGEN_STRONG_INLINE Packet32h psqrt<Packet32h>(const Packet32h& a) {
+  return _mm512_sqrt_ph(a);
+}
+
+// prsqrt
+
+template <>
+EIGEN_STRONG_INLINE Packet32h prsqrt<Packet32h>(const Packet32h& a) {
+  return _mm512_rsqrt_ph(a);
+}
+
+// preciprocal
+
+template <>
+EIGEN_STRONG_INLINE Packet32h preciprocal<Packet32h>(const Packet32h& a) {
+  return _mm512_rcp_ph(a);
+}
+
+// ptranspose
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet32h, 32>& a) {
+  __m512i t[32];
+
+  EIGEN_UNROLL_LOOP
+  for (int i = 0; i < 16; i++) {
+    t[2 * i] = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[2 * i]), _mm512_castph_si512(a.packet[2 * i + 1]));
+    t[2 * i + 1] =
+        _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[2 * i]), _mm512_castph_si512(a.packet[2 * i + 1]));
+  }
+
+  __m512i p[32];
+
+  EIGEN_UNROLL_LOOP
+  for (int i = 0; i < 8; i++) {
+    p[4 * i] = _mm512_unpacklo_epi32(t[4 * i], t[4 * i + 2]);
+    p[4 * i + 1] = _mm512_unpackhi_epi32(t[4 * i], t[4 * i + 2]);
+    p[4 * i + 2] = _mm512_unpacklo_epi32(t[4 * i + 1], t[4 * i + 3]);
+    p[4 * i + 3] = _mm512_unpackhi_epi32(t[4 * i + 1], t[4 * i + 3]);
+  }
+
+  __m512i q[32];
+
+  EIGEN_UNROLL_LOOP
+  for (int i = 0; i < 4; i++) {
+    q[8 * i] = _mm512_unpacklo_epi64(p[8 * i], p[8 * i + 4]);
+    q[8 * i + 1] = _mm512_unpackhi_epi64(p[8 * i], p[8 * i + 4]);
+    q[8 * i + 2] = _mm512_unpacklo_epi64(p[8 * i + 1], p[8 * i + 5]);
+    q[8 * i + 3] = _mm512_unpackhi_epi64(p[8 * i + 1], p[8 * i + 5]);
+    q[8 * i + 4] = _mm512_unpacklo_epi64(p[8 * i + 2], p[8 * i + 6]);
+    q[8 * i + 5] = _mm512_unpackhi_epi64(p[8 * i + 2], p[8 * i + 6]);
+    q[8 * i + 6] = _mm512_unpacklo_epi64(p[8 * i + 3], p[8 * i + 7]);
+    q[8 * i + 7] = _mm512_unpackhi_epi64(p[8 * i + 3], p[8 * i + 7]);
+  }
+
+  __m512i f[32];
+
+#define PACKET32H_TRANSPOSE_HELPER(X, Y)                                                            \
+  do {                                                                                              \
+    f[Y * 8] = _mm512_inserti32x4(f[Y * 8], _mm512_extracti32x4_epi32(q[X * 8], Y), X);             \
+    f[Y * 8 + 1] = _mm512_inserti32x4(f[Y * 8 + 1], _mm512_extracti32x4_epi32(q[X * 8 + 1], Y), X); \
+    f[Y * 8 + 2] = _mm512_inserti32x4(f[Y * 8 + 2], _mm512_extracti32x4_epi32(q[X * 8 + 2], Y), X); \
+    f[Y * 8 + 3] = _mm512_inserti32x4(f[Y * 8 + 3], _mm512_extracti32x4_epi32(q[X * 8 + 3], Y), X); \
+    f[Y * 8 + 4] = _mm512_inserti32x4(f[Y * 8 + 4], _mm512_extracti32x4_epi32(q[X * 8 + 4], Y), X); \
+    f[Y * 8 + 5] = _mm512_inserti32x4(f[Y * 8 + 5], _mm512_extracti32x4_epi32(q[X * 8 + 5], Y), X); \
+    f[Y * 8 + 6] = _mm512_inserti32x4(f[Y * 8 + 6], _mm512_extracti32x4_epi32(q[X * 8 + 6], Y), X); \
+    f[Y * 8 + 7] = _mm512_inserti32x4(f[Y * 8 + 7], _mm512_extracti32x4_epi32(q[X * 8 + 7], Y), X); \
+  } while (false);
+
+  PACKET32H_TRANSPOSE_HELPER(0, 0);
+  PACKET32H_TRANSPOSE_HELPER(1, 1);
+  PACKET32H_TRANSPOSE_HELPER(2, 2);
+  PACKET32H_TRANSPOSE_HELPER(3, 3);
+
+  PACKET32H_TRANSPOSE_HELPER(1, 0);
+  PACKET32H_TRANSPOSE_HELPER(2, 0);
+  PACKET32H_TRANSPOSE_HELPER(3, 0);
+  PACKET32H_TRANSPOSE_HELPER(2, 1);
+  PACKET32H_TRANSPOSE_HELPER(3, 1);
+  PACKET32H_TRANSPOSE_HELPER(3, 2);
+
+  PACKET32H_TRANSPOSE_HELPER(0, 1);
+  PACKET32H_TRANSPOSE_HELPER(0, 2);
+  PACKET32H_TRANSPOSE_HELPER(0, 3);
+  PACKET32H_TRANSPOSE_HELPER(1, 2);
+  PACKET32H_TRANSPOSE_HELPER(1, 3);
+  PACKET32H_TRANSPOSE_HELPER(2, 3);
+
+#undef PACKET32H_TRANSPOSE_HELPER
+
+  EIGEN_UNROLL_LOOP
+  for (int i = 0; i < 32; i++) {
+    a.packet[i] = _mm512_castsi512_ph(f[i]);
+  }
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet32h, 4>& a) {
+  __m512i p0, p1, p2, p3, t0, t1, t2, t3, a0, a1, a2, a3;
+  t0 = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[0]), _mm512_castph_si512(a.packet[1]));
+  t1 = _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[0]), _mm512_castph_si512(a.packet[1]));
+  t2 = _mm512_unpacklo_epi16(_mm512_castph_si512(a.packet[2]), _mm512_castph_si512(a.packet[3]));
+  t3 = _mm512_unpackhi_epi16(_mm512_castph_si512(a.packet[2]), _mm512_castph_si512(a.packet[3]));
+
+  p0 = _mm512_unpacklo_epi32(t0, t2);
+  p1 = _mm512_unpackhi_epi32(t0, t2);
+  p2 = _mm512_unpacklo_epi32(t1, t3);
+  p3 = _mm512_unpackhi_epi32(t1, t3);
+
+  a0 = p0;
+  a1 = p1;
+  a2 = p2;
+  a3 = p3;
+
+  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p1, 0), 1);
+  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p0, 1), 0);
+
+  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p2, 0), 2);
+  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p0, 2), 0);
+
+  a0 = _mm512_inserti32x4(a0, _mm512_extracti32x4_epi32(p3, 0), 3);
+  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p0, 3), 0);
+
+  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p2, 1), 2);
+  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p1, 2), 1);
+
+  a2 = _mm512_inserti32x4(a2, _mm512_extracti32x4_epi32(p3, 2), 3);
+  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p2, 3), 2);
+
+  a1 = _mm512_inserti32x4(a1, _mm512_extracti32x4_epi32(p3, 1), 3);
+  a3 = _mm512_inserti32x4(a3, _mm512_extracti32x4_epi32(p1, 3), 1);
+
+  a.packet[0] = _mm512_castsi512_ph(a0);
+  a.packet[1] = _mm512_castsi512_ph(a1);
+  a.packet[2] = _mm512_castsi512_ph(a2);
+  a.packet[3] = _mm512_castsi512_ph(a3);
+}
+
+// preverse
+
+template <>
+EIGEN_STRONG_INLINE Packet32h preverse(const Packet32h& a) {
+  return _mm512_permutexvar_ph(_mm512_set_epi16(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19,
+                                                20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31),
+                               a);
+}
+
+// pscatter
+
+template <>
+EIGEN_STRONG_INLINE void pscatter<half, Packet32h>(half* to, const Packet32h& from, Index stride) {
+  EIGEN_ALIGN64 half aux[32];
+  pstore(aux, from);
+
+  EIGEN_UNROLL_LOOP
+  for (int i = 0; i < 32; i++) {
+    to[stride * i] = aux[i];
+  }
+}
+
+// pgather
+
+template <>
+EIGEN_STRONG_INLINE Packet32h pgather<Eigen::half, Packet32h>(const Eigen::half* from, Index stride) {
+  return _mm512_castsi512_ph(_mm512_set_epi16(
+      from[31 * stride].x, from[30 * stride].x, from[29 * stride].x, from[28 * stride].x, from[27 * stride].x,
+      from[26 * stride].x, from[25 * stride].x, from[24 * stride].x, from[23 * stride].x, from[22 * stride].x,
+      from[21 * stride].x, from[20 * stride].x, from[19 * stride].x, from[18 * stride].x, from[17 * stride].x,
+      from[16 * stride].x, 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 Packet16h pcos<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h psin<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h plog<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h plog2<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h plog1p<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h pexp<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h pexpm1<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h ptanh<Packet16h>(const Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h pfrexp<Packet16h>(const Packet16h&, Packet16h&);
+template <>
+EIGEN_STRONG_INLINE Packet16h pldexp<Packet16h>(const Packet16h&, const Packet16h&);
+
+EIGEN_STRONG_INLINE Packet32h combine2Packet16h(const Packet16h& a, const Packet16h& b) {
+  __m512d result = _mm512_undefined_pd();
+  result = _mm512_insertf64x4(result, _mm256_castsi256_pd(a), 0);
+  result = _mm512_insertf64x4(result, _mm256_castsi256_pd(b), 1);
+  return _mm512_castpd_ph(result);
+}
+
+EIGEN_STRONG_INLINE void extract2Packet16h(const Packet32h& x, Packet16h& a, Packet16h& b) {
+  a = _mm256_castpd_si256(_mm512_extractf64x4_pd(_mm512_castph_pd(x), 0));
+  b = _mm256_castpd_si256(_mm512_extractf64x4_pd(_mm512_castph_pd(x), 1));
+}
+
+// psin
+template <>
+EIGEN_STRONG_INLINE Packet32h psin<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = psin(low);
+  Packet16h highOut = psin(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// pcos
+template <>
+EIGEN_STRONG_INLINE Packet32h pcos<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = pcos(low);
+  Packet16h highOut = pcos(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// plog
+template <>
+EIGEN_STRONG_INLINE Packet32h plog<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = plog(low);
+  Packet16h highOut = plog(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// plog2
+template <>
+EIGEN_STRONG_INLINE Packet32h plog2<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = plog2(low);
+  Packet16h highOut = plog2(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// plog1p
+template <>
+EIGEN_STRONG_INLINE Packet32h plog1p<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = plog1p(low);
+  Packet16h highOut = plog1p(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// pexp
+template <>
+EIGEN_STRONG_INLINE Packet32h pexp<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = pexp(low);
+  Packet16h highOut = pexp(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// pexpm1
+template <>
+EIGEN_STRONG_INLINE Packet32h pexpm1<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = pexpm1(low);
+  Packet16h highOut = pexpm1(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// ptanh
+template <>
+EIGEN_STRONG_INLINE Packet32h ptanh<Packet32h>(const Packet32h& a) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h lowOut = ptanh(low);
+  Packet16h highOut = ptanh(high);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// pfrexp
+template <>
+EIGEN_STRONG_INLINE Packet32h pfrexp<Packet32h>(const Packet32h& a, Packet32h& exponent) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h exp1 = _mm256_undefined_si256();
+  Packet16h exp2 = _mm256_undefined_si256();
+
+  Packet16h lowOut = pfrexp(low, exp1);
+  Packet16h highOut = pfrexp(high, exp2);
+
+  exponent = combine2Packet16h(exp1, exp2);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+// pldexp
+template <>
+EIGEN_STRONG_INLINE Packet32h pldexp<Packet32h>(const Packet32h& a, const Packet32h& exponent) {
+  Packet16h low;
+  Packet16h high;
+  extract2Packet16h(a, low, high);
+
+  Packet16h exp1;
+  Packet16h exp2;
+  extract2Packet16h(exponent, exp1, exp2);
+
+  Packet16h lowOut = pldexp(low, exp1);
+  Packet16h highOut = pldexp(high, exp2);
+
+  return combine2Packet16h(lowOut, highOut);
+}
+
+}  // end namespace internal
+}  // end namespace Eigen
+
+#endif  // EIGEN_PACKET_MATH_FP16_AVX512_H
diff --git a/Eigen/src/Core/arch/AVX512/TrsmUnrolls.inc b/Eigen/src/Core/arch/AVX512/TrsmUnrolls.inc
index 1983c08..3a5f68e 100644
--- a/Eigen/src/Core/arch/AVX512/TrsmUnrolls.inc
+++ b/Eigen/src/Core/arch/AVX512/TrsmUnrolls.inc
@@ -213,11 +213,12 @@
   }
 
   /**
-   * Transposes LxunrollN row major block of matrices stored EIGEN_AVX_MAX_NUM_ACC zmm registers to
+   * Transposes LxunrollN row major block of matrices stored `EIGEN_AVX_MAX_NUM_ACC` zmm registers to
    * "unrollN"xL ymm registers to be stored col-major into C.
    *
    *  For 8x48, the 8x48 block (row-major) is stored in zmm as follows:
    *
+   *  ```
    *  row0: zmm0 zmm1 zmm2
    *  row1: zmm3 zmm4 zmm5
    *    .
@@ -231,10 +232,10 @@
    *    .
    *    .
    *  row7: zmm14 zmm15
-   *
+   * ```
    *
    * In general we will have {1,2,3} groups of avx registers each of size
-   * EIGEN_AVX_MAX_NUM_ROW. packetIndexOffset is used to select which "block" of
+   * `EIGEN_AVX_MAX_NUM_ROW`. packetIndexOffset is used to select which "block" of
    * avx registers are being transposed.
    */
   template <int64_t unrollN, int64_t packetIndexOffset>
diff --git a/Eigen/src/Core/arch/AltiVec/Complex.h b/Eigen/src/Core/arch/AltiVec/Complex.h
index 0252efa..9c58b0c 100644
--- a/Eigen/src/Core/arch/AltiVec/Complex.h
+++ b/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -18,19 +18,24 @@
 
 namespace internal {
 
-static Packet4ui p4ui_CONJ_XOR =
-    vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);  //{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+inline Packet4ui p4ui_CONJ_XOR() {
+  return vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);  //{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+}
 #ifdef EIGEN_VECTORIZE_VSX
 #if defined(_BIG_ENDIAN)
-static Packet2ul p2ul_CONJ_XOR1 =
-    (Packet2ul)vec_sld((Packet4ui)p2d_MZERO, (Packet4ui)p2l_ZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
-static Packet2ul p2ul_CONJ_XOR2 =
-    (Packet2ul)vec_sld((Packet4ui)p2l_ZERO, (Packet4ui)p2d_MZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+inline Packet2ul p2ul_CONJ_XOR1() {
+  (Packet2ul) vec_sld((Packet4ui)p2d_MZERO, (Packet4ui)p2l_ZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
+inline Packet2ul p2ul_CONJ_XOR2() {
+  (Packet2ul) vec_sld((Packet4ui)p2l_ZERO, (Packet4ui)p2d_MZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
 #else
-static Packet2ul p2ul_CONJ_XOR1 =
-    (Packet2ul)vec_sld((Packet4ui)p2l_ZERO, (Packet4ui)p2d_MZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
-static Packet2ul p2ul_CONJ_XOR2 =
-    (Packet2ul)vec_sld((Packet4ui)p2d_MZERO, (Packet4ui)p2l_ZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+inline Packet2ul p2ul_CONJ_XOR1() {
+  (Packet2ul) vec_sld((Packet4ui)p2l_ZERO, (Packet4ui)p2d_MZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
+inline Packet2ul p2ul_CONJ_XOR2() {
+  (Packet2ul) vec_sld((Packet4ui)p2d_MZERO, (Packet4ui)p2l_ZERO, 8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
 #endif
 #endif
 
@@ -50,7 +55,7 @@
     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)));
+    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);
 
@@ -266,7 +271,7 @@
 }
 template <>
 EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) {
-  return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
+  return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR())));
 }
 
 template <>
@@ -399,7 +404,7 @@
     // 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));
+    v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1()));
 
     return Packet1cd(padd<Packet2d>(v1, v2));
   }
@@ -543,7 +548,7 @@
 }
 template <>
 EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) {
-  return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2)));
+  return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2())));
 }
 
 template <>
diff --git a/Eigen/src/Core/arch/AltiVec/MatrixProduct.h b/Eigen/src/Core/arch/AltiVec/MatrixProduct.h
index be79eba..4725526 100644
--- a/Eigen/src/Core/arch/AltiVec/MatrixProduct.h
+++ b/Eigen/src/Core/arch/AltiVec/MatrixProduct.h
@@ -3155,7 +3155,7 @@
 
 #undef MAX_BFLOAT16_ACC_VSX
 
-#include "MatrixVectorProduct.h"
+#include "MatrixVectorProduct.inc"
 
 /************************************
  * ppc64le template specializations *
diff --git a/Eigen/src/Core/arch/AltiVec/MatrixVectorProduct.h b/Eigen/src/Core/arch/AltiVec/MatrixVectorProduct.inc
similarity index 100%
rename from Eigen/src/Core/arch/AltiVec/MatrixVectorProduct.h
rename to Eigen/src/Core/arch/AltiVec/MatrixVectorProduct.inc
diff --git a/Eigen/src/Core/arch/AltiVec/PacketMath.h b/Eigen/src/Core/arch/AltiVec/PacketMath.h
index 49220ca..8027cb5 100644
--- a/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ b/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -2116,7 +2116,7 @@
 /**
  * Pack the high portion of two float Packets into one bfloat16 Packet
  *
- * @param lohi to expect either a low & high OR odd & even order
+ * @tparam lohi to expect either a low & high OR odd & even order
  */
 template <bool lohi>
 EIGEN_ALWAYS_INLINE Packet8bf Bf16PackHigh(Packet4f lo, Packet4f hi) {
@@ -2163,7 +2163,7 @@
 /**
  * Convert and pack two float Packets into one bfloat16 Packet
  *
- * @param lohi to expect either a low & high OR odd & even order
+ * @tparam lohi to expect either a low & high OR odd & even order
  */
 template <bool lohi = true>
 EIGEN_ALWAYS_INLINE Packet8bf F32ToBf16Two(Packet4f lo, Packet4f hi) {
diff --git a/Eigen/src/Core/arch/ZVector/Complex.h b/Eigen/src/Core/arch/ZVector/Complex.h
index 9b89747..a750b26 100644
--- a/Eigen/src/Core/arch/ZVector/Complex.h
+++ b/Eigen/src/Core/arch/ZVector/Complex.h
@@ -19,14 +19,19 @@
 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);
+inline Packet4ui p4ui_CONJ_XOR() {
+  return {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 };
+inline Packet2ul p2ul_CONJ_XOR1() {
+  return (Packet2ul)vec_sld((Packet4ui)p2d_ZERO_, (Packet4ui)p2l_ZERO,
+                            8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
+inline Packet2ul p2ul_CONJ_XOR2() {
+  return (Packet2ul)vec_sld((Packet4ui)p2l_ZERO, (Packet4ui)p2d_ZERO_,
+                            8);  //{ 0x8000000000000000, 0x0000000000000000 };
+}
 
 struct Packet1cd {
   EIGEN_STRONG_INLINE Packet1cd() {}
@@ -188,7 +193,7 @@
   // multiply a_im * b and get the conjugate result
   v2 = vec_madd(a_im, b.v, p2d_ZERO);
   v2 = (Packet2d)vec_sld((Packet4ui)v2, (Packet4ui)v2, 8);
-  v2 = (Packet2d)vec_xor((Packet2d)v2, (Packet2d)p2ul_CONJ_XOR1);
+  v2 = (Packet2d)vec_xor((Packet2d)v2, (Packet2d)p2ul_CONJ_XOR1());
 
   return Packet1cd(v1 + v2);
 }
@@ -472,7 +477,7 @@
 }
 template <>
 EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) {
-  return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
+  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) {
@@ -486,7 +491,7 @@
 
   // 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));
+  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);
 
diff --git a/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index b19dd30..e72c6b4 100644
--- a/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -305,7 +305,8 @@
  * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
  * \param[in,out] m Input: the number of rows of the left hand side. Output: the blocking size along the same dimension.
  * \param[in,out] n Input: the number of columns of the right hand side. Output: the blocking size along the same
- * dimension.
+ *                         dimension.
+ * \param[in] num_threads Input: the number of threads used for the computation.
  *
  * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
  * this function computes the blocking size parameters along the respective dimensions
diff --git a/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
index f47615f..bf27567 100644
--- a/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ b/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -308,15 +308,19 @@
   }
 };
 
-template <typename MatrixType, unsigned int UpLo>
+template <typename MatrixType_, unsigned int Mode_>
 template <typename ProductType>
-EIGEN_DEVICE_FUNC TriangularView<MatrixType, UpLo>& TriangularViewImpl<MatrixType, UpLo, Dense>::_assignProduct(
-    const ProductType& prod, const Scalar& alpha, bool beta) {
-  EIGEN_STATIC_ASSERT((UpLo & UnitDiag) == 0, WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED);
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename TriangularViewImpl<MatrixType_, Mode_, Dense>::TriangularViewType&
+TriangularViewImpl<MatrixType_, Mode_, Dense>::_assignProduct(
+    const ProductType& prod, const typename TriangularViewImpl<MatrixType_, Mode_, Dense>::Scalar& alpha, bool beta) {
+  EIGEN_STATIC_ASSERT((Mode_ & UnitDiag) == 0, WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED);
   eigen_assert(derived().nestedExpression().rows() == prod.rows() && derived().cols() == prod.cols());
 
-  general_product_to_triangular_selector<MatrixType, ProductType, UpLo, internal::traits<ProductType>::InnerSize == 1>::
-      run(derived().nestedExpression().const_cast_derived(), prod, alpha, beta);
+  general_product_to_triangular_selector<MatrixType_, ProductType, Mode_,
+                                         internal::traits<ProductType>::InnerSize == 1>::run(derived()
+                                                                                                 .nestedExpression()
+                                                                                                 .const_cast_derived(),
+                                                                                             prod, alpha, beta);
 
   return derived();
 }
diff --git a/Eigen/src/Core/util/MaxSizeVector.h b/Eigen/src/Core/util/MaxSizeVector.h
index 54b556d..db5bb89 100644
--- a/Eigen/src/Core/util/MaxSizeVector.h
+++ b/Eigen/src/Core/util/MaxSizeVector.h
@@ -13,7 +13,7 @@
 namespace Eigen {
 
 /** \class MaxSizeVector
- * \ingroup Core
+ * \ingroup Core_Module
  *
  * \brief The MaxSizeVector class.
  *
diff --git a/Eigen/src/Core/util/Memory.h b/Eigen/src/Core/util/Memory.h
index 2c0f9d7..97cf4f3 100644
--- a/Eigen/src/Core/util/Memory.h
+++ b/Eigen/src/Core/util/Memory.h
@@ -141,23 +141,24 @@
  */
 EIGEN_DEVICE_FUNC inline void* handmade_aligned_malloc(std::size_t size,
                                                        std::size_t alignment = EIGEN_DEFAULT_ALIGN_BYTES) {
-  eigen_assert(alignment >= sizeof(void*) && alignment <= 128 && (alignment & (alignment - 1)) == 0 &&
-               "Alignment must be at least sizeof(void*), less than or equal to 128, and a power of 2");
+  eigen_assert(alignment >= sizeof(void*) && alignment <= 256 && (alignment & (alignment - 1)) == 0 &&
+               "Alignment must be at least sizeof(void*), less than or equal to 256, and a power of 2");
 
   check_that_malloc_is_allowed();
   EIGEN_USING_STD(malloc)
   void* original = malloc(size + alignment);
   if (original == nullptr) return nullptr;
-  uint8_t offset = static_cast<uint8_t>(alignment - (reinterpret_cast<std::size_t>(original) & (alignment - 1)));
+  std::size_t offset = alignment - (reinterpret_cast<std::size_t>(original) & (alignment - 1));
   void* aligned = static_cast<void*>(static_cast<uint8_t*>(original) + offset);
-  *(static_cast<uint8_t*>(aligned) - 1) = offset;
+  // Store offset - 1, since it is guaranteed to be at least 1.
+  *(static_cast<uint8_t*>(aligned) - 1) = static_cast<uint8_t>(offset - 1);
   return aligned;
 }
 
 /** \internal Frees memory allocated with handmade_aligned_malloc */
 EIGEN_DEVICE_FUNC inline void handmade_aligned_free(void* ptr) {
   if (ptr != nullptr) {
-    uint8_t offset = static_cast<uint8_t>(*(static_cast<uint8_t*>(ptr) - 1));
+    std::size_t offset = static_cast<std::size_t>(*(static_cast<uint8_t*>(ptr) - 1)) + 1;
     void* original = static_cast<void*>(static_cast<uint8_t*>(ptr) - offset);
 
     check_that_malloc_is_allowed();
@@ -174,7 +175,7 @@
 EIGEN_DEVICE_FUNC inline void* handmade_aligned_realloc(void* ptr, std::size_t new_size, std::size_t old_size,
                                                         std::size_t alignment = EIGEN_DEFAULT_ALIGN_BYTES) {
   if (ptr == nullptr) return handmade_aligned_malloc(new_size, alignment);
-  uint8_t old_offset = *(static_cast<uint8_t*>(ptr) - 1);
+  std::size_t old_offset = static_cast<std::size_t>(*(static_cast<uint8_t*>(ptr) - 1)) + 1;
   void* old_original = static_cast<uint8_t*>(ptr) - old_offset;
 
   check_that_malloc_is_allowed();
@@ -182,14 +183,15 @@
   void* original = realloc(old_original, new_size + alignment);
   if (original == nullptr) return nullptr;
   if (original == old_original) return ptr;
-  uint8_t offset = static_cast<uint8_t>(alignment - (reinterpret_cast<std::size_t>(original) & (alignment - 1)));
+  std::size_t offset = alignment - (reinterpret_cast<std::size_t>(original) & (alignment - 1));
   void* aligned = static_cast<void*>(static_cast<uint8_t*>(original) + offset);
   if (offset != old_offset) {
     const void* src = static_cast<const void*>(static_cast<uint8_t*>(original) + old_offset);
     std::size_t count = (std::min)(new_size, old_size);
     std::memmove(aligned, src, count);
   }
-  *(static_cast<uint8_t*>(aligned) - 1) = offset;
+  // Store offset - 1, since it is guaranteed to be at least 1.
+  *(static_cast<uint8_t*>(aligned) - 1) = static_cast<uint8_t>(offset - 1);
   return aligned;
 }
 
diff --git a/Eigen/src/Core/util/Meta.h b/Eigen/src/Core/util/Meta.h
index 80c893d..2e3f59e 100644
--- a/Eigen/src/Core/util/Meta.h
+++ b/Eigen/src/Core/util/Meta.h
@@ -79,7 +79,6 @@
  * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
  * \sa \blank \ref TopicPreprocessorDirectives, StorageIndex.
  */
-
 typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE Index;
 
 namespace internal {
diff --git a/Eigen/src/Core/util/MoreMeta.h b/Eigen/src/Core/util/MoreMeta.h
index 2d4aeee..6823bca 100644
--- a/Eigen/src/Core/util/MoreMeta.h
+++ b/Eigen/src/Core/util/MoreMeta.h
@@ -40,6 +40,7 @@
   static constexpr T first_value = n;
 };
 
+// Ddoxygen doesn't like the recursive definition of gen_numeric_list.
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 /* numeric list constructors
  *
@@ -53,6 +54,7 @@
 
 template <typename T, std::size_t n, T start = 0, T... ii>
 struct gen_numeric_list : gen_numeric_list<T, n - 1, start, start + n - 1, ii...> {};
+
 template <typename T, T start, T... ii>
 struct gen_numeric_list<T, 0, start, ii...> {
   typedef numeric_list<T, ii...> type;
@@ -80,6 +82,10 @@
 struct gen_numeric_list_repeated<T, 0, V, nn...> {
   typedef numeric_list<T, nn...> type;
 };
+#else
+template <typename T, std::size_t n, T start = 0, T... ii>
+struct gen_numeric_list;
+#endif  // not EIGEN_PARSED_BY_DOXYGEN
 
 /* list manipulation: concatenate */
 
@@ -110,16 +116,20 @@
 
 template <int n, typename x>
 struct take;
+
 template <int n, typename a, typename... as>
 struct take<n, type_list<a, as...>> : concat<type_list<a>, typename take<n - 1, type_list<as...>>::type> {};
+
 template <int n>
 struct take<n, type_list<>> {
   typedef type_list<> type;
 };
+
 template <typename a, typename... as>
 struct take<0, type_list<a, as...>> {
   typedef type_list<> type;
 };
+
 template <>
 struct take<0, type_list<>> {
   typedef type_list<> type;
@@ -128,13 +138,12 @@
 template <typename T, int n, T a, T... as>
 struct take<n, numeric_list<T, a, as...>>
     : concat<numeric_list<T, a>, typename take<n - 1, numeric_list<T, as...>>::type> {};
-// XXX The following breaks in gcc-11, and is invalid anyways.
-// template<typename T, int n>               struct take<n, numeric_list<T>>           { typedef numeric_list<T> type;
-// };
+
 template <typename T, T a, T... as>
 struct take<0, numeric_list<T, a, as...>> {
   typedef numeric_list<T> type;
 };
+
 template <typename T>
 struct take<0, numeric_list<T>> {
   typedef numeric_list<T> type;
@@ -173,7 +182,6 @@
 struct h_skip_helper_type<0> {
   typedef type_list<> type;
 };
-#endif  // not EIGEN_PARSED_BY_DOXYGEN
 
 template <int n>
 struct h_skip {
diff --git a/Eigen/src/Eigenvalues/Tridiagonalization.h b/Eigen/src/Eigenvalues/Tridiagonalization.h
index e49e9db..b2f07bc 100644
--- a/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ b/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -379,6 +379,8 @@
  *    decomposition.
  * \param[out]  subdiag  The subdiagonal of the tridiagonal matrix T in
  *    the decomposition.
+ * \param[out]  hcoeffs
+ * \param[out]  workspace
  * \param[in]  extractQ  If true, the orthogonal matrix Q in the
  *    decomposition is computed and stored in \p mat.
  *
diff --git a/Eigen/src/Geometry/OrthoMethods.h b/Eigen/src/Geometry/OrthoMethods.h
index 3170456..9c8f095 100644
--- a/Eigen/src/Geometry/OrthoMethods.h
+++ b/Eigen/src/Geometry/OrthoMethods.h
@@ -87,13 +87,8 @@
  */
 template <typename Derived>
 template <typename OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    typename internal::cross_impl<Derived, OtherDerived>::return_type
-#else
-    inline std::conditional_t<SizeAtCompileTime == 2, Scalar, PlainObject>
-#endif
-    MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const {
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::cross_impl<Derived, OtherDerived>::return_type
+MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const {
   return internal::cross_impl<Derived, OtherDerived>::run(*this, other);
 }
 
diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index f8138b9..8ed6344 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -21,8 +21,6 @@
 
 namespace Eigen {
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
 // These helpers are required since it allows to use mixed types as parameters
 // for the Umeyama. The problem with mixed parameters is that the return type
 // cannot trivially be deduced when float and double types are mixed.
@@ -50,8 +48,6 @@
 
 }  // namespace internal
 
-#endif
-
 /**
  * \geometry_module \ingroup Geometry_Module
  *
diff --git a/Eigen/src/Householder/HouseholderSequence.h b/Eigen/src/Householder/HouseholderSequence.h
index 024c4a4..440573f 100644
--- a/Eigen/src/Householder/HouseholderSequence.h
+++ b/Eigen/src/Householder/HouseholderSequence.h
@@ -476,7 +476,8 @@
   return res;
 }
 
-/** \ingroup Householder_Module \householder_module
+/** \ingroup Householder_Module
+ * \householder_module
  * \brief Convenience function for constructing a Householder sequence.
  * \returns A HouseholderSequence constructed from the specified arguments.
  */
@@ -485,7 +486,8 @@
   return HouseholderSequence<VectorsType, CoeffsType, OnTheLeft>(v, h);
 }
 
-/** \ingroup Householder_Module \householder_module
+/** \ingroup Householder_Module
+ * \householder_module
  * \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
diff --git a/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
index a97b905..ba379ec 100644
--- a/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
+++ b/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
@@ -39,9 +39,9 @@
  *
  * \b Shifting \b strategy: Let \f$ B = S P A P' S \f$  be the scaled matrix on which the factorization is carried out,
  * and \f$ \beta \f$ be the minimum value of the diagonal. If \f$ \beta > 0 \f$ then, the factorization is directly
- * performed on the matrix B, and \sigma = 0. Otherwise, the factorization is performed on the shifted matrix \f$ B +
- * \sigma I \f$ for a shifting factor  \f$ \sigma \f$.  We start with \f$ \sigma = \sigma_0 - \beta \f$, where \f$
- * \sigma_0 \f$ is the initial shift value as returned and set by setInitialShift() method. The default value is \f$
+ * performed on the matrix B, and \f$ \sigma = 0 \f$. Otherwise, the factorization is performed on the shifted matrix
+ * \f$ B + \sigma I \f$ for a shifting factor  \f$ \sigma \f$.  We start with \f$ \sigma = \sigma_0 - \beta \f$, where
+ * \f$ \sigma_0 \f$ is the initial shift value as returned and set by setInitialShift() method. The default value is \f$
  * \sigma_0 = 10^{-3} \f$. If the factorization fails, then the shift in doubled until it succeed or a maximum of ten
  * attempts. If it still fails, as returned by the info() method, then you can either increase the initial shift, or
  * better use another preconditioning technique.
diff --git a/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
index 575a7b2..930077d 100644
--- a/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ b/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
@@ -129,6 +129,12 @@
     compute(mat);
   }
 
+  /** \brief Extraction Method for L-Factor */
+  const FactorType matrixL() const;
+
+  /** \brief Extraction Method for U-Factor */
+  const FactorType matrixU() const;
+
   EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_lu.rows(); }
 
   EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_lu.cols(); }
@@ -207,6 +213,28 @@
   this->m_fillfactor = fillfactor;
 }
 
+/**
+ * get L-Factor
+ * \return L-Factor is a matrix containing the lower triangular part of the sparse matrix. All elements of the matrix
+ * above the main diagonal are zero.
+ **/
+template <typename Scalar, typename StorageIndex>
+const typename IncompleteLUT<Scalar, StorageIndex>::FactorType IncompleteLUT<Scalar, StorageIndex>::matrixL() const {
+  eigen_assert(m_factorizationIsOk && "factorize() should be called first");
+  return m_lu.template triangularView<UnitLower>();
+}
+
+/**
+ * get U-Factor
+ * \return L-Factor is a matrix containing the upper triangular part of the sparse matrix. All elements of the matrix
+ * below the main diagonal are zero.
+ **/
+template <typename Scalar, typename StorageIndex>
+const typename IncompleteLUT<Scalar, StorageIndex>::FactorType IncompleteLUT<Scalar, StorageIndex>::matrixU() const {
+  eigen_assert(m_factorizationIsOk && "Factorization must be computed first.");
+  return m_lu.template triangularView<Upper>();
+}
+
 template <typename Scalar, typename StorageIndex>
 template <typename MatrixType_>
 void IncompleteLUT<Scalar, StorageIndex>::analyzePattern(const MatrixType_& amat) {
@@ -418,4 +446,4 @@
 
 }  // end namespace Eigen
 
-#endif  // EIGEN_INCOMPLETE_LUT_H
+#endif  // EIGEN_INCOMPLETE_LUT_H
\ No newline at end of file
diff --git a/Eigen/src/OrderingMethods/Eigen_Colamd.h b/Eigen/src/OrderingMethods/Eigen_Colamd.h
index f6c5be0..f1ea2ee 100644
--- a/Eigen/src/OrderingMethods/Eigen_Colamd.h
+++ b/Eigen/src/OrderingMethods/Eigen_Colamd.h
@@ -46,8 +46,8 @@
 #ifndef EIGEN_COLAMD_H
 #define EIGEN_COLAMD_H
 
+namespace Eigen {
 namespace internal {
-
 namespace Colamd {
 
 /* Ensure that debugging is turned off: */
@@ -318,7 +318,7 @@
  *
  * \param n_row number of rows in A
  * \param n_col number of columns in A
- * \param Alen, size of the array A
+ * \param Alen size of the array A
  * \param A row indices of the matrix, of size ALen
  * \param p column pointers of A, of size n_col+1
  * \param knobs parameter settings for colamd
@@ -1685,6 +1685,6 @@
 }
 
 }  // namespace Colamd
-
 }  // namespace internal
+}  // namespace Eigen
 #endif
diff --git a/Eigen/src/OrderingMethods/Ordering.h b/Eigen/src/OrderingMethods/Ordering.h
index 9a1c535..1a65007 100644
--- a/Eigen/src/OrderingMethods/Ordering.h
+++ b/Eigen/src/OrderingMethods/Ordering.h
@@ -13,11 +13,9 @@
 
 // IWYU pragma: private
 #include "./InternalHeaderCheck.h"
-
-namespace Eigen {
-
 #include "Eigen_Colamd.h"
 
+namespace Eigen {
 namespace internal {
 
 /** \internal
diff --git a/Eigen/src/SVD/BDCSVD.h b/Eigen/src/SVD/BDCSVD.h
index 6b85d1d..64fec75 100644
--- a/Eigen/src/SVD/BDCSVD.h
+++ b/Eigen/src/SVD/BDCSVD.h
@@ -147,6 +147,8 @@
    * One \b cannot request unitaries using both the \a Options template parameter
    * and the constructor. If possible, prefer using the \a Options template parameter.
    *
+   * \param rows number of rows for the input matrix
+   * \param cols number of columns for the input matrix
    * \param computationOptions specification for computing Thin/Full unitaries U/V
    * \sa BDCSVD()
    *
diff --git a/Eigen/src/SVD/JacobiSVD.h b/Eigen/src/SVD/JacobiSVD.h
index e81db2d..ecbc363 100644
--- a/Eigen/src/SVD/JacobiSVD.h
+++ b/Eigen/src/SVD/JacobiSVD.h
@@ -547,6 +547,8 @@
    * One \b cannot request unitaries using both the \a Options template parameter
    * and the constructor. If possible, prefer using the \a Options template parameter.
    *
+   * \param rows number of rows for the input matrix
+   * \param cols number of columns for the input matrix
    * \param computationOptions specify whether to compute Thin/Full unitaries U/V
    * \sa JacobiSVD()
    *
diff --git a/Eigen/src/SparseCore/SparseMatrix.h b/Eigen/src/SparseCore/SparseMatrix.h
index 021f2a8..7ddb6fa 100644
--- a/Eigen/src/SparseCore/SparseMatrix.h
+++ b/Eigen/src/SparseCore/SparseMatrix.h
@@ -875,7 +875,6 @@
     return *this;
   }
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
   template <typename OtherDerived>
   inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other) {
     return Base::operator=(other.derived());
@@ -883,7 +882,6 @@
 
   template <typename Lhs, typename Rhs>
   inline SparseMatrix& operator=(const Product<Lhs, Rhs, AliasFreeProduct>& other);
-#endif  // EIGEN_PARSED_BY_DOXYGEN
 
   template <typename OtherDerived>
   EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other);
diff --git a/Eigen/src/SparseCore/SparseMatrixBase.h b/Eigen/src/SparseCore/SparseMatrixBase.h
index b58bb38..7ac16f8 100644
--- a/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -118,7 +118,6 @@
   // FIXME storage order do not match evaluator storage order
   typedef SparseMatrix<Scalar, Flags & RowMajorBit ? RowMajor : ColMajor, StorageIndex> PlainObject;
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
   /** This is the "real scalar" type; if the \a Scalar type is already real numbers
    * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
    * \a Scalar is \a std::complex<T> then RealScalar is \a T.
@@ -127,6 +126,7 @@
    */
   typedef typename NumTraits<Scalar>::Real RealScalar;
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
   /** \internal the return type of coeff()
    */
   typedef std::conditional_t<HasDirectAccess_, const Scalar&, Scalar> CoeffReturnType;
diff --git a/Eigen/src/SparseLU/SparseLU_column_dfs.h b/Eigen/src/SparseLU/SparseLU_column_dfs.h
index e5fb771..71a9ff4 100644
--- a/Eigen/src/SparseLU/SparseLU_column_dfs.h
+++ b/Eigen/src/SparseLU/SparseLU_column_dfs.h
@@ -30,15 +30,15 @@
 #ifndef SPARSELU_COLUMN_DFS_H
 #define SPARSELU_COLUMN_DFS_H
 
-template <typename Scalar, typename StorageIndex>
-class SparseLUImpl;
 // IWYU pragma: private
 #include "./InternalHeaderCheck.h"
 
 namespace Eigen {
-
 namespace internal {
 
+template <typename Scalar, typename StorageIndex>
+class SparseLUImpl;
+
 template <typename IndexVector, typename ScalarVector>
 struct column_dfs_traits : no_assignment_operator {
   typedef typename ScalarVector::Scalar Scalar;
diff --git a/Eigen/src/SparseQR/SparseQR.h b/Eigen/src/SparseQR/SparseQR.h
index 4cc4ea1..4dc7aa9 100644
--- a/Eigen/src/SparseQR/SparseQR.h
+++ b/Eigen/src/SparseQR/SparseQR.h
@@ -73,7 +73,7 @@
  * 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.
+ * 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
diff --git a/Eigen/src/ThreadPool/CoreThreadPoolDevice.h b/Eigen/src/ThreadPool/CoreThreadPoolDevice.h
index acf1d62..a45be20 100644
--- a/Eigen/src/ThreadPool/CoreThreadPoolDevice.h
+++ b/Eigen/src/ThreadPool/CoreThreadPoolDevice.h
@@ -150,6 +150,10 @@
 
 namespace internal {
 
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+struct Kernel;
+#endif
+
 template <typename Kernel>
 struct cost_helper {
   using SrcEvaluatorType = typename Kernel::SrcEvaluatorType;
diff --git a/Eigen/src/plugins/ArrayCwiseBinaryOps.inc b/Eigen/src/plugins/ArrayCwiseBinaryOps.inc
index 10c7a3e..c8c2434 100644
--- a/Eigen/src/plugins/ArrayCwiseBinaryOps.inc
+++ b/Eigen/src/plugins/ArrayCwiseBinaryOps.inc
@@ -97,9 +97,6 @@
 
 /** \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)
diff --git a/Eigen/src/plugins/ArrayCwiseUnaryOps.inc b/Eigen/src/plugins/ArrayCwiseUnaryOps.inc
index 93f7eab..753aeb4 100644
--- a/Eigen/src/plugins/ArrayCwiseUnaryOps.inc
+++ b/Eigen/src/plugins/ArrayCwiseUnaryOps.inc
@@ -523,15 +523,11 @@
     std::enable_if_t<internal::is_arithmetic<typename NumTraits<ScalarExponent>::Real>::value,
                      CwiseUnaryOp<internal::scalar_unary_pow_op<Scalar, ScalarExponent>, const Derived>>;
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template <typename ScalarExponent>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const UnaryPowReturnType<ScalarExponent> pow(
-    const ScalarExponent& exponent) const {
-  return UnaryPowReturnType<ScalarExponent>(derived(), internal::scalar_unary_pow_op<Scalar, ScalarExponent>(exponent));
-#else
 /** \returns an expression of the coefficients of \c *this raised to the constant power \a exponent
  *
- * \tparam T is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression.
+ * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type
+ *         of the given expression.
+ * \param exponent the scalar exponent value.
  *
  * This function computes the coefficient-wise power. The function MatrixBase::pow() in the
  * unsupported module MatrixFunctions computes the matrix power.
@@ -543,6 +539,6 @@
  */
 template <typename ScalarExponent>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const UnaryPowReturnType<ScalarExponent> pow(
-    const ScalarExponent& exponent) const;
-#endif
+    const ScalarExponent& exponent) const {
+  return UnaryPowReturnType<ScalarExponent>(derived(), internal::scalar_unary_pow_op<Scalar, ScalarExponent>(exponent));
 }
diff --git a/Eigen/src/plugins/CommonCwiseBinaryOps.inc b/Eigen/src/plugins/CommonCwiseBinaryOps.inc
index 95f338a..f1ba301 100644
--- a/Eigen/src/plugins/CommonCwiseBinaryOps.inc
+++ b/Eigen/src/plugins/CommonCwiseBinaryOps.inc
@@ -43,34 +43,17 @@
   return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
 }
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP(operator*, product)
-#else
 /** \returns an expression of \c *this scaled by the scalar factor \a scalar
  *
  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
  */
-template <typename T>
-const CwiseBinaryOp<internal::scalar_product_op<Scalar, T>, Derived, Constant<T> > operator*(const T& scalar) const;
-/** \returns an expression of \a expr scaled by the scalar factor \a scalar
- *
- * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
- */
-template <typename T>
-friend const CwiseBinaryOp<internal::scalar_product_op<T, Scalar>, Constant<T>, Derived> operator*(
-    const T& scalar, const StorageBaseType& expr);
-#endif
+EIGEN_MAKE_SCALAR_BINARY_OP(operator*, product)
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/, quotient)
-#else
 /** \returns an expression of \c *this divided by the scalar value \a scalar
  *
  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
  */
-template <typename T>
-const CwiseBinaryOp<internal::scalar_quotient_op<Scalar, T>, Derived, Constant<T> > operator/(const T& scalar) const;
-#endif
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/, quotient)
 
 /** \returns an expression of the coefficient-wise boolean \b and operator of \c *this and \a other
  *
diff --git a/Eigen/src/plugins/MatrixCwiseUnaryOps.inc b/Eigen/src/plugins/MatrixCwiseUnaryOps.inc
index 325b0fb..ffaf5aa 100644
--- a/Eigen/src/plugins/MatrixCwiseUnaryOps.inc
+++ b/Eigen/src/plugins/MatrixCwiseUnaryOps.inc
@@ -60,9 +60,6 @@
 
 /// \returns an expression of the coefficient-wise cube root of *this.
 ///
-/// Example: \include MatrixBase_cwiseCbrt.cpp
-/// Output: \verbinclude MatrixBase_cwiseCbrt.out
-///
 EIGEN_DOC_UNARY_ADDONS(cwiseCbrt, cube - root)
 ///
 /// \sa cwiseSqrt(), cwiseSquare(), cwisePow()
diff --git a/cmake/EigenTesting.cmake b/cmake/EigenTesting.cmake
index 1990482..7b5c990 100644
--- a/cmake/EigenTesting.cmake
+++ b/cmake/EigenTesting.cmake
@@ -33,7 +33,7 @@
       set_property(TARGET ${targetname} PROPERTY HIP_ARCHITECTURES gfx900 gfx906 gfx908 gfx90a gfx940 gfx941 gfx942 gfx1030)
     elseif(EIGEN_TEST_CUDA_CLANG)
       set_source_files_properties(${filename} PROPERTIES LANGUAGE CXX)
-      
+
       if(CUDA_64_BIT_DEVICE_CODE AND (EXISTS "${CUDA_TOOLKIT_ROOT_DIR}/lib64"))
         link_directories("${CUDA_TOOLKIT_ROOT_DIR}/lib64")
       else()
@@ -54,7 +54,7 @@
   endif()
 
   add_dependencies(buildtests ${targetname})
-  
+
   if (is_gpu_test)
     add_dependencies(buildtests_gpu ${targetname})
   endif()
@@ -107,7 +107,7 @@
     endif()
   endif()
 
-  add_test(${testname_with_suffix} "${targetname}")
+  add_test(NAME ${testname_with_suffix} COMMAND "${targetname}")
 
   # Specify target and test labels according to EIGEN_CURRENT_SUBPROJECT
   get_property(current_subproject GLOBAL PROPERTY EIGEN_CURRENT_SUBPROJECT)
@@ -120,7 +120,7 @@
     # Add gpu tag for testing only GPU tests.
     set_property(TEST ${testname_with_suffix} APPEND PROPERTY LABELS "gpu")
   endif()
-  
+
   if(EIGEN_SYCL)
     # Force include of the SYCL file at the end to avoid errors.
     set_property(TARGET ${targetname} PROPERTY COMPUTECPP_INCLUDE_AFTER 1)
@@ -237,6 +237,11 @@
   add_test(NAME ${test_target_ko}
           COMMAND ${CMAKE_COMMAND} --build . --target ${test_target_ko} --config $<CONFIG>
           WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+  # Disable emulator if cross-compiling.
+  if (CMAKE_CROSSCOMPILING)
+    set_property(TEST ${test_target_ok} PROPERTY CROSSCOMPILING_EMULATOR "")
+    set_property(TEST ${test_target_ko} PROPERTY CROSSCOMPILING_EMULATOR "")
+  endif()
 
   # Expect the second test to fail
   set_tests_properties(${test_target_ko} PROPERTIES WILL_FAIL TRUE)
@@ -518,12 +523,12 @@
         string(REGEX MATCH "[^0-9][0-9]+\\.[0-9]+" eicver ${VERSTRING})
         if (NOT eicver AND ei_has_mingw)
           # try to extract 1 number plus suffix:
-          string(REGEX MATCH "[^0-9][0-9]+-win32" eicver ${VERSTRING})          
+          string(REGEX MATCH "[^0-9][0-9]+-win32" eicver ${VERSTRING})
         endif()
       endif()
     endif()
   endif()
-  
+
   if (NOT eicver)
     set(eicver " _")
   endif()
@@ -653,7 +658,7 @@
 # The intention behind the existence of this macro is the size of Eigen's
 # testsuite. Together with the relatively big compile-times building all tests
 # can take a substantial amount of time depending on the available hardware.
-# 
+#
 # The last buildtestspartN target will build possible remaining tests.
 #
 # An example:
@@ -697,7 +702,7 @@
     endforeach()
     math(EXPR test_idx "${test_idx} + ${num_tests_per_target}")
   endforeach()
-  
+
   # Handle the possibly remaining tests
   math(EXPR test_idx "${num_splits} * ${num_tests_per_target}")
   math(EXPR target_bound "${eigen_test_count} - 1")
@@ -709,10 +714,10 @@
 
 # Defines the custom command buildsmoketests to build a number of tests
 # specified in smoke_test_list.
-# 
+#
 # Test in smoke_test_list can be either test targets (e.g. packetmath) or
 # subtests targets (e.g. packetmath_2). If any of the test are not available
-# in the current configuration they are just skipped. 
+# in the current configuration they are just skipped.
 #
 # All tests added via this macro are labeled with the smoketest label. This
 # allows running smoketests only using ctest.
diff --git a/debug/msvc/eigen.natvis b/debug/msvc/eigen.natvis
index 22cf346..da89857 100644
--- a/debug/msvc/eigen.natvis
+++ b/debug/msvc/eigen.natvis
@@ -1,235 +1,235 @@
-<?xml version="1.0" encoding="utf-8"?>
-
-<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
-
-  <!-- Fixed x Fixed Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,*,*,*,*,*&gt;">      
-      <AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
-      <DisplayString>[{$T2}, {$T3}] (fixed matrix)</DisplayString>
-      <Expand>
-        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
-          <Rank>2</Rank>
-          <Size>$i==0 ? $T2 : $T3</Size>
-          <ValuePointer>m_storage.m_data.array</ValuePointer>
-        </ArrayItems>
-        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
-          <Direction>Backward</Direction>
-          <Rank>2</Rank>
-          <Size>$i==0 ? $T2 : $T3</Size>
-          <ValuePointer>m_storage.m_data.array</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- 2 x 2 Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,2,2,*,*,*&gt;">      
-      <AlternativeType Name="Eigen::Array&lt;*,2,2,*,*,*&gt;"/>
-      <DisplayString>[2, 2] (fixed matrix)</DisplayString>
-      <Expand>
-        <Synthetic Name="[row 0]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[2]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[3]})</DisplayString>
-        </Synthetic>        
-      </Expand>
-  </Type>
-  
-  <!-- 3 x 3 Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,3,3,*,*,*&gt;">      
-      <AlternativeType Name="Eigen::Array&lt;*,3,3,*,*,*&gt;"/>
-      <DisplayString>[3, 3] (fixed matrix)</DisplayString>
-      <Expand>
-        <Synthetic Name="[row 0]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[3]}, {m_storage.m_data.array[6]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[5]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[7]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 2]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[8]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 2]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[8]})</DisplayString>
-        </Synthetic>        
-      </Expand>
-  </Type>
-  
-  <!-- 4 x 4 Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,4,4,*,*,*&gt;">      
-      <AlternativeType Name="Eigen::Array&lt;*,4,4,*,*,*&gt;"/>
-      <DisplayString>[4, 4] (fixed matrix)</DisplayString>
-      <Expand>
-        <Synthetic Name="[row 0]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[8]}, {m_storage.m_data.array[12]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[7]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[13]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 2]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[8]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[11]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 2]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[14]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 3]" Condition="Flags%2">
-          <DisplayString>({m_storage.m_data.array[12]}, {m_storage.m_data.array[13]}, {m_storage.m_data.array[14]}, {m_storage.m_data.array[15]})</DisplayString>
-        </Synthetic>
-        <Synthetic Name="[row 3]" Condition="!(Flags%2)">
-          <DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[11]}, {m_storage.m_data.array[15]})</DisplayString>
-        </Synthetic>        
-      </Expand>
-  </Type>  
-  
-  <!-- Dynamic x Dynamic Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,-1,-1,*,*,*&gt;">      
-      <AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
-      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
-      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {m_storage.m_cols}] (dynamic matrix)</DisplayString>
-      <Expand>
-        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
-          <Rank>2</Rank>
-          <Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
-          <Direction>Backward</Direction>
-          <Rank>2</Rank>
-          <Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- Fixed x Dynamic Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,*,-1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Array&lt;*,*,-1,*,*,*&gt;"/>
-      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
-      <DisplayString Condition="m_storage.m_data != 0">[{$T2}, {m_storage.m_cols}] (dynamic column matrix)</DisplayString>
-      <Expand>
-        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
-          <Rank>2</Rank>
-          <Size>$i==0 ? $T2 : m_storage.m_cols</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
-          <Direction>Backward</Direction>
-          <Rank>2</Rank>
-          <Size>$i==0 ? $T2 : m_storage.m_cols</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- Dynamic x Fixed Matrix -->
-  <Type Name="Eigen::Matrix&lt;*,-1,*,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Array&lt;*,-1,*,*,*,*&gt;"/>
-      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
-      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {$T2}] (dynamic row matrix)</DisplayString>
-      <Expand>
-        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
-          <Rank>2</Rank>
-          <Size>$i==0 ? m_storage.m_rows : $T2</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
-          <Direction>Backward</Direction>
-          <Rank>2</Rank>
-          <Size>$i==0 ? m_storage.m_rows : $T2</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- Dynamic Column Vector -->
-  <Type Name="Eigen::Matrix&lt;*,1,-1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Array&lt;*,1,-1,*,*,*&gt;"/>
-      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
-      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_cols}] (dynamic column vector)</DisplayString>
-      <Expand>
-        <Item Name="[size]">m_storage.m_cols</Item>
-        <ArrayItems>
-          <Size>m_storage.m_cols</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- Dynamic Row Vector -->
-  <Type Name="Eigen::Matrix&lt;*,-1,1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Array&lt;*,-1,1,*,*,*&gt;"/>
-      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
-      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}] (dynamic row vector)</DisplayString>
-      <Expand>
-        <Item Name="[size]">m_storage.m_rows</Item>
-        <ArrayItems>
-          <Size>m_storage.m_rows</Size>
-          <ValuePointer>m_storage.m_data</ValuePointer>
-        </ArrayItems>
-      </Expand>
-  </Type>
-  
-  <!-- Fixed Vector -->
-  <Type Name="Eigen::Matrix&lt;*,1,1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Array&lt;*,1,1,*,*,*&gt;"/>
-      <DisplayString>[1] ({m_storage.m_data.array[0]})</DisplayString>
-      <Expand>
-        <Item Name="[x]">m_storage.m_data.array[0]</Item>
-      </Expand>
-  </Type>
-  
-  <Type Name="Eigen::Matrix&lt;*,2,1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Matrix&lt;*,1,2,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,2,1,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,1,2,*,*,*&gt;"/>
-      <DisplayString>[2] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
-      <Expand>
-        <Item Name="[x]">m_storage.m_data.array[0]</Item>
-        <Item Name="[y]">m_storage.m_data.array[1]</Item>
-      </Expand>
-  </Type>
-  
-  <Type Name="Eigen::Matrix&lt;*,3,1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Matrix&lt;*,1,3,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,3,1,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,1,3,*,*,*&gt;"/>
-      <DisplayString>[3] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
-      <Expand>
-        <Item Name="[x]">m_storage.m_data.array[0]</Item>
-        <Item Name="[y]">m_storage.m_data.array[1]</Item>
-        <Item Name="[z]">m_storage.m_data.array[2]</Item>
-      </Expand>
-  </Type>
-  
-    <Type Name="Eigen::Matrix&lt;*,4,1,*,*,*&gt;">
-      <AlternativeType Name="Eigen::Matrix&lt;*,1,4,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,4,1,*,*,*&gt;"/>
-      <AlternativeType Name="Eigen::Array&lt;*,1,4,*,*,*&gt;"/>
-      <DisplayString>[4] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
-      <Expand>
-        <Item Name="[x]">m_storage.m_data.array[0]</Item>
-        <Item Name="[y]">m_storage.m_data.array[1]</Item>
-        <Item Name="[z]">m_storage.m_data.array[2]</Item>
-        <Item Name="[w]">m_storage.m_data.array[3]</Item>
-      </Expand>
-  </Type>
-
-</AutoVisualizer>
+<?xml version="1.0" encoding="utf-8"?>
+
+<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
+
+  <!-- Fixed x Fixed Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,*,*,*,*,*&gt;">      
+      <AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
+      <DisplayString>[{$T2}, {$T3}] (fixed matrix)</DisplayString>
+      <Expand>
+        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
+          <Rank>2</Rank>
+          <Size>$i==0 ? $T2 : $T3</Size>
+          <ValuePointer>m_storage.m_data.array</ValuePointer>
+        </ArrayItems>
+        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
+          <Direction>Backward</Direction>
+          <Rank>2</Rank>
+          <Size>$i==0 ? $T2 : $T3</Size>
+          <ValuePointer>m_storage.m_data.array</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- 2 x 2 Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,2,2,*,*,*&gt;">      
+      <AlternativeType Name="Eigen::Array&lt;*,2,2,*,*,*&gt;"/>
+      <DisplayString>[2, 2] (fixed matrix)</DisplayString>
+      <Expand>
+        <Synthetic Name="[row 0]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[2]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[3]})</DisplayString>
+        </Synthetic>        
+      </Expand>
+  </Type>
+  
+  <!-- 3 x 3 Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,3,3,*,*,*&gt;">      
+      <AlternativeType Name="Eigen::Array&lt;*,3,3,*,*,*&gt;"/>
+      <DisplayString>[3, 3] (fixed matrix)</DisplayString>
+      <Expand>
+        <Synthetic Name="[row 0]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[3]}, {m_storage.m_data.array[6]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[5]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[7]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 2]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[8]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 2]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[8]})</DisplayString>
+        </Synthetic>        
+      </Expand>
+  </Type>
+  
+  <!-- 4 x 4 Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,4,4,*,*,*&gt;">      
+      <AlternativeType Name="Eigen::Array&lt;*,4,4,*,*,*&gt;"/>
+      <DisplayString>[4, 4] (fixed matrix)</DisplayString>
+      <Expand>
+        <Synthetic Name="[row 0]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 0]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[8]}, {m_storage.m_data.array[12]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[7]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 1]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[13]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 2]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[8]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[11]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 2]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[14]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 3]" Condition="Flags%2">
+          <DisplayString>({m_storage.m_data.array[12]}, {m_storage.m_data.array[13]}, {m_storage.m_data.array[14]}, {m_storage.m_data.array[15]})</DisplayString>
+        </Synthetic>
+        <Synthetic Name="[row 3]" Condition="!(Flags%2)">
+          <DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[11]}, {m_storage.m_data.array[15]})</DisplayString>
+        </Synthetic>        
+      </Expand>
+  </Type>  
+  
+  <!-- Dynamic x Dynamic Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,-1,-1,*,*,*&gt;">      
+      <AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
+      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
+      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {m_storage.m_cols}] (dynamic matrix)</DisplayString>
+      <Expand>
+        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
+          <Rank>2</Rank>
+          <Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
+          <Direction>Backward</Direction>
+          <Rank>2</Rank>
+          <Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- Fixed x Dynamic Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,*,-1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Array&lt;*,*,-1,*,*,*&gt;"/>
+      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
+      <DisplayString Condition="m_storage.m_data != 0">[{$T2}, {m_storage.m_cols}] (dynamic column matrix)</DisplayString>
+      <Expand>
+        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
+          <Rank>2</Rank>
+          <Size>$i==0 ? $T2 : m_storage.m_cols</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
+          <Direction>Backward</Direction>
+          <Rank>2</Rank>
+          <Size>$i==0 ? $T2 : m_storage.m_cols</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- Dynamic x Fixed Matrix -->
+  <Type Name="Eigen::Matrix&lt;*,-1,*,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Array&lt;*,-1,*,*,*,*&gt;"/>
+      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
+      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {$T2}] (dynamic row matrix)</DisplayString>
+      <Expand>
+        <ArrayItems Condition="Flags%2"> <!-- row major layout -->
+          <Rank>2</Rank>
+          <Size>$i==0 ? m_storage.m_rows : $T2</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+        <ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
+          <Direction>Backward</Direction>
+          <Rank>2</Rank>
+          <Size>$i==0 ? m_storage.m_rows : $T2</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- Dynamic Column Vector -->
+  <Type Name="Eigen::Matrix&lt;*,1,-1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Array&lt;*,1,-1,*,*,*&gt;"/>
+      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
+      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_cols}] (dynamic column vector)</DisplayString>
+      <Expand>
+        <Item Name="[size]">m_storage.m_cols</Item>
+        <ArrayItems>
+          <Size>m_storage.m_cols</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- Dynamic Row Vector -->
+  <Type Name="Eigen::Matrix&lt;*,-1,1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Array&lt;*,-1,1,*,*,*&gt;"/>
+      <DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
+      <DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}] (dynamic row vector)</DisplayString>
+      <Expand>
+        <Item Name="[size]">m_storage.m_rows</Item>
+        <ArrayItems>
+          <Size>m_storage.m_rows</Size>
+          <ValuePointer>m_storage.m_data</ValuePointer>
+        </ArrayItems>
+      </Expand>
+  </Type>
+  
+  <!-- Fixed Vector -->
+  <Type Name="Eigen::Matrix&lt;*,1,1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Array&lt;*,1,1,*,*,*&gt;"/>
+      <DisplayString>[1] ({m_storage.m_data.array[0]})</DisplayString>
+      <Expand>
+        <Item Name="[x]">m_storage.m_data.array[0]</Item>
+      </Expand>
+  </Type>
+  
+  <Type Name="Eigen::Matrix&lt;*,2,1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Matrix&lt;*,1,2,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,2,1,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,1,2,*,*,*&gt;"/>
+      <DisplayString>[2] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
+      <Expand>
+        <Item Name="[x]">m_storage.m_data.array[0]</Item>
+        <Item Name="[y]">m_storage.m_data.array[1]</Item>
+      </Expand>
+  </Type>
+  
+  <Type Name="Eigen::Matrix&lt;*,3,1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Matrix&lt;*,1,3,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,3,1,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,1,3,*,*,*&gt;"/>
+      <DisplayString>[3] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
+      <Expand>
+        <Item Name="[x]">m_storage.m_data.array[0]</Item>
+        <Item Name="[y]">m_storage.m_data.array[1]</Item>
+        <Item Name="[z]">m_storage.m_data.array[2]</Item>
+      </Expand>
+  </Type>
+  
+    <Type Name="Eigen::Matrix&lt;*,4,1,*,*,*&gt;">
+      <AlternativeType Name="Eigen::Matrix&lt;*,1,4,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,4,1,*,*,*&gt;"/>
+      <AlternativeType Name="Eigen::Array&lt;*,1,4,*,*,*&gt;"/>
+      <DisplayString>[4] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
+      <Expand>
+        <Item Name="[x]">m_storage.m_data.array[0]</Item>
+        <Item Name="[y]">m_storage.m_data.array[1]</Item>
+        <Item Name="[z]">m_storage.m_data.array[2]</Item>
+        <Item Name="[w]">m_storage.m_data.array[3]</Item>
+      </Expand>
+  </Type>
+
+</AutoVisualizer>
diff --git a/debug/msvc/eigen_autoexp_part.dat b/debug/msvc/eigen_autoexp_part.dat
index 273c10d..35ef580 100644
--- a/debug/msvc/eigen_autoexp_part.dat
+++ b/debug/msvc/eigen_autoexp_part.dat
@@ -1,295 +1,295 @@
-; ***************************************************************
-; * Eigen Visualizer
-; *
-; * Author: Hauke Heibel <hauke.heibel@gmail.com>
-; *
-; * Support the enhanced debugging of the following Eigen
-; * types (*: any, +:fixed dimension) :
-; *
-; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*>
-; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*>
-; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*>
-; * - Eigen::Matrix<*,-1,-1,*,*,*>
-; * - Eigen::Matrix<*,+,-1,*,*,*>
-; * - Eigen::Matrix<*,-1,+,*,*,*>
-; * - Eigen::Matrix<*,+,+,*,*,*>
-; *
-; * Matrices are displayed properly independently of the memory
-; * alignment (RowMajor vs. ColMajor).
-; *
-; * This file is distributed WITHOUT ANY WARRANTY. Please ensure
-; * that your original autoexp.dat file is copied to a safe 
-; * place before proceeding with its modification.
-; ***************************************************************
-
-[Visualizer]
-
-; Fixed size 4-vectors
-Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{
-   children
-   (
-      #(
-        [internals]: [$c,!],
-         x : ($c.m_storage.m_data.array)[0],
-         y : ($c.m_storage.m_data.array)[1],
-         z : ($c.m_storage.m_data.array)[2],
-         w : ($c.m_storage.m_data.array)[3]
-      )
-   )
-
-   preview
-   (
-      #(
-        "[",
-        4,
-        "](",
-        #array(expr: $e.m_storage.m_data.array[$i], size: 4),
-        ")"
-      )
-   )
-}
-
-; Fixed size 3-vectors
-Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{
-   children
-   (
-      #(
-        [internals]: [$c,!],
-         x : ($c.m_storage.m_data.array)[0],
-         y : ($c.m_storage.m_data.array)[1],
-         z : ($c.m_storage.m_data.array)[2]
-      )
-   )
-
-   preview
-   (
-      #(
-        "[",
-        3,
-        "](",
-        #array(expr: $e.m_storage.m_data.array[$i], size: 3),
-        ")"
-      )
-   )
-}
-
-; Fixed size 2-vectors
-Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{
-   children
-   (
-      #(
-        [internals]: [$c,!],
-         x : ($c.m_storage.m_data.array)[0],
-         y : ($c.m_storage.m_data.array)[1]
-      )
-   )
-
-   preview
-   (
-      #(
-        "[",
-        2,
-        "](",
-        #array(expr: $e.m_storage.m_data.array[$i], size: 2),
-        ")"
-      )
-   )
-}
-
-; Fixed size 1-vectors
-Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{
-   children
-   (
-      #(
-        [internals]: [$c,!],
-         x : ($c.m_storage.m_data.array)[0]
-      )
-   )
-
-   preview
-   (
-      #(
-        "[",
-        1,
-        "](",
-        #array(expr: $e.m_storage.m_data.array[$i], size: 1),
-        ")"
-      )
-   )
-}
-
-; Dynamic matrices (ColMajor and RowMajor support)
-Eigen::Matrix<*,-1,-1,*,*,*>{
-  children
-   (
-      #(
-         [internals]: [$c,!],
-         rows: $c.m_storage.m_rows,
-         cols: $c.m_storage.m_cols,
-         ; Check for RowMajorBit
-         #if ($c.Flags & 0x1) (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], 
-                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
-             )
-         ) #else (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[$i],
-                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
-             )
-         )
-      )
-   )
-
-   preview
-   (
-     #(
-         "[",
-           $c.m_storage.m_rows,
-         ",",
-           $c.m_storage.m_cols,
-         "](",
-           #array(
-            expr :    [($c.m_storage.m_data)[$i],g],
-            size :    $c.m_storage.m_rows*$c.m_storage.m_cols
-           ),
-         ")"
-      )
-   )
-}
-
-; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support)
-Eigen::Matrix<*,*,-1,*,*,*>{
-  children
-   (
-      #(
-         [internals]: [$c,!],
-         rows: $c.RowsAtCompileTime,
-         cols: $c.m_storage.m_cols,
-         ; Check for RowMajorBit
-         #if ($c.Flags & 0x1) (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
-                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
-             )
-         ) #else (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[$i],
-                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
-             )
-         )
-      )
-   )
-
-   preview
-   (
-     #(
-         "[",
-           $c.RowsAtCompileTime,
-         ",",
-           $c.m_storage.m_cols,
-         "](",
-           #array(
-            expr :    [($c.m_storage.m_data)[$i],g],
-            size :    $c.RowsAtCompileTime*$c.m_storage.m_cols
-           ),
-         ")"
-      )
-   )
-}
-
-; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support)
-Eigen::Matrix<*,-1,*,*,*,*>{
-  children
-   (
-      #(
-         [internals]: [$c,!],
-         rows: $c.m_storage.m_rows,
-         cols: $c.ColsAtCompileTime,
-         ; Check for RowMajorBit
-         #if ($c.Flags & 0x1) (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], 
-                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
-             )
-         ) #else (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data)[$i],
-                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
-             )
-         )
-      )
-   )
-
-   preview
-   (
-     #(
-         "[",
-           $c.m_storage.m_rows,
-         ",",
-           $c.ColsAtCompileTime,
-         "](",
-           #array(
-            expr :    [($c.m_storage.m_data)[$i],g],
-            size :    $c.m_storage.m_rows*$c.ColsAtCompileTime
-           ),
-         ")"
-      )
-   )
-}
-
-; Fixed size matrix (ColMajor and RowMajor support)
-Eigen::Matrix<*,*,*,*,*,*>{
-  children
-   (
-      #(
-         [internals]: [$c,!],
-         rows: $c.RowsAtCompileTime,
-         cols: $c.ColsAtCompileTime,
-         ; Check for RowMajorBit
-         #if ($c.Flags & 0x1) (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], 
-                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
-             )
-         ) #else (
-             #array(
-                rank: 2,
-                base: 0,
-                expr: ($c.m_storage.m_data.array)[$i],
-                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
-             )
-         )
-      )
-   )
-
-   preview
-   (
-     #(
-         "[",
-           $c.RowsAtCompileTime,
-         ",",
-           $c.ColsAtCompileTime,
-         "](",
-           #array(
-            expr :    [($c.m_storage.m_data.array)[$i],g],
-            size :    $c.RowsAtCompileTime*$c.ColsAtCompileTime
-           ),
-         ")"
-      )
-   )
-}
+; ***************************************************************
+; * Eigen Visualizer
+; *
+; * Author: Hauke Heibel <hauke.heibel@gmail.com>
+; *
+; * Support the enhanced debugging of the following Eigen
+; * types (*: any, +:fixed dimension) :
+; *
+; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*>
+; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*>
+; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*>
+; * - Eigen::Matrix<*,-1,-1,*,*,*>
+; * - Eigen::Matrix<*,+,-1,*,*,*>
+; * - Eigen::Matrix<*,-1,+,*,*,*>
+; * - Eigen::Matrix<*,+,+,*,*,*>
+; *
+; * Matrices are displayed properly independently of the memory
+; * alignment (RowMajor vs. ColMajor).
+; *
+; * This file is distributed WITHOUT ANY WARRANTY. Please ensure
+; * that your original autoexp.dat file is copied to a safe 
+; * place before proceeding with its modification.
+; ***************************************************************
+
+[Visualizer]
+
+; Fixed size 4-vectors
+Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{
+   children
+   (
+      #(
+        [internals]: [$c,!],
+         x : ($c.m_storage.m_data.array)[0],
+         y : ($c.m_storage.m_data.array)[1],
+         z : ($c.m_storage.m_data.array)[2],
+         w : ($c.m_storage.m_data.array)[3]
+      )
+   )
+
+   preview
+   (
+      #(
+        "[",
+        4,
+        "](",
+        #array(expr: $e.m_storage.m_data.array[$i], size: 4),
+        ")"
+      )
+   )
+}
+
+; Fixed size 3-vectors
+Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{
+   children
+   (
+      #(
+        [internals]: [$c,!],
+         x : ($c.m_storage.m_data.array)[0],
+         y : ($c.m_storage.m_data.array)[1],
+         z : ($c.m_storage.m_data.array)[2]
+      )
+   )
+
+   preview
+   (
+      #(
+        "[",
+        3,
+        "](",
+        #array(expr: $e.m_storage.m_data.array[$i], size: 3),
+        ")"
+      )
+   )
+}
+
+; Fixed size 2-vectors
+Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{
+   children
+   (
+      #(
+        [internals]: [$c,!],
+         x : ($c.m_storage.m_data.array)[0],
+         y : ($c.m_storage.m_data.array)[1]
+      )
+   )
+
+   preview
+   (
+      #(
+        "[",
+        2,
+        "](",
+        #array(expr: $e.m_storage.m_data.array[$i], size: 2),
+        ")"
+      )
+   )
+}
+
+; Fixed size 1-vectors
+Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{
+   children
+   (
+      #(
+        [internals]: [$c,!],
+         x : ($c.m_storage.m_data.array)[0]
+      )
+   )
+
+   preview
+   (
+      #(
+        "[",
+        1,
+        "](",
+        #array(expr: $e.m_storage.m_data.array[$i], size: 1),
+        ")"
+      )
+   )
+}
+
+; Dynamic matrices (ColMajor and RowMajor support)
+Eigen::Matrix<*,-1,-1,*,*,*>{
+  children
+   (
+      #(
+         [internals]: [$c,!],
+         rows: $c.m_storage.m_rows,
+         cols: $c.m_storage.m_cols,
+         ; Check for RowMajorBit
+         #if ($c.Flags & 0x1) (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], 
+                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
+             )
+         ) #else (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[$i],
+                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
+             )
+         )
+      )
+   )
+
+   preview
+   (
+     #(
+         "[",
+           $c.m_storage.m_rows,
+         ",",
+           $c.m_storage.m_cols,
+         "](",
+           #array(
+            expr :    [($c.m_storage.m_data)[$i],g],
+            size :    $c.m_storage.m_rows*$c.m_storage.m_cols
+           ),
+         ")"
+      )
+   )
+}
+
+; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support)
+Eigen::Matrix<*,*,-1,*,*,*>{
+  children
+   (
+      #(
+         [internals]: [$c,!],
+         rows: $c.RowsAtCompileTime,
+         cols: $c.m_storage.m_cols,
+         ; Check for RowMajorBit
+         #if ($c.Flags & 0x1) (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
+                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
+             )
+         ) #else (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[$i],
+                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
+             )
+         )
+      )
+   )
+
+   preview
+   (
+     #(
+         "[",
+           $c.RowsAtCompileTime,
+         ",",
+           $c.m_storage.m_cols,
+         "](",
+           #array(
+            expr :    [($c.m_storage.m_data)[$i],g],
+            size :    $c.RowsAtCompileTime*$c.m_storage.m_cols
+           ),
+         ")"
+      )
+   )
+}
+
+; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support)
+Eigen::Matrix<*,-1,*,*,*,*>{
+  children
+   (
+      #(
+         [internals]: [$c,!],
+         rows: $c.m_storage.m_rows,
+         cols: $c.ColsAtCompileTime,
+         ; Check for RowMajorBit
+         #if ($c.Flags & 0x1) (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], 
+                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
+             )
+         ) #else (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data)[$i],
+                size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
+             )
+         )
+      )
+   )
+
+   preview
+   (
+     #(
+         "[",
+           $c.m_storage.m_rows,
+         ",",
+           $c.ColsAtCompileTime,
+         "](",
+           #array(
+            expr :    [($c.m_storage.m_data)[$i],g],
+            size :    $c.m_storage.m_rows*$c.ColsAtCompileTime
+           ),
+         ")"
+      )
+   )
+}
+
+; Fixed size matrix (ColMajor and RowMajor support)
+Eigen::Matrix<*,*,*,*,*,*>{
+  children
+   (
+      #(
+         [internals]: [$c,!],
+         rows: $c.RowsAtCompileTime,
+         cols: $c.ColsAtCompileTime,
+         ; Check for RowMajorBit
+         #if ($c.Flags & 0x1) (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], 
+                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
+             )
+         ) #else (
+             #array(
+                rank: 2,
+                base: 0,
+                expr: ($c.m_storage.m_data.array)[$i],
+                size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
+             )
+         )
+      )
+   )
+
+   preview
+   (
+     #(
+         "[",
+           $c.RowsAtCompileTime,
+         ",",
+           $c.ColsAtCompileTime,
+         "](",
+           #array(
+            expr :    [($c.m_storage.m_data.array)[$i],g],
+            size :    $c.RowsAtCompileTime*$c.ColsAtCompileTime
+           ),
+         ")"
+      )
+   )
+}
diff --git a/demos/opengl/camera.cpp b/demos/opengl/camera.cpp
index ea01d90..e50e3d7 100644
--- a/demos/opengl/camera.cpp
+++ b/demos/opengl/camera.cpp
@@ -18,7 +18,7 @@
 Camera::Camera() : mViewIsUptodate(false), mProjIsUptodate(false) {
   mViewMatrix.setIdentity();
 
-  mFovY = M_PI / 3.;
+  mFovY = EIGEN_PI / 3.;
   mNearDist = 1.;
   mFarDist = 50000.;
 
diff --git a/demos/opengl/gpuhelper.cpp b/demos/opengl/gpuhelper.cpp
index fdf559b..fefd36b 100644
--- a/demos/opengl/gpuhelper.cpp
+++ b/demos/opengl/gpuhelper.cpp
@@ -55,7 +55,7 @@
   ax.normalize();
   Vector3f tmp = vec;
   tmp.normalize();
-  float angle = 180.f / M_PI * acos(tmp.z());
+  float angle = 180.f / EIGEN_PI * acos(tmp.z());
   if (angle > 1e-3) glRotatef(angle, ax.x(), ax.y(), ax.z());
   gluCylinder(cylinder, length / aspect, length / aspect, 0.8 * length, 10, 10);
   glTranslatef(0.0, 0.0, 0.8 * length);
@@ -74,7 +74,7 @@
   ax.normalize();
   Vector3f tmp = vec;
   tmp.normalize();
-  float angle = 180.f / M_PI * acos(tmp.z());
+  float angle = 180.f / EIGEN_PI * acos(tmp.z());
   if (angle > 1e-3) glRotatef(angle, ax.x(), ax.y(), ax.z());
   gluCylinder(cylinder, length / aspect, length / aspect, 0.8 * length, 10, 10);
   glTranslatef(0.0, 0.0, 0.8 * length);
diff --git a/demos/opengl/quaternion_demo.cpp b/demos/opengl/quaternion_demo.cpp
index 5f8673c..e7472fa 100644
--- a/demos/opengl/quaternion_demo.cpp
+++ b/demos/opengl/quaternion_demo.cpp
@@ -53,7 +53,8 @@
       }
     }
 
-    static const float angles[10] = {0, 0, M_PI, 0. * M_PI, M_PI, 0.5 * M_PI, M_PI, 1. * M_PI, M_PI, 1.5 * M_PI};
+    static const float angles[10] = {
+        0, 0, EIGEN_PI, 0. * EIGEN_PI, EIGEN_PI, 0.5 * EIGEN_PI, EIGEN_PI, 1. * EIGEN_PI, EIGEN_PI, 1.5 * EIGEN_PI};
 
     // generate other levels
     int start = 1;
@@ -377,7 +378,7 @@
         } else {
           // standard approach mapping the x and y displacements as rotations
           // around the camera's X and Y axes.
-          Quaternionf q = AngleAxisf(dx * M_PI, Vector3f::UnitY()) * AngleAxisf(-dy * M_PI, Vector3f::UnitX());
+          Quaternionf q = AngleAxisf(dx * EIGEN_PI, Vector3f::UnitY()) * AngleAxisf(-dy * EIGEN_PI, Vector3f::UnitX());
           if (mCurrentTrackingMode == TM_LOCAL_ROTATE)
             mCamera.localRotate(q);
           else
diff --git a/demos/opengl/trackball.cpp b/demos/opengl/trackball.cpp
index b12d09b..62e7168 100644
--- a/demos/opengl/trackball.cpp
+++ b/demos/opengl/trackball.cpp
@@ -37,8 +37,8 @@
   if ((p2.x() >= 0) && (p2.x() <= int(mpCamera->vpWidth())) && (p2.y() >= 0) && (p2.y() <= int(mpCamera->vpHeight()))) {
     double x = (double)(p2.x() - 0.5 * mpCamera->vpWidth()) / (double)mpCamera->vpWidth();
     double y = (double)(0.5 * mpCamera->vpHeight() - p2.y()) / (double)mpCamera->vpHeight();
-    double sinx = sin(M_PI * x * 0.5);
-    double siny = sin(M_PI * y * 0.5);
+    double sinx = sin(EIGEN_PI * x * 0.5);
+    double siny = sin(EIGEN_PI * y * 0.5);
     double sinx2siny2 = sinx * sinx + siny * siny;
 
     v3.x() = sinx;
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index e7eaa4b..0d123a2 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -16,7 +16,7 @@
 # Set some Doxygen flags
 set(EIGEN_DOXY_PROJECT_NAME             "Eigen")
 set(EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX  "")
-set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/Eigen\" \"${Eigen_SOURCE_DIR}/doc\"")
+set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/doc\" \"${Eigen_SOURCE_DIR}/Eigen\"")
 set(EIGEN_DOXY_HTML_COLORSTYLE_HUE      "220")
 set(EIGEN_DOXY_TAGFILES                 "")
 
@@ -39,7 +39,7 @@
 
 set(EIGEN_DOXY_PROJECT_NAME             "Eigen-unsupported")
 set(EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX  "/unsupported")
-set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/unsupported/Eigen\" \"${Eigen_SOURCE_DIR}/unsupported/doc\"")
+set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/unsupported/doc\" \"${Eigen_SOURCE_DIR}/unsupported/Eigen\"")
 set(EIGEN_DOXY_HTML_COLORSTYLE_HUE      "0")
 set(EIGEN_DOXY_TAGFILES                 "\"${Eigen_BINARY_DIR}/doc/Eigen.doxytags=..\"")
 #set(EIGEN_DOXY_TAGFILES                 "")
@@ -83,7 +83,6 @@
   doc-eigen-prerequisites
   ALL
   COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/html/
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/eigen_navtree_hacks.js           ${CMAKE_CURRENT_BINARY_DIR}/html/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Eigen_Silly_Professor_64x64.png  ${CMAKE_CURRENT_BINARY_DIR}/html/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2pnode.png                    ${CMAKE_CURRENT_BINARY_DIR}/html/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2node.png                     ${CMAKE_CURRENT_BINARY_DIR}/html/
@@ -95,7 +94,6 @@
   doc-unsupported-prerequisites
   ALL
   COMMAND ${CMAKE_COMMAND} -E make_directory ${Eigen_BINARY_DIR}/doc/html/unsupported
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/eigen_navtree_hacks.js           ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Eigen_Silly_Professor_64x64.png  ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2pnode.png                    ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
   COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2node.png                     ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
diff --git a/doc/CoeffwiseMathFunctionsTable.dox b/doc/CoeffwiseMathFunctionsTable.dox
index 934a95a..3b9ba7b 100644
--- a/doc/CoeffwiseMathFunctionsTable.dox
+++ b/doc/CoeffwiseMathFunctionsTable.dox
@@ -177,7 +177,7 @@
   \link Eigen::cbrt cbrt\endlink(a);\n
   m.\link MatrixBase::cwiseCbrt cwiseCbrt\endlink();
   </td>
-  <td>computes cube root (\f$ \cbrt a_i \f$)</td>
+  <td>computes cube root (\f$ \sqrt[3]{ a_i }\f$)</td>
   <td class="code">
   using <a href="http://en.cppreference.com/w/cpp/numeric/math/cbrt">std::cbrt</a>; \n
   cbrt(a[i]);</td>
@@ -518,7 +518,7 @@
   <td class="code">
   \anchor cwisetable_digamma
   a.\link ArrayBase::digamma digamma\endlink(); \n
-  \link Eigen::digamma digamma\endlink(a);
+  digamma(a);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Digamma_function">logarithmic derivative of the gamma function</a></td>
   <td>
@@ -529,7 +529,7 @@
 <tr>
   <td class="code">
   \anchor cwisetable_igamma
-  \link Eigen::igamma igamma\endlink(a,x);
+  igamma(a,x);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Incomplete_gamma_function">lower incomplete gamma integral</a>
   \n \f$ \gamma(a_i,x_i)= \frac{1}{|a_i|} \int_{0}^{x_i}e^{\text{-}t} t^{a_i-1} \mathrm{d} t \f$</td>
@@ -541,7 +541,7 @@
 <tr>
   <td class="code">
   \anchor cwisetable_igammac
-  \link Eigen::igammac igammac\endlink(a,x);
+  igammac(a,x);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Incomplete_gamma_function">upper incomplete gamma integral</a>
   \n \f$ \Gamma(a_i,x_i) = \frac{1}{|a_i|} \int_{x_i}^{\infty}e^{\text{-}t} t^{a_i-1} \mathrm{d} t \f$</td>
@@ -557,7 +557,7 @@
 <tr>
   <td class="code">
   \anchor cwisetable_polygamma
-  \link Eigen::polygamma polygamma\endlink(n,x);
+  polygamma(n,x);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Polygamma_function">n-th derivative of digamma at x</a></td>
   <td>
@@ -570,7 +570,7 @@
 <tr>
   <td class="code">
   \anchor cwisetable_betainc
-  \link Eigen::betainc betainc\endlink(a,b,x);
+  betainc(a,b,x);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Beta_function#Incomplete_beta_function">Incomplete beta function</a></td>
   <td>
@@ -581,7 +581,7 @@
 <tr>
   <td class="code">
   \anchor cwisetable_zeta
-  \link Eigen::zeta zeta\endlink(a,b); \n
+  zeta(a,b); \n
   a.\link ArrayBase::zeta zeta\endlink(b);
   </td>
   <td><a href="https://en.wikipedia.org/wiki/Hurwitz_zeta_function">Hurwitz zeta function</a>
diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in
index d0e96fa..439336c 100644
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
@@ -1,210 +1,11 @@
-# Doxyfile 1.8.1.1
-
-# This file describes the settings to be used by the documentation system
-# doxygen (www.doxygen.org) for a project.
-#
-# All text after a hash (#) is considered a comment and will be ignored.
-# The format is:
-#       TAG = value [value, ...]
-# For lists items can also be appended using:
-#       TAG += value [value, ...]
-# Values that contain spaces should be placed between quotes (" ").
-
-#---------------------------------------------------------------------------
-# Project related configuration options
-#---------------------------------------------------------------------------
-
-# This tag specifies the encoding used for all characters in the config file
-# that follow. The default is UTF-8 which is also the encoding used for all
-# text before the first occurrence of this tag. Doxygen uses libiconv (or the
-# iconv built into libc) for the transcoding. See
-# http://www.gnu.org/software/libiconv for the list of possible encodings.
-
-DOXYFILE_ENCODING      = UTF-8
-
-# The PROJECT_NAME tag is a single word (or sequence of words) that should
-# identify the project. Note that if you do not use Doxywizard you need
-# to put quotes around the project name if it contains spaces.
-
+# Doxyfile 1.13.0
 PROJECT_NAME           = ${EIGEN_DOXY_PROJECT_NAME}
-
-# The PROJECT_NUMBER tag can be used to enter a project or revision number.
-# This could be handy for archiving the generated documentation or
-# if some version control system is used.
-
-# EIGEN_VERSION is set in the root CMakeLists.txt
-
-PROJECT_NUMBER         = "${EIGEN_VERSION}"
-
-# Using the PROJECT_BRIEF tag one can provide an optional one line description
-# for a project that appears at the top of each page and should give viewer
-# a quick idea about the purpose of the project. Keep the description short.
-
-PROJECT_BRIEF          =
-
-# With the PROJECT_LOGO tag one can specify an logo or icon that is
-# included in the documentation. The maximum height of the logo should not
-# exceed 55 pixels and the maximum width should not exceed 200 pixels.
-# Doxygen will copy the logo to the output directory.
-
-PROJECT_LOGO           = "${Eigen_SOURCE_DIR}/doc/Eigen_Silly_Professor_64x64.png"
-
-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
-# base path where the generated documentation will be put.
-# If a relative path is entered, it will be relative to the location
-# where doxygen was started. If left blank the current directory will be used.
-
-OUTPUT_DIRECTORY       = "${Eigen_BINARY_DIR}/doc${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}"
-
-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
-# 4096 sub-directories (in 2 levels) under the output directory of each output
-# format and will distribute the generated files over these directories.
-# Enabling this option can be useful when feeding doxygen a huge amount of
-# source files, where putting all generated files in the same directory would
-# otherwise cause performance problems for the file system.
-
-CREATE_SUBDIRS         = NO
-
-# The OUTPUT_LANGUAGE tag is used to specify the language in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all constant output in the proper language.
-# The default language is English, other supported languages are:
-# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
-# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
-# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
-# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
-# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
-# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
-
-OUTPUT_LANGUAGE        = English
-
-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
-# include brief member descriptions after the members that are listed in
-# the file and class documentation (similar to JavaDoc).
-# Set to NO to disable this.
-
-BRIEF_MEMBER_DESC      = YES
-
-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
-# the brief description of a member or function before the detailed description.
-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
-# brief descriptions will be completely suppressed.
-
-REPEAT_BRIEF           = YES
-
-# This tag implements a quasi-intelligent brief description abbreviator
-# that is used to form the text in various listings. Each string
-# in this list, if found as the leading text of the brief description, will be
-# stripped from the text and the result after processing the whole list, is
-# used as the annotated text. Otherwise, the brief description is used as-is.
-# If left blank, the following values are used ("$name" is automatically
-# replaced with the name of the entity): "The $name class" "The $name widget"
-# "The $name file" "is" "provides" "specifies" "contains"
-# "represents" "a" "an" "the"
-
-ABBREVIATE_BRIEF       = "The $name class" \
-                         "The $name widget" \
-                         "The $name file" \
-                         is \
-                         provides \
-                         specifies \
-                         contains \
-                         represents \
-                         a \
-                         an \
-                         the
-
-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
-# Doxygen will generate a detailed section even if there is only a brief
-# description.
-
-ALWAYS_DETAILED_SEC    = NO
-
-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
-# inherited members of a class in the documentation of that class as if those
-# members were ordinary class members. Constructors, destructors and assignment
-# operators of the base classes will not be shown.
-
-INLINE_INHERITED_MEMB  = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
-# path before files name in the file list and in the header files. If set
-# to NO the shortest path that makes the file name unique will be used.
-
-FULL_PATH_NAMES        = NO
-
-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
-# can be used to strip a user-defined part of the path. Stripping is
-# only done if one of the specified strings matches the left-hand part of
-# the path. The tag can be used to show relative paths in the file list.
-# If left blank the directory from which doxygen is run is used as the
-# path to strip.
-
-STRIP_FROM_PATH        =
-
-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
-# the path mentioned in the documentation of a class, which tells
-# the reader which header file to include in order to use a class.
-# If left blank only the name of the header file containing the class
-# definition is used. Otherwise one should specify the include paths that
-# are normally passed to the compiler using the -I flag.
-
-STRIP_FROM_INC_PATH    =
-
-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
-# (but less readable) file names. This can be useful if your file system
-# doesn't support long names like on DOS, Mac, or CD-ROM.
-
-SHORT_NAMES            = NO
-
-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
-# will interpret the first line (until the first dot) of a JavaDoc-style
-# comment as the brief description. If set to NO, the JavaDoc
-# comments will behave just like regular Qt-style comments
-# (thus requiring an explicit @brief command for a brief description.)
-
-JAVADOC_AUTOBRIEF      = NO
-
-# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
-# interpret the first line (until the first dot) of a Qt-style
-# comment as the brief description. If set to NO, the comments
-# will behave just like regular Qt-style comments (thus requiring
-# an explicit \brief command for a brief description.)
-
-QT_AUTOBRIEF           = NO
-
-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
-# treat a multi-line C++ special comment block (i.e. a block of //! or ///
-# comments) as a brief description. This used to be the default behaviour.
-# The new default is to treat a multi-line C++ comment block as a detailed
-# description. Set this tag to YES if you prefer the old behaviour instead.
-
-MULTILINE_CPP_IS_BRIEF = NO
-
-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
-# member inherits the documentation from any documented member that it
-# re-implements.
-
-INHERIT_DOCS           = YES
-
-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
-# a new page for each member. If set to NO, the documentation of a member will
-# be part of the file/class/namespace that contains it.
-
-SEPARATE_MEMBER_PAGES  = NO
-
-# The TAB_SIZE tag can be used to set the number of spaces in a tab.
-# Doxygen uses this value to replace tabs by spaces in code fragments.
-
+PROJECT_NUMBER         = ${EIGEN_VERSION}
+PROJECT_LOGO           = ${Eigen_SOURCE_DIR}/doc/Eigen_Silly_Professor_64x64.png
+OUTPUT_DIRECTORY       = ${Eigen_BINARY_DIR}/doc${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}
+FULL_PATH_NAMES        = YES
+STRIP_FROM_INC_PATH    = ${Eigen_SOURCE_DIR}/
 TAB_SIZE               = 8
-
-# This tag can be used to specify a number of aliases that acts
-# as commands in the documentation. An alias has the form "name=value".
-# For example adding "sideeffect=\par Side Effects:\n" will allow you to
-# put the command \sideeffect (or @sideeffect) in the documentation, which
-# will result in a user-defined paragraph with heading "Side Effects:".
-# You can put \n's in the value part of an alias to insert newlines.
-
 ALIASES                = "only_for_vectors=This is only for vectors (either row-vectors or column-vectors), i.e. matrices which are known at compile-time to have either one row or one column." \
                          "not_reentrant=\warning This function is not re-entrant." \
                          "array_module=This is defined in the %Array module. \code #include <Eigen/Array> \endcode" \
@@ -217,7 +18,7 @@
                          "qr_module=This is defined in the %QR module. \code #include <Eigen/QR> \endcode" \
                          "svd_module=This is defined in the %SVD module. \code #include <Eigen/SVD> \endcode" \
                          "specialfunctions_module=This is defined in the \b unsupported SpecialFunctions module. \code #include <Eigen/SpecialFunctions> \endcode" \
-                         "label=\bug" \
+                         label=\bug \
                          "matrixworld=<a href='#matrixonly' style='color:green;text-decoration: none;'>*</a>" \
                          "arrayworld=<a href='#arrayonly' style='color:blue;text-decoration: none;'>*</a>" \
                          "note_about_arbitrary_choice_of_solution=If there exists more than one solution, this method will arbitrarily choose one." \
@@ -226,536 +27,48 @@
                          "note_try_to_help_rvo=This function returns the result by value. In order to make that efficient, it is implemented as just a return statement using a special constructor, hopefully allowing the compiler to perform a RVO (return value optimization)." \
                          "nonstableyet=\warning This is not considered to be part of the stable public API yet. Changes may happen in future releases. See \ref Experimental \"Experimental parts of Eigen\"" \
                          "implsparsesolverconcept=This class follows the \link TutorialSparseSolverConcept sparse solver concept \endlink." \
-                         "blank= " \
+                         blank= \
                          "cpp11=<span class='cpp11'>[c++11]</span>" \
                          "cpp14=<span class='cpp14'>[c++14]</span>" \
                          "cpp17=<span class='cpp17'>[c++17]</span>" \
-                         "newin{1}=<span class='newin3x'>New in %Eigen \1.</span>"
-                         
-
-ALIASES += "eigenAutoToc=  "
-ALIASES += "eigenManualPage=\defgroup"
-
-# This tag can be used to specify a number of word-keyword mappings (TCL only).
-# A mapping has the form "name=value". For example adding
-# "class=itcl::class" will allow you to use the command class in the
-# itcl::class meaning.
-
-TCL_SUBST              =
-
-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
-# sources only. Doxygen will then generate output that is more tailored for C.
-# For instance, some of the names that are used will be different. The list
-# of all members will be omitted, etc.
-
-OPTIMIZE_OUTPUT_FOR_C  = NO
-
-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
-# sources only. Doxygen will then generate output that is more tailored for
-# Java. For instance, namespaces will be presented as packages, qualified
-# scopes will look different, etc.
-
-OPTIMIZE_OUTPUT_JAVA   = NO
-
-# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
-# sources only. Doxygen will then generate output that is more tailored for
-# Fortran.
-
-OPTIMIZE_FOR_FORTRAN   = NO
-
-# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
-# sources. Doxygen will then generate output that is tailored for
-# VHDL.
-
-OPTIMIZE_OUTPUT_VHDL   = NO
-
-# Doxygen selects the parser to use depending on the extension of the files it
-# parses. With this tag you can assign which parser to use for a given extension.
-# Doxygen has a built-in mapping, but you can override or extend it using this
-# tag. The format is ext=language, where ext is a file extension, and language
-# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C,
-# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make
-# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C
-# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions
-# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
-
-EXTENSION_MAPPING      = .h=C++ no_extension=C++
-
-# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
-# comments according to the Markdown format, which allows for more readable
-# documentation. See http://daringfireball.net/projects/markdown/ for details.
-# The output of markdown processing is further processed by doxygen, so you
-# can mix doxygen, HTML, and XML commands with Markdown formatting.
-# Disable only in case of backward compatibilities issues.
-
-MARKDOWN_SUPPORT       = YES
-
-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
-# to include (a tag file for) the STL sources as input, then you should
-# set this tag to YES in order to let doxygen match functions declarations and
-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
-# func(std::string) {}). This also makes the inheritance and collaboration
-# diagrams that involve STL classes more complete and accurate.
-
-BUILTIN_STL_SUPPORT    = NO
-
-# If you use Microsoft's C++/CLI language, you should set this option to YES to
-# enable parsing support.
-
-CPP_CLI_SUPPORT        = NO
-
-# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
-# Doxygen will parse them like normal C++ but will assume all classes use public
-# instead of private inheritance when no explicit protection keyword is present.
-
-SIP_SUPPORT            = NO
-
-# For Microsoft's IDL there are propget and propput attributes to indicate getter
-# and setter methods for a property. Setting this option to YES (the default)
-# will make doxygen replace the get and set methods by a property in the
-# documentation. This will only work if the methods are indeed getting or
-# setting a simple type. If this is not the case, or you want to show the
-# methods anyway, you should set this option to NO.
-
-IDL_PROPERTY_SUPPORT   = YES
-
-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
-# tag is set to YES, then doxygen will reuse the documentation of the first
-# member in the group (if any) for the other members of the group. By default
-# all members of a group must be documented explicitly.
-
+                         "newin{1}=<span class='newin3x'>New in %Eigen \1.</span>" \
+                         eigenAutoToc= \
+                         eigenManualPage=\defgroup
+EXTENSION_MAPPING      = .h=C++ \
+                         no_extension=C++
 DISTRIBUTE_GROUP_DOC   = YES
-
-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
-# the same type (for instance a group of public functions) to be put as a
-# subgroup of that type (e.g. under the Public Functions section). Set it to
-# NO to prevent subgrouping. Alternatively, this can be done per class using
-# the \nosubgrouping command.
-
-SUBGROUPING            = YES
-
-# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
-# unions are shown inside the group in which they are included (e.g. using
-# @ingroup) instead of on a separate page (for HTML and Man pages) or
-# section (for LaTeX and RTF).
-
-INLINE_GROUPED_CLASSES = NO
-
-# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
-# unions with only public data fields will be shown inline in the documentation
-# of the scope in which they are defined (i.e. file, namespace, or group
-# documentation), provided this scope is documented. If set to NO (the default),
-# structs, classes, and unions are shown on a separate page (for HTML and Man
-# pages) or section (for LaTeX and RTF).
-
-INLINE_SIMPLE_STRUCTS  = NO
-
-# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
-# is documented as struct, union, or enum with the name of the typedef. So
-# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
-# with name TypeT. When disabled the typedef will appear as a member of a file,
-# namespace, or class. And the struct will be named TypeS. This can typically
-# be useful for C code in case the coding convention dictates that all compound
-# types are typedef'ed and only the typedef is referenced, never the tag name.
-
-TYPEDEF_HIDES_STRUCT   = NO
-
-# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
-# determine which symbols to keep in memory and which to flush to disk.
-# When the cache is full, less often used symbols will be written to disk.
-# For small to medium size projects (<1000 input files) the default value is
-# probably good enough. For larger projects a too small cache size can cause
-# doxygen to be busy swapping symbols to and from disk most of the time
-# causing a significant performance penalty.
-# If the system has enough physical memory increasing the cache will improve the
-# performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will roughly double the
-# memory usage. The cache size is given by this formula:
-# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
-# corresponding to a cache size of 2^16 = 65536 symbols.
-
-# SYMBOL_CACHE_SIZE      = 0
-
-# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
-# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
-# their name and scope. Since this can be an expensive process and often the
-# same symbol appear multiple times in the code, doxygen keeps a cache of
-# pre-resolved symbols. If the cache is too small doxygen will become slower.
-# If the cache is too large, memory is wasted. The cache size is given by this
-# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
-# corresponding to a cache size of 2^16 = 65536 symbols.
-
-LOOKUP_CACHE_SIZE      = 0
-
-#---------------------------------------------------------------------------
-# Build related configuration options
-#---------------------------------------------------------------------------
-
-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
-# documentation are documented, even if no documentation was available.
-# Private class members and static file members will be hidden unless
-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-
+NUM_PROC_THREADS       = 0
 EXTRACT_ALL            = NO
-
-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
-# will be included in the documentation.
-
 EXTRACT_PRIVATE        = NO
-
-# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal scope will be included in the documentation.
-
+EXTRACT_PRIV_VIRTUAL   = NO
 EXTRACT_PACKAGE        = NO
-
-# If the EXTRACT_STATIC tag is set to YES all static members of a file
-# will be included in the documentation.
-
 EXTRACT_STATIC         = YES
-
-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
-# defined locally in source files will be included in the documentation.
-# If set to NO only classes defined in header files are included.
-
 EXTRACT_LOCAL_CLASSES  = NO
-
-# This flag is only useful for Objective-C code. When set to YES local
-# methods, which are defined in the implementation section but not in
-# the interface are included in the documentation.
-# If set to NO (the default) only methods in the interface are included.
-
 EXTRACT_LOCAL_METHODS  = NO
-
-# If this flag is set to YES, the members of anonymous namespaces will be
-# extracted and appear in the documentation as a namespace called
-# 'anonymous_namespace{file}', where file will be replaced with the base
-# name of the file that contains the anonymous namespace. By default
-# anonymous namespaces are hidden.
-
 EXTRACT_ANON_NSPACES   = NO
-
-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
-# undocumented members of documented classes, files or namespaces.
-# If set to NO (the default) these members will be included in the
-# various overviews, but no documentation section is generated.
-# This option has no effect if EXTRACT_ALL is enabled.
-
 HIDE_UNDOC_MEMBERS     = YES
-
-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
-# undocumented classes that are normally visible in the class hierarchy.
-# If set to NO (the default) these classes will be included in the various
-# overviews. This option has no effect if EXTRACT_ALL is enabled.
-
 HIDE_UNDOC_CLASSES     = YES
-
-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
-# friend (class|struct|union) declarations.
-# If set to NO (the default) these declarations will be included in the
-# documentation.
-
 HIDE_FRIEND_COMPOUNDS  = YES
-
-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
-# documentation blocks found inside the body of a function.
-# If set to NO (the default) these blocks will be appended to the
-# function's detailed documentation block.
-
-HIDE_IN_BODY_DOCS      = NO
-
-# The INTERNAL_DOCS tag determines if documentation
-# that is typed after a \internal command is included. If the tag is set
-# to NO (the default) then the documentation will be excluded.
-# Set it to YES to include the internal documentation.
-
-INTERNAL_DOCS          = ${EIGEN_DOXY_INTERNAL}
-
-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
-# file names in lower-case letters. If set to YES upper-case letters are also
-# allowed. This is useful if you have classes or files whose names only differ
-# in case and if your file system supports case sensitive file names. Windows
-# and Mac users are advised to set this option to NO.
-
 CASE_SENSE_NAMES       = YES
-
-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
-# will show members with their full class and namespace scopes in the
-# documentation. If set to YES the scope will be hidden.
-
-HIDE_SCOPE_NAMES       = NO
-
-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
-# will put a list of the files that are included by a file in the documentation
-# of that file.
-
-SHOW_INCLUDE_FILES     = ${EIGEN_DOXY_INTERNAL}
-
-# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
-# will list include files with double quotes in the documentation
-# rather than with sharp brackets.
-
-FORCE_LOCAL_INCLUDES   = NO
-
-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
-# is inserted in the documentation for inline members.
-
-INLINE_INFO            = YES
-
-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
-# will sort the (detailed) documentation of file and class members
-# alphabetically by member name. If set to NO the members will appear in
-# declaration order.
-
-SORT_MEMBER_DOCS       = YES
-
-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
-# brief documentation of file, namespace and class members alphabetically
-# by member name. If set to NO (the default) the members will appear in
-# declaration order.
-
 SORT_BRIEF_DOCS        = YES
-
-# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
-# will sort the (brief and detailed) documentation of class members so that
-# constructors and destructors are listed first. If set to NO (the default)
-# the constructors will appear in the respective orders defined by
-# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
-# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
-# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
-
-SORT_MEMBERS_CTORS_1ST = NO
-
-# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
-# hierarchy of group names into alphabetical order. If set to NO (the default)
-# the group names will appear in their defined order.
-
-SORT_GROUP_NAMES       = NO
-
-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
-# sorted by fully-qualified names, including namespaces. If set to
-# NO (the default), the class list will be sorted only by class name,
-# not including the namespace part.
-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
-# Note: This option applies only to the class list, not to the
-# alphabetical list.
-
-SORT_BY_SCOPE_NAME     = NO
-
-# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
-# do proper type resolution of all parameters of a function it will reject a
-# match between the prototype and the implementation of a member function even
-# if there is only one candidate or it is obvious which candidate to choose
-# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
-# will still accept a match between prototype and implementation in such cases.
-
-STRICT_PROTO_MATCHING  = NO
-
-# The GENERATE_TODOLIST tag can be used to enable (YES) or
-# disable (NO) the todo list. This list is created by putting \todo
-# commands in the documentation.
-
-GENERATE_TODOLIST      = ${EIGEN_DOXY_INTERNAL}
-
-# The GENERATE_TESTLIST tag can be used to enable (YES) or
-# disable (NO) the test list. This list is created by putting \test
-# commands in the documentation.
-
 GENERATE_TESTLIST      = NO
-
-# The GENERATE_BUGLIST tag can be used to enable (YES) or
-# disable (NO) the bug list. This list is created by putting \bug
-# commands in the documentation.
-
-GENERATE_BUGLIST       = ${EIGEN_DOXY_INTERNAL}
-
-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
-# disable (NO) the deprecated list. This list is created by putting
-# \deprecated commands in the documentation.
-
-GENERATE_DEPRECATEDLIST= YES
-
-# The ENABLED_SECTIONS tag can be used to enable conditional
-# documentation sections, marked by \if sectionname ... \endif.
-
-ENABLED_SECTIONS       =
-
-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
-# the initial value of a variable or macro consists of for it to appear in
-# the documentation. If the initializer consists of more lines than specified
-# here it will be hidden. Use a value of 0 to hide initializers completely.
-# The appearance of the initializer of individual variables and macros in the
-# documentation can be controlled using \showinitializer or \hideinitializer
-# command in the documentation regardless of this setting.
-
 MAX_INITIALIZER_LINES  = 0
-
-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
-# at the bottom of the documentation of classes and structs. If set to YES the
-# list will mention the files that were used to generate the documentation.
-
-SHOW_USED_FILES        = YES
-
-# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
-# This will remove the Files entry from the Quick Index and from the
-# Folder Tree View (if specified). The default is YES.
-
-SHOW_FILES             = YES
-
-# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
-# Namespaces page.
-# This will remove the Namespaces entry from the Quick Index
-# and from the Folder Tree View (if specified). The default is YES.
-
 SHOW_NAMESPACES        = NO
-
-# The FILE_VERSION_FILTER tag can be used to specify a program or script that
-# doxygen should invoke to get the current version for each file (typically from
-# the version control system). Doxygen will invoke the program by executing (via
-# popen()) the command <command> <input-file>, where <command> is the value of
-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
-# provided by doxygen. Whatever the program writes to standard output
-# is used as the file version. See the manual for examples.
-
-FILE_VERSION_FILTER    =
-
-# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
-# by doxygen. The layout file controls the global structure of the generated
-# output files in an output format independent way. To create the layout file
-# that represents doxygen's defaults, run doxygen with the -l option.
-# You can optionally specify a file name after the option, if omitted
-# DoxygenLayout.xml will be used as the name of the layout file.
-
-LAYOUT_FILE            = "${Eigen_BINARY_DIR}/doc${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}/eigendoxy_layout.xml"
-
-# The CITE_BIB_FILES tag can be used to specify one or more bib files
-# containing the references data. This must be a list of .bib files. The
-# .bib extension is automatically appended if omitted. Using this command
-# requires the bibtex tool to be installed. See also
-# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
-# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
-# feature you need bibtex and perl available in the search path.
-
-CITE_BIB_FILES         =
-
-#---------------------------------------------------------------------------
-# configuration options related to warning and progress messages
-#---------------------------------------------------------------------------
-
-# The QUIET tag can be used to turn on/off the messages that are generated
-# by doxygen. Possible values are YES and NO. If left blank NO is used.
-
-QUIET                  = NO
-
-# The WARNINGS tag can be used to turn on/off the warning messages that are
-# generated by doxygen. Possible values are YES and NO. If left blank
-# NO is used.
-
-WARNINGS               = YES
-
-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
-# automatically be disabled.
-
+LAYOUT_FILE            = ${Eigen_BINARY_DIR}/doc${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}/eigendoxy_layout.xml
 WARN_IF_UNDOCUMENTED   = NO
-
-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some
-# parameters in a documented function, or documenting parameters that
-# don't exist or using markup commands wrongly.
-
-WARN_IF_DOC_ERROR      = YES
-
-# The WARN_NO_PARAMDOC option can be enabled to get warnings for
-# functions that are documented, but have no documentation for their parameters
-# or return value. If set to NO (the default) doxygen will only warn about
-# wrong or incomplete parameter documentation, but not about the absence of
-# documentation.
-
-WARN_NO_PARAMDOC       = NO
-
-# The WARN_FORMAT tag determines the format of the warning messages that
-# doxygen can produce. The string should contain the $file, $line, and $text
-# tags, which will be replaced by the file and line number from which the
-# warning originated and the warning text. Optionally the format may contain
-# $version, which will be replaced by the version of the file (if it could
-# be obtained via FILE_VERSION_FILTER)
-
-WARN_FORMAT            = "$file:$line: $text"
-
-# The WARN_LOGFILE tag can be used to specify a file to which warning
-# and error messages should be written. If left blank the output is written
-# to stderr.
-
-WARN_LOGFILE           =
-
-#---------------------------------------------------------------------------
-# configuration options related to the input files
-#---------------------------------------------------------------------------
-
-# The INPUT tag can be used to specify the files and/or directories that contain
-# documented source files. You may enter file names like "myfile.cpp" or
-# directories like "/usr/src/myproject". Separate the files or directories
-# with spaces.
-
 INPUT                  = ${EIGEN_DOXY_INPUT}
-
-# This tag can be used to specify the character encoding of the source files
-# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
-# also the default input encoding. Doxygen uses libiconv (or the iconv built
-# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
-# the list of possible encodings.
-
-INPUT_ENCODING         = UTF-8
-
-# If the value of the INPUT tag contains directories, you can use the
-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank the following patterns are tested:
-# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
-# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
-# *.f90 *.f *.for *.vhd *.vhdl
-
 FILE_PATTERNS          = *
-
-# The RECURSIVE tag can be used to turn specify whether or not subdirectories
-# should be searched for input files as well. Possible values are YES and NO.
-# If left blank NO is used.
-
 RECURSIVE              = YES
+EXCLUDE                = ${Eigen_SOURCE_DIR}/Eigen/Eigen2Support \
+                         ${Eigen_SOURCE_DIR}/Eigen/src/Eigen2Support \
+                         ${Eigen_SOURCE_DIR}/doc/examples \
+                         ${Eigen_SOURCE_DIR}/doc/special_examples \
+                         ${Eigen_SOURCE_DIR}/doc/snippets \
+                         ${Eigen_SOURCE_DIR}/unsupported/doc/examples \
+                         ${Eigen_SOURCE_DIR}/unsupported/doc/snippets
 
-# The EXCLUDE tag can be used to specify files and/or directories that should be
-# excluded from the INPUT source files. This way you can easily exclude a
-# subdirectory from a directory tree whose root is specified with the INPUT tag.
-# Note that relative paths are relative to the directory from which doxygen is
-# run.
-
-EXCLUDE                = "${Eigen_SOURCE_DIR}/Eigen/src/Core/products" \
-                         "${Eigen_SOURCE_DIR}/Eigen/Eigen2Support" \
-                         "${Eigen_SOURCE_DIR}/Eigen/src/Eigen2Support" \
-                         "${Eigen_SOURCE_DIR}/doc/examples" \
-                         "${Eigen_SOURCE_DIR}/doc/special_examples" \
-                         "${Eigen_SOURCE_DIR}/doc/snippets" \
-                         "${Eigen_SOURCE_DIR}/unsupported/doc/examples" \
-                         "${Eigen_SOURCE_DIR}/unsupported/doc/snippets"
-
-# Forward declarations of class templates cause the title of the main page for
-# the class template to not contain the template signature.  This only happens
-# when the \class command is used to document the class.  Possibly caused
-# by https://github.com/doxygen/doxygen/issues/7698.  Confirmed fixed by
-# doxygen release 1.8.19.
-
-EXCLUDE += "${Eigen_SOURCE_DIR}/Eigen/src/Core/util/ForwardDeclarations.h"
-
-# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
-# directories that are symbolic links (a Unix file system feature) are excluded
-# from the input.
-
-EXCLUDE_SYMLINKS       = NO
-
-# If the value of the INPUT tag contains directories, you can use the
-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
-# certain files from those directories. Note that the wildcards are matched
-# against the file with absolute path, so to exclude all test directories
-# for example use the pattern */test/*
+#                        ${Eigen_SOURCE_DIR}/Eigen/src/Core/products \
+#                        ${Eigen_SOURCE_DIR}/Eigen/src/Core/util/ForwardDeclarations.h \
 
 EXCLUDE_PATTERNS       = CMake* \
                          *.txt \
@@ -772,828 +85,40 @@
                          *.filters \
                          *.user \
                          *.suo
-
-# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
-# (namespaces, classes, functions, etc.) that should be excluded from the
-# output. The symbol name can be a fully qualified name, a word, or if the
-# wildcard * is used, a substring. Examples: ANamespace, AClass,
-# AClass::ANamespace, ANamespace::*Test
-
-EXCLUDE_SYMBOLS        = internal::* \
-                         Flagged* \
-                         *InnerIterator* \
-                         DenseStorage<* \
-                         
-
-# The EXAMPLE_PATH tag can be used to specify one or more files or
-# directories that contain example code fragments that are included (see
-# the \include command).
-
-EXAMPLE_PATH           = "${Eigen_SOURCE_DIR}/doc/snippets" \
-                         "${Eigen_BINARY_DIR}/doc/snippets" \
-                         "${Eigen_SOURCE_DIR}/doc/examples" \
-                         "${Eigen_BINARY_DIR}/doc/examples" \
-                         "${Eigen_SOURCE_DIR}/doc/special_examples" \
-                         "${Eigen_BINARY_DIR}/doc/special_examples" \
-                         "${Eigen_SOURCE_DIR}/unsupported/doc/snippets" \
-                         "${Eigen_BINARY_DIR}/unsupported/doc/snippets" \
-                         "${Eigen_SOURCE_DIR}/unsupported/doc/examples" \
-                         "${Eigen_BINARY_DIR}/unsupported/doc/examples"
-
-# If the value of the EXAMPLE_PATH tag contains directories, you can use the
-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
-# and *.h) to filter out the source-files in the directories. If left
-# blank all files are included.
-
-EXAMPLE_PATTERNS       = *
-
-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
-# searched for input files to be used with the \include or \dontinclude
-# commands irrespective of the value of the RECURSIVE tag.
-# Possible values are YES and NO. If left blank NO is used.
-
-EXAMPLE_RECURSIVE      = NO
-
-# The IMAGE_PATH tag can be used to specify one or more files or
-# directories that contain image that are included in the documentation (see
-# the \image command).
-
+# The following are pseudo template bases, and not real classes.
+# https://github.com/doxygen/doxygen/issues/11289
+EXCLUDE_SYMBOLS        = Kernel \
+                         BinaryOp
+EXAMPLE_PATH           = ${Eigen_SOURCE_DIR}/doc/snippets \
+                         ${Eigen_BINARY_DIR}/doc/snippets \
+                         ${Eigen_SOURCE_DIR}/doc/examples \
+                         ${Eigen_BINARY_DIR}/doc/examples \
+                         ${Eigen_SOURCE_DIR}/doc/special_examples \
+                         ${Eigen_BINARY_DIR}/doc/special_examples \
+                         ${Eigen_SOURCE_DIR}/unsupported/doc/snippets \
+                         ${Eigen_BINARY_DIR}/unsupported/doc/snippets \
+                         ${Eigen_SOURCE_DIR}/unsupported/doc/examples \
+                         ${Eigen_BINARY_DIR}/unsupported/doc/examples
 IMAGE_PATH             = ${Eigen_BINARY_DIR}/doc/html
-
-# The INPUT_FILTER tag can be used to specify a program that doxygen should
-# invoke to filter for each input file. Doxygen will invoke the filter program
-# by executing (via popen()) the command <filter> <input-file>, where <filter>
-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
-# input file. Doxygen will then use the output that the filter program writes
-# to standard output.
-# If FILTER_PATTERNS is specified, this tag will be
-# ignored.
-
-INPUT_FILTER           =
-
-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
-# basis.
-# Doxygen will compare the file name with each pattern and apply the
-# filter if there is a match.
-# The filters are a list of the form:
-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
-# info on how filters are used. If FILTER_PATTERNS is empty or if
-# non of the patterns match the file name, INPUT_FILTER is applied.
-
-FILTER_PATTERNS        =
-
-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
-# INPUT_FILTER) will be used to filter the input files when producing source
-# files to browse (i.e. when SOURCE_BROWSER is set to YES).
-
-FILTER_SOURCE_FILES    = NO
-
-# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
-# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
-# and it is also possible to disable source filtering for a specific pattern
-# using *.ext= (so without naming a filter). This option only has effect when
-# FILTER_SOURCE_FILES is enabled.
-
-FILTER_SOURCE_PATTERNS =
-
-#---------------------------------------------------------------------------
-# configuration options related to source browsing
-#---------------------------------------------------------------------------
-
-# If the SOURCE_BROWSER tag is set to YES then a list of source files will
-# be generated. Documented entities will be cross-referenced with these sources.
-# Note: To get rid of all source code in the generated output, make sure also
-# VERBATIM_HEADERS is set to NO.
-
-SOURCE_BROWSER         = NO
-
-# Setting the INLINE_SOURCES tag to YES will include the body
-# of functions and classes directly in the documentation.
-
-INLINE_SOURCES         = NO
-
-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
-# doxygen to hide any special comment blocks from generated source code
-# fragments. Normal C, C++ and Fortran comments will always remain visible.
-
-STRIP_CODE_COMMENTS    = YES
-
-# If the REFERENCED_BY_RELATION tag is set to YES
-# then for each documented function all documented
-# functions referencing it will be listed.
-
-REFERENCED_BY_RELATION = NO
-
-# If the REFERENCES_RELATION tag is set to YES
-# then for each documented function all documented entities
-# called/used by that function will be listed.
-
-REFERENCES_RELATION    = NO
-
-# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
-# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
-# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
-# link to the source code.
-# Otherwise they will link to the documentation.
-
-REFERENCES_LINK_SOURCE = YES
-
-# If the USE_HTAGS tag is set to YES then the references to source code
-# will point to the HTML generated by the htags(1) tool instead of doxygen
-# built-in source browser. The htags tool is part of GNU's global source
-# tagging system (see http://www.gnu.org/software/global/global.html). You
-# will need version 4.8.6 or higher.
-
-USE_HTAGS              = NO
-
-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
-# will generate a verbatim copy of the header file for each class for
-# which an include is specified. Set to NO to disable this.
-
-VERBATIM_HEADERS       = YES
-
-#---------------------------------------------------------------------------
-# configuration options related to the alphabetical class index
-#---------------------------------------------------------------------------
-
-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
-# of all compounds will be generated. Enable this if the project
-# contains a lot of classes, structs, unions or interfaces.
-
+# Prevent README.md from being considered a directory description (i.e. for Tensor).
+IMPLICIT_DIR_DOCS      = NO
 ALPHABETICAL_INDEX     = NO
-
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX    = 5
-
-# In case all classes in a project start with a common prefix, all
-# classes will be put under the same header in the alphabetical index.
-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
-# should be ignored while generating the index headers.
-
-IGNORE_PREFIX          =
-
-#---------------------------------------------------------------------------
-# configuration options related to the HTML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
-# generate HTML output.
-
-GENERATE_HTML          = YES
-
-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `html' will be used as the default path.
-
-HTML_OUTPUT            = "${Eigen_BINARY_DIR}/doc/html${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}"
-
-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
-# doxygen will generate files with .html extension.
-
-HTML_FILE_EXTENSION    = .html
-
-# The HTML_HEADER tag can be used to specify a personal HTML header for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard header. Note that when using a custom header you are responsible
-#  for the proper inclusion of any scripts and style sheets that doxygen
-# needs, which is dependent on the configuration options used.
-# It is advised to generate a default header using "doxygen -w html
-# header.html footer.html stylesheet.css YourConfigFile" and then modify
-# that header. Note that the header is subject to change so you typically
-# have to redo this when upgrading to a newer version of doxygen or when
-# changing the value of configuration settings such as GENERATE_TREEVIEW!
-
-HTML_HEADER            = "${Eigen_BINARY_DIR}/doc/eigendoxy_header.html"
-
-# The HTML_FOOTER tag can be used to specify a personal HTML footer for
-# each generated HTML page. If it is left blank doxygen will generate a
-# standard footer.
-
-HTML_FOOTER            = "${Eigen_BINARY_DIR}/doc/eigendoxy_footer.html"
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# style sheet in the HTML output directory as well, or it will be erased!
-
-HTML_STYLESHEET        = 
-
-# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
-# other source files which should be copied to the HTML output directory. Note
-# that these files will be copied to the base HTML output directory. Use the
-# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
-# files. In the HTML_STYLESHEET file, use the file name only. Also note that
-# the files will be copied as-is; there are no commands or markers available.
-
-HTML_EXTRA_FILES       = "${Eigen_SOURCE_DIR}/doc/eigendoxy.css"
-
-# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
-# Doxygen will adjust the colors in the style sheet and background images
-# according to this color. Hue is specified as an angle on a colorwheel,
-# see http://en.wikipedia.org/wiki/Hue for more information.
-# For instance the value 0 represents red, 60 is yellow, 120 is green,
-# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
-# The allowed range is 0 to 359.
-# The default is 220.
-
+HTML_OUTPUT            = ${Eigen_BINARY_DIR}/doc/html${EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX}
+HTML_HEADER            = ${Eigen_BINARY_DIR}/doc/eigendoxy_header.html
+HTML_FOOTER            = ${Eigen_BINARY_DIR}/doc/eigendoxy_footer.html
+HTML_EXTRA_FILES       = ${Eigen_SOURCE_DIR}/doc/eigendoxy.css
 HTML_COLORSTYLE_HUE    = ${EIGEN_DOXY_HTML_COLORSTYLE_HUE}
-
-# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
-# the colors in the HTML output. For a value of 0 the output will use
-# grayscales only. A value of 255 will produce the most vivid colors.
-
-HTML_COLORSTYLE_SAT    = 100
-
-# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
-# the luminance component of the colors in the HTML output. Values below
-# 100 gradually make the output lighter, whereas values above 100 make
-# the output darker. The value divided by 100 is the actual gamma applied,
-# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
-# and 100 does not change the gamma.
-
-HTML_COLORSTYLE_GAMMA  = 80
-
-# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
-# page will contain the date and time when the page was generated. Setting
-# this to NO can help when comparing the output of multiple runs.
-
-HTML_TIMESTAMP         = YES
-
-# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
-# documentation will contain sections that can be hidden and shown after the
-# page has loaded.
-
 HTML_DYNAMIC_SECTIONS  = YES
-
-# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
-# entries shown in the various tree structured indices initially; the user
-# can expand and collapse entries dynamically later on. Doxygen will expand
-# the tree to such a level that at most the specified number of entries are
-# visible (unless a fully collapsed tree already exceeds this amount).
-# So setting the number of entries 1 will produce a full collapsed tree by
-# default. 0 is a special value representing an infinite number of entries
-# and will result in a full expanded tree by default.
-
-HTML_INDEX_NUM_ENTRIES = 100
-
-# If the GENERATE_DOCSET tag is set to YES, additional index files
-# will be generated that can be used as input for Apple's Xcode 3
-# integrated development environment, introduced with OSX 10.5 (Leopard).
-# To create a documentation set, doxygen will generate a Makefile in the
-# HTML output directory. Running make will produce the docset in that
-# directory and running "make install" will install the docset in
-# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
-# it at startup.
-# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
-# for more information.
-
-GENERATE_DOCSET        = NO
-
-# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
-# feed. A documentation feed provides an umbrella under which multiple
-# documentation sets from a single provider (such as a company or product suite)
-# can be grouped.
-
-DOCSET_FEEDNAME        = "Doxygen generated docs"
-
-# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
-# should uniquely identify the documentation set bundle. This should be a
-# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
-# will append .docset to the name.
-
-DOCSET_BUNDLE_ID       = org.doxygen.Project
-
-# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
-# the documentation publisher. This should be a reverse domain-name style
-# string, e.g. com.mycompany.MyDocSet.documentation.
-
-DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
-
-# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
-
-DOCSET_PUBLISHER_NAME  = Publisher
-
-# If the GENERATE_HTMLHELP tag is set to YES, additional index files
-# will be generated that can be used as input for tools like the
-# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
-# of the generated HTML documentation.
-
-GENERATE_HTMLHELP      = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
-# be used to specify the file name of the resulting .chm file. You
-# can add a path in front of the file if the result should not be
-# written to the html output directory.
-
-CHM_FILE               =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
-# be used to specify the location (absolute path including file name) of
-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
-# the HTML help compiler on the generated index.hhp.
-
-HHC_LOCATION           =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
-# controls if a separate .chi index file is generated (YES) or that
-# it should be included in the master .chm file (NO).
-
-GENERATE_CHI           = NO
-
-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
-# is used to encode HtmlHelp index (hhk), content (hhc) and project file
-# content.
-
-CHM_INDEX_ENCODING     =
-
-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
-# controls whether a binary table of contents is generated (YES) or a
-# normal table of contents (NO) in the .chm file.
-
-BINARY_TOC             = NO
-
-# The TOC_EXPAND flag can be set to YES to add extra items for group members
-# to the contents of the HTML help documentation and to the tree view.
-
-TOC_EXPAND             = NO
-
-# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
-# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
-# that can be used as input for Qt's qhelpgenerator to generate a
-# Qt Compressed Help (.qch) of the generated HTML documentation.
-
-GENERATE_QHP           = NO
-
-# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
-# be used to specify the file name of the resulting .qch file.
-# The path specified is relative to the HTML output folder.
-
-QCH_FILE               =
-
-# The QHP_NAMESPACE tag specifies the namespace to use when generating
-# Qt Help Project output. For more information please see
-# http://doc.trolltech.com/qthelpproject.html#namespace
-
-QHP_NAMESPACE          = org.doxygen.Project
-
-# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
-# Qt Help Project output. For more information please see
-# http://doc.trolltech.com/qthelpproject.html#virtual-folders
-
-QHP_VIRTUAL_FOLDER     = doc
-
-# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
-# add. For more information please see
-# http://doc.trolltech.com/qthelpproject.html#custom-filters
-
-QHP_CUST_FILTER_NAME   =
-
-# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
-# custom filter to add. For more information please see
-# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
-# Qt Help Project / Custom Filters</a>.
-
-QHP_CUST_FILTER_ATTRS  =
-
-# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
-# project's
-# filter section matches.
-# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
-# Qt Help Project / Filter Attributes</a>.
-
-QHP_SECT_FILTER_ATTRS  =
-
-# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
-# be used to specify the location of Qt's qhelpgenerator.
-# If non-empty doxygen will try to run qhelpgenerator on the generated
-# .qhp file.
-
-QHG_LOCATION           =
-
-# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
-#  will be generated, which together with the HTML files, form an Eclipse help
-# plugin. To install this plugin and make it available under the help contents
-# menu in Eclipse, the contents of the directory containing the HTML and XML
-# files needs to be copied into the plugins directory of eclipse. The name of
-# the directory within the plugins directory should be the same as
-# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
-# the help appears.
-
-GENERATE_ECLIPSEHELP   = NO
-
-# A unique identifier for the eclipse help plugin. When installing the plugin
-# the directory name containing the HTML and XML files should also have
-# this name.
-
-ECLIPSE_DOC_ID         = org.doxygen.Project
-
-# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
-# at top of each HTML page. The value NO (the default) enables the index and
-# the value YES disables it. Since the tabs have the same information as the
-# navigation tree you can set this option to NO if you already set
-# GENERATE_TREEVIEW to YES.
-
 DISABLE_INDEX          = YES
-
-# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
-# structure should be generated to display hierarchical information.
-# If the tag value is set to YES, a side panel will be generated
-# containing a tree-like index structure (just like the one that
-# is generated for HTML Help). For this to work a browser that supports
-# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
-# Windows users are probably better off using the HTML help feature.
-# Since the tree basically has the same information as the tab index you
-# could consider to set DISABLE_INDEX to NO when enabling this option.
-
-GENERATE_TREEVIEW      = YES
-
-# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
-# (range [0,1..20]) that doxygen will group on one line in the generated HTML
-# documentation. Note that a value of 0 will completely suppress the enum
-# values from appearing in the overview section.
-
+FULL_SIDEBAR           = NO
 ENUM_VALUES_PER_LINE   = 1
-
-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
-# used to set the initial width (in pixels) of the frame in which the tree
-# is shown.
-
-TREEVIEW_WIDTH         = 250
-
-# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
-# links to external symbols imported via tag files in a separate window.
-
-EXT_LINKS_IN_WINDOW    = NO
-
-# Use this tag to change the font size of Latex formulas included
-# as images in the HTML documentation. The default is 10. Note that
-# when you change the font size after a successful doxygen run you need
-# to manually remove any form_*.png images from the HTML output directory
-# to force them to be regenerated.
-
 FORMULA_FONTSIZE       = 12
-
-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
-# generated for formulas are transparent PNGs. Transparent PNGs are
-# not supported properly for IE 6.0, but are supported on all modern browsers.
-# Note that when changing this option you need to delete any form_*.png files
-# in the HTML output before the changes have effect.
-
-FORMULA_TRANSPARENT    = YES
-
-# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
-# (see http://www.mathjax.org) which uses client side Javascript for the
-# rendering instead of using prerendered bitmaps. Use this if you do not
-# have LaTeX installed or if you want to formulas look prettier in the HTML
-# output. When enabled you may also need to install MathJax separately and
-# configure the path to it using the MATHJAX_RELPATH option.
-
-USE_MATHJAX            = @EIGEN_DOXY_USE_MATHJAX@
-
-# When MathJax is enabled you need to specify the location relative to the
-# HTML output directory using the MATHJAX_RELPATH option. The destination
-# directory should contain the MathJax.js script. For instance, if the mathjax
-# directory is located at the same level as the HTML output directory, then
-# MATHJAX_RELPATH should be ../mathjax. The default value points to
-# the MathJax Content Delivery Network so you can quickly see the result without
-# installing MathJax.
-# However, it is strongly recommended to install a local
-# copy of MathJax from http://www.mathjax.org before deployment.
-
-MATHJAX_RELPATH        = https://cdn.mathjax.org/mathjax/latest
-
-# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
-# names that should be enabled during MathJax rendering.
-
-MATHJAX_EXTENSIONS     = TeX/AMSmath TeX/AMSsymbols
-
-# When the SEARCHENGINE tag is enabled doxygen will generate a search box
-# for the HTML output. The underlying search engine uses javascript
-# and DHTML and should work on any modern browser. Note that when using
-# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
-# (GENERATE_DOCSET) there is already a search function so this one should
-# typically be disabled. For large projects the javascript based search engine
-# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
-
-SEARCHENGINE           = YES
-
-# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
-# implemented using a PHP enabled web server instead of at the web client
-# using Javascript. Doxygen will generate the search PHP script and index
-# file to put on the web server. The advantage of the server
-# based approach is that it scales better to large projects and allows
-# full text search. The disadvantages are that it is more difficult to setup
-# and does not have live searching capabilities.
-
-SERVER_BASED_SEARCH    = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the LaTeX output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
-# generate Latex output.
-
+MATHJAX_RELPATH        = https://cdn.jsdelivr.net/npm/mathjax@2
+MATHJAX_EXTENSIONS     = TeX/AMSmath \
+                         TeX/AMSsymbols
 GENERATE_LATEX         = NO
-
-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `latex' will be used as the default path.
-
-LATEX_OUTPUT           = latex
-
-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
-# invoked. If left blank `latex' will be used as the default command name.
-# Note that when enabling USE_PDFLATEX this option is only used for
-# generating bitmaps for formulas in the HTML output, but not in the
-# Makefile that is written to the output directory.
-
-LATEX_CMD_NAME         = latex
-
-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
-# generate index for LaTeX. If left blank `makeindex' will be used as the
-# default command name.
-
-MAKEINDEX_CMD_NAME     = makeindex
-
-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
-# LaTeX documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_LATEX          = NO
-
-# The PAPER_TYPE tag can be used to set the paper type that is used
-# by the printer. Possible values are: a4, letter, legal and
-# executive. If left blank a4wide will be used.
-
-PAPER_TYPE             = a4wide
-
-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
-# packages that should be included in the LaTeX output.
-
-EXTRA_PACKAGES         = amssymb \
-                         amsmath
-
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
-# the generated latex document. The header should contain everything until
-# the first chapter. If it is left blank doxygen will generate a
-# standard header. Notice: only use this tag if you know what you are doing!
-
-LATEX_HEADER           =
-
-# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
-# the generated latex document. The footer should contain everything after
-# the last chapter. If it is left blank doxygen will generate a
-# standard footer. Notice: only use this tag if you know what you are doing!
-
-LATEX_FOOTER           =
-
-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
-# is prepared for conversion to pdf (using ps2pdf). The pdf file will
-# contain links (just like the HTML output) instead of page references
-# This makes the output suitable for online browsing using a pdf viewer.
-
-PDF_HYPERLINKS         = NO
-
-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
-# plain latex in the generated Makefile. Set this option to YES to get a
-# higher quality PDF documentation.
-
-USE_PDFLATEX           = NO
-
-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
-# command to the generated LaTeX files. This will instruct LaTeX to keep
-# running if errors occur, instead of asking the user for help.
-# This option is also used when generating formulas in HTML.
-
-LATEX_BATCHMODE        = NO
-
-# If LATEX_HIDE_INDICES is set to YES then doxygen will not
-# include the index chapters (such as File Index, Compound Index, etc.)
-# in the output.
-
-LATEX_HIDE_INDICES     = NO
-
-# If LATEX_SOURCE_CODE is set to YES then doxygen will include
-# source code with syntax highlighting in the LaTeX output.
-# Note that which sources are shown also depends on other settings
-# such as SOURCE_BROWSER.
-
-LATEX_SOURCE_CODE      = NO
-
-# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
-# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
-# http://en.wikipedia.org/wiki/BibTeX for more info.
-
-LATEX_BIB_STYLE        = plain
-
-#---------------------------------------------------------------------------
-# configuration options related to the RTF output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
-# The RTF output is optimized for Word 97 and may not look very pretty with
-# other RTF readers or editors.
-
-GENERATE_RTF           = NO
-
-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `rtf' will be used as the default path.
-
-RTF_OUTPUT             = rtf
-
-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
-# RTF documents. This may be useful for small projects and may help to
-# save some trees in general.
-
-COMPACT_RTF            = NO
-
-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
-# will contain hyperlink fields. The RTF file will
-# contain links (just like the HTML output) instead of page references.
-# This makes the output suitable for online browsing using WORD or other
-# programs which support those fields.
-# Note: wordpad (write) and others do not support links.
-
-RTF_HYPERLINKS         = NO
-
-# Load style sheet definitions from file. Syntax is similar to doxygen's
-# config file, i.e. a series of assignments. You only have to provide
-# replacements, missing definitions are set to their default value.
-
-RTF_STYLESHEET_FILE    =
-
-# Set optional variables used in the generation of an rtf document.
-# Syntax is similar to doxygen's config file.
-
-RTF_EXTENSIONS_FILE    =
-
-#---------------------------------------------------------------------------
-# configuration options related to the man page output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
-# generate man pages
-
-GENERATE_MAN           = NO
-
-# The MAN_OUTPUT tag is used to specify where the man pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `man' will be used as the default path.
-
-MAN_OUTPUT             = man
-
-# The MAN_EXTENSION tag determines the extension that is added to
-# the generated man pages (default is the subroutine's section .3)
-
-MAN_EXTENSION          = .3
-
-# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
-# then it will generate one additional man file for each entity
-# documented in the real man page(s). These additional files
-# only source the real man page, but without them the man command
-# would be unable to find the correct page. The default is NO.
-
-MAN_LINKS              = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the XML output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_XML tag is set to YES Doxygen will
-# generate an XML file that captures the structure of
-# the code including all documentation.
-
-GENERATE_XML           = NO
-
-# The XML_OUTPUT tag is used to specify where the XML pages will be put.
-# If a relative path is entered the value of OUTPUT_DIRECTORY will be
-# put in front of it. If left blank `xml' will be used as the default path.
-
-XML_OUTPUT             = xml
-
-# The XML_SCHEMA tag can be used to specify an XML schema,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-# XML_SCHEMA             =
-
-# The XML_DTD tag can be used to specify an XML DTD,
-# which can be used by a validating XML parser to check the
-# syntax of the XML files.
-
-# XML_DTD                =
-
-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
-# dump the program listings (including syntax highlighting
-# and cross-referencing information) to the XML output. Note that
-# enabling this will significantly increase the size of the XML output.
-
-XML_PROGRAMLISTING     = YES
-
-#---------------------------------------------------------------------------
-# configuration options for the AutoGen Definitions output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
-# generate an AutoGen Definitions (see autogen.sf.net) file
-# that captures the structure of the code including all
-# documentation. Note that this feature is still experimental
-# and incomplete at the moment.
-
-GENERATE_AUTOGEN_DEF   = NO
-
-#---------------------------------------------------------------------------
-# configuration options related to the Perl module output
-#---------------------------------------------------------------------------
-
-# If the GENERATE_PERLMOD tag is set to YES Doxygen will
-# generate a Perl module file that captures the structure of
-# the code including all documentation. Note that this
-# feature is still experimental and incomplete at the
-# moment.
-
-GENERATE_PERLMOD       = NO
-
-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
-# the necessary Makefile rules, Perl scripts and LaTeX code to be able
-# to generate PDF and DVI output from the Perl module output.
-
-PERLMOD_LATEX          = NO
-
-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
-# nicely formatted so it can be parsed by a human reader.
-# This is useful
-# if you want to understand what is going on.
-# On the other hand, if this
-# tag is set to NO the size of the Perl module output will be much smaller
-# and Perl will parse it just the same.
-
-PERLMOD_PRETTY         = YES
-
-# The names of the make variables in the generated doxyrules.make file
-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
-# This is useful so different doxyrules.make files included by the same
-# Makefile don't overwrite each other's variables.
-
-PERLMOD_MAKEVAR_PREFIX =
-
-#---------------------------------------------------------------------------
-# Configuration options related to the preprocessor
-#---------------------------------------------------------------------------
-
-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
-# evaluate all C-preprocessor directives found in the sources and include
-# files.
-
-ENABLE_PREPROCESSING   = YES
-
-# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
-# names in the source code. If set to NO (the default) only conditional
-# compilation will be performed. Macro expansion can be done in a controlled
-# way by setting EXPAND_ONLY_PREDEF to YES.
-
 MACRO_EXPANSION        = YES
-
-# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
-# then the macro expansion is limited to the macros specified with the
-# PREDEFINED and EXPAND_AS_DEFINED tags.
-
 EXPAND_ONLY_PREDEF     = YES
-
-# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
-# pointed to by INCLUDE_PATH will be searched when a #include is found.
-
-SEARCH_INCLUDES        = YES
-
-# The INCLUDE_PATH tag can be used to specify one or more directories that
-# contain include files that are not input files but should be processed by
-# the preprocessor.
-
-INCLUDE_PATH           = "${Eigen_SOURCE_DIR}/Eigen/src/plugins"
-
-# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
-# patterns (like *.h and *.hpp) to filter out the header-files in the
-# directories. If left blank, the patterns specified with FILE_PATTERNS will
-# be used.
-
-INCLUDE_FILE_PATTERNS  =
-
-# The PREDEFINED tag can be used to specify one or more macro names that
-# are defined before the preprocessor is started (similar to the -D option of
-# gcc). The argument of the tag is a list of macros of the form: name
-# or name=definition (no spaces). If the definition and the = are
-# omitted =1 is assumed. To prevent a macro definition from being
-# undefined via #undef or recursively expanded use the := operator
-# instead of the = operator.
-
 PREDEFINED             = EIGEN_EMPTY_STRUCT \
                          EIGEN_PARSED_BY_DOXYGEN \
                          EIGEN_VECTORIZE \
@@ -1601,20 +126,13 @@
                          EIGEN_STRONG_INLINE=inline \
                          EIGEN_DEVICE_FUNC= \
                          "EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR)=template<typename OtherDerived> const CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived> METHOD(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const;" \
-                         "EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS)=CwiseBinaryOp<internal::scalar_product_op<LHS::Scalar,RHS::Scalar>, const LHS, const RHS>"\
-                         "EIGEN_CAT2(a,b)= a ## b"\
-                         "EIGEN_CAT(a,b)=EIGEN_CAT2(a,b)"\
-                         "EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME)=CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<LHS::Scalar, RHS::Scalar>, const LHS, const RHS>"\
-                         "EIGEN_ALIGN_TO_BOUNDARY(x)="\
-                         DOXCOMMA=,
-
-
-# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
-# this tag can be used to specify a list of macro names that should be expanded.
-# The macro definition that is found in the sources will be used.
-# Use the PREDEFINED tag if you want to use a different macro definition that
-# overrules the definition found in the source code.
-
+                         "EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS)=CwiseBinaryOp<internal::scalar_product_op<LHS::Scalar,RHS::Scalar>, const LHS, const RHS>" \
+                         "EIGEN_CAT2(a,b)= a ## b" \
+                         "EIGEN_CAT(a,b)=EIGEN_CAT2(a,b)" \
+                         "EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME)=CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<LHS::Scalar, RHS::Scalar>, const LHS, const RHS>" \
+                         EIGEN_ALIGN_TO_BOUNDARY(x)= \
+                         "DOXCOMMA=," \
+                         "EIGEN_STATIC_ASSERT(COND,MSG)="
 EXPAND_AS_DEFINED      = EIGEN_MAKE_TYPEDEFS \
                          EIGEN_MAKE_FIXED_TYPEDEFS \
                          EIGEN_MAKE_TYPEDEFS_ALL_SIZES \
@@ -1636,278 +154,21 @@
                          EIGEN_MATRIX_FUNCTION_1 \
                          EIGEN_DOC_UNARY_ADDONS \
                          EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL \
-                         EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
-
-
-# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
-# doxygen's preprocessor will remove all references to function-like macros
-# that are alone on a line, have an all uppercase name, and do not end with a
-# semicolon, because these will confuse the parser if not removed.
-
-SKIP_FUNCTION_MACROS   = YES
-
-#---------------------------------------------------------------------------
-# Configuration::additions related to external references
-#---------------------------------------------------------------------------
-
-# The TAGFILES option can be used to specify one or more tagfiles. For each
-# tag file the location of the external documentation should be added. The
-# format of a tag file without this location is as follows:
-#
-# TAGFILES = file1 file2 ...
-# Adding location for the tag files is done as follows:
-#
-# TAGFILES = file1=loc1 "file2 = loc2" ...
-# where "loc1" and "loc2" can be relative or absolute paths
-# or URLs. Note that each tag file must have a unique name (where the name does
-# NOT include the path). If a tag file is not located in the directory in which
-# doxygen is run, you must also specify the path to the tagfile here.
-
+                         EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF \
+                         EIGEN_MAKE_SCALAR_BINARY_OP \
+                         EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT
 TAGFILES               = ${EIGEN_DOXY_TAGFILES}
-# "${Eigen_BINARY_DIR}/doc/eigen-unsupported.doxytags =unsupported"
-
-# When a file name is specified after GENERATE_TAGFILE, doxygen will create
-# a tag file that is based on the input files it reads.
-
-GENERATE_TAGFILE       = "${Eigen_BINARY_DIR}/doc/${EIGEN_DOXY_PROJECT_NAME}.doxytags"
-
-# If the ALLEXTERNALS tag is set to YES all external classes will be listed
-# in the class index. If set to NO only the inherited external classes
-# will be listed.
-
-ALLEXTERNALS           = NO
-
-# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
-# in the modules index. If set to NO, only the current project's groups will
-# be listed.
-
+GENERATE_TAGFILE       = ${Eigen_BINARY_DIR}/doc/${EIGEN_DOXY_PROJECT_NAME}.doxytags
 EXTERNAL_GROUPS        = NO
-
-# The PERL_PATH should be the absolute path and name of the perl script
-# interpreter (i.e. the result of `which perl').
-
-PERL_PATH              = /usr/bin/perl
-
-#---------------------------------------------------------------------------
-# Configuration options related to the dot tool
-#---------------------------------------------------------------------------
-
-# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
-# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
-# or super classes. Setting the tag to NO turns the diagrams off. Note that
-# this option also works with HAVE_DOT disabled, but it is recommended to
-# install and use dot, since it yields more powerful graphs.
-
-CLASS_DIAGRAMS         = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. Doxygen will then run the mscgen tool (see
-# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where
-# the mscgen tool resides. If left empty the tool is assumed to be found in the
-# default search path.
-
-MSCGEN_PATH            =
-
-# If set to YES, the inheritance and collaboration graphs will hide
-# inheritance and usage relations if the target is undocumented
-# or is not a class.
-
 HIDE_UNDOC_RELATIONS   = NO
-
-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
-# available from the path. This tool is part of Graphviz, a graph visualization
-# toolkit from AT&T and Lucent Bell Labs. The other options in this section
-# have no effect if this option is set to NO (the default)
-
 HAVE_DOT               = YES
-
-# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
-# allowed to run in parallel. When set to 0 (the default) doxygen will
-# base this on the number of processors available in the system. You can set it
-# explicitly to a value larger than 0 to get control over the balance
-# between CPU load and processing speed.
-
-DOT_NUM_THREADS        = 0
-
-# By default doxygen will use the Helvetica font for all dot files that
-# doxygen generates. When you want a differently looking font you can specify
-# the font name using DOT_FONTNAME. You need to make sure dot is able to find
-# the font, which can be done by putting it in a standard location or by setting
-# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
-# directory containing the font.
-
-DOT_FONTNAME           = 
-
-# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
-# The default size is 10pt.
-
-DOT_FONTSIZE           = 10
-
-# By default doxygen will tell dot to use the Helvetica font.
-# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
-# set the path where dot can find it.
-
-DOT_FONTPATH           =
-
-# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect inheritance relations. Setting this tag to YES will force the
-# CLASS_DIAGRAMS tag to NO.
-
-CLASS_GRAPH            = YES
-
-# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for each documented class showing the direct and
-# indirect implementation dependencies (inheritance, containment, and
-# class references variables) of the class with other documented classes.
-
 COLLABORATION_GRAPH    = NO
-
-# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
-# will generate a graph for groups, showing the direct groups dependencies
-
 GROUP_GRAPHS           = NO
-
-# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
-# collaboration diagrams in a style similar to the OMG's Unified Modeling
-# Language.
-
 UML_LOOK               = YES
-
-# If the UML_LOOK tag is enabled, the fields and methods are shown inside
-# the class node. If there are many fields or methods and many nodes the
-# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
-# threshold limits the number of items for each type to make the size more
-# manageable. Set this to 0 for no limit. Note that the threshold may be
-# exceeded by 50% before the limit is enforced.
-
-UML_LIMIT_NUM_FIELDS   = 10
-
-# If set to YES, the inheritance and collaboration graphs will show the
-# relations between templates and their instances.
-
-TEMPLATE_RELATIONS     = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
-# tags are set to YES then doxygen will generate a graph for each documented
-# file showing the direct and indirect include dependencies of the file with
-# other documented files.
-
 INCLUDE_GRAPH          = NO
-
-# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
-# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
-# documented header file showing the documented files that directly or
-# indirectly include this file.
-
 INCLUDED_BY_GRAPH      = NO
-
-# If the CALL_GRAPH and HAVE_DOT options are set to YES then
-# doxygen will generate a call dependency graph for every global function
-# or class method. Note that enabling this option will significantly increase
-# the time of a run. So in most cases it will be better to enable call graphs
-# for selected functions only using the \callgraph command.
-
-CALL_GRAPH             = NO
-
-# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
-# doxygen will generate a caller dependency graph for every global function
-# or class method. Note that enabling this option will significantly increase
-# the time of a run. So in most cases it will be better to enable caller
-# graphs for selected functions only using the \callergraph command.
-
-CALLER_GRAPH           = NO
-
-# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
-# will generate a graphical hierarchy of all classes instead of a textual one.
-
 GRAPHICAL_HIERARCHY    = NO
-
-# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES
-# then doxygen will show the dependencies a directory has on other directories
-# in a graphical way. The dependency relations are determined by the #include
-# relations between the files in the directories.
-
 DIRECTORY_GRAPH        = NO
-
-# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
-# generated by dot. Possible values are svg, png, jpg, or gif.
-# If left blank png will be used. If you choose svg you need to set
-# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
-# visible in IE 9+ (other browsers do not have this requirement).
-
-DOT_IMAGE_FORMAT       = png
-
-# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
-# enable generation of interactive SVG images that allow zooming and panning.
-# Note that this requires a modern browser other than Internet Explorer.
-# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
-# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
-# visible. Older versions of IE do not have SVG support.
-
-INTERACTIVE_SVG        = NO
-
-# The tag DOT_PATH can be used to specify the path where the dot tool can be
-# found. If left blank, it is assumed the dot tool can be found in the path.
-
-DOT_PATH               =
-
-# The DOTFILE_DIRS tag can be used to specify one or more directories that
-# contain dot files that are included in the documentation (see the
-# \dotfile command).
-
-DOTFILE_DIRS           =
-
-# The MSCFILE_DIRS tag can be used to specify one or more directories that
-# contain msc files that are included in the documentation (see the
-# \mscfile command).
-
-MSCFILE_DIRS           =
-
-# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
-# nodes that will be shown in the graph. If the number of nodes in a graph
-# becomes larger than this value, doxygen will truncate the graph, which is
-# visualized by representing a node as a red box. Note that doxygen if the
-# number of direct children of the root node in a graph is already larger than
-# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
-# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
-
-DOT_GRAPH_MAX_NODES    = 50
-
-# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
-# graphs generated by dot. A depth value of 3 means that only nodes reachable
-# from the root by following a path via at most 3 edges will be shown. Nodes
-# that lay further from the root node will be omitted. Note that setting this
-# option to 1 or 2 may greatly reduce the computation time needed for large
-# code bases. Also note that the size of a graph can be further restricted by
-# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
-
-MAX_DOT_GRAPH_DEPTH    = 0
-
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
-# background. This is disabled by default, because dot on Windows does not
-# seem to support this out of the box. Warning: Depending on the platform used,
-# enabling this option may lead to badly anti-aliased labels on the edges of
-# a graph (i.e. they become hard to read).
-
-DOT_TRANSPARENT        = NO
-
-# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
-# files in one run (i.e. multiple -o and -T options on the command line). This
-# makes dot run faster, but since only newer versions of dot (>1.8.10)
-# support this, this feature is disabled by default.
-
-DOT_MULTI_TARGETS      = NO
-
-# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
-# generate a legend page explaining the meaning of the various boxes and
-# arrows in the dot generated graphs.
-
-GENERATE_LEGEND        = YES
-
-# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
-# remove the intermediate dot files that are used to generate
-# the various graphs.
-
-DOT_CLEANUP            = YES
+DOT_GRAPH_MAX_NODES    = 300
+GENERATE_DEPRECATEDLIST = NO
+GENERATE_TODOLIST      = NO
diff --git a/doc/Manual.dox b/doc/Manual.dox
index 84f0db6..65ae778 100644
--- a/doc/Manual.dox
+++ b/doc/Manual.dox
@@ -39,7 +39,6 @@
   - \subpage TopicVectorization
   - \subpage TopicEigenExpressionTemplates
   - \subpage TopicScalarTypes
-  - \subpage GettingStarted
   - \subpage TutorialSparse_example_details
   - \subpage TopicWritingEfficientProductExpression
   - \subpage Experimental
@@ -94,15 +93,15 @@
         \ingroup DenseMatrixManipulation_Alignement */
 /**     \addtogroup TopicWrongStackAlignment
         \ingroup DenseMatrixManipulation_Alignement */
-    
+
 /** \addtogroup DenseMatrixManipulation_Reference
     \ingroup DenseMatrixManipulation_chapter       */
 /**     \addtogroup Core_Module
-        \ingroup DenseMatrixManipulation_Reference */  
+        \ingroup DenseMatrixManipulation_Reference */
 /**     \addtogroup Jacobi_Module
-        \ingroup DenseMatrixManipulation_Reference */ 
+        \ingroup DenseMatrixManipulation_Reference */
 /**     \addtogroup Householder_Module
-        \ingroup DenseMatrixManipulation_Reference */ 
+        \ingroup DenseMatrixManipulation_Reference */
 
 /** \addtogroup CoeffwiseMathFunctions
     \ingroup DenseMatrixManipulation_chapter */
@@ -118,7 +117,7 @@
     \ingroup DenseLinearSolvers_chapter */
 /** \addtogroup TopicLinearAlgebraDecompositions
     \ingroup DenseLinearSolvers_chapter */
-/** \addtogroup LeastSquares 
+/** \addtogroup LeastSquares
     \ingroup DenseLinearSolvers_chapter */
 /** \addtogroup InplaceDecomposition
     \ingroup DenseLinearSolvers_chapter */
@@ -168,7 +167,7 @@
 /** \addtogroup Sparse_Module
     \ingroup Sparse_Reference */
 /** \addtogroup Support_modules
-    \ingroup Sparse_Reference */    
+    \ingroup Sparse_Reference */
 
 /** \addtogroup SparseQuickRefPage
     \ingroup Sparse_chapter */
@@ -179,7 +178,7 @@
 
 /** \addtogroup TutorialGeometry
     \ingroup Geometry_chapter */
-    
+
 /** \addtogroup Geometry_Reference
     \ingroup Geometry_chapter */
 /** \addtogroup Geometry_Module
diff --git a/doc/Overview.dox b/doc/Overview.dox
index 43a1287..3bca806 100644
--- a/doc/Overview.dox
+++ b/doc/Overview.dox
@@ -4,14 +4,14 @@
 
 This is the API documentation for Eigen3. You can <a href="eigen-doc.tgz">download</a> it as a tgz archive for offline reading.
 
-For a first contact with Eigen, the best place is to have a look at the \link GettingStarted getting started \endlink page that show you how to write and compile your first program with Eigen.
+For a first contact with Eigen, the best place is to have a look at the \subpage GettingStarted page that show you how to write and compile your first program with Eigen.
 
 Then, the \b quick \b reference \b pages give you a quite complete description of the API in a very condensed format that is specially useful to recall the syntax of a particular feature, or to have a quick look at the API. They currently cover the two following feature sets, and more will come in the future:
   - \link QuickRefPage [QuickRef] Dense matrix and array manipulations \endlink
   - \link SparseQuickRefPage [QuickRef] Sparse linear algebra \endlink
 
 You're a MatLab user? There is also a <a href="AsciiQuickReference.txt">short ASCII reference</a> with Matlab translations.
-  
+
 The \b main \b documentation is organized into \em chapters covering different domains of features.
 They are themselves composed of \em user \em manual pages describing the different features in a comprehensive way, and \em reference pages that gives you access to the API documentation through the related Eigen's \em modules and \em classes.
 
@@ -19,6 +19,10 @@
 
 Under the \subpage UserManual_Generalities section, you will find documentation on more general topics such as preprocessor directives, controlling assertions, multi-threading, MKL support, some Eigen's internal insights, and much more...
 
+For details regarding Eigen's inner-workings, see the \subpage UserManual_UnderstandingEigen section.
+
+Some random topics can be found under the \subpage UnclassifiedPages section.
+
 Finally, do not miss the search engine, useful to quickly get to the documentation of a given class or function.
 
 Want more? Checkout the <a href="unsupported/index.html">\em unsupported \em modules </a> documentation.
diff --git a/doc/QuickStartGuide.dox b/doc/QuickStartGuide.dox
index 0372694..6042aca 100644
--- a/doc/QuickStartGuide.dox
+++ b/doc/QuickStartGuide.dox
@@ -39,7 +39,7 @@
 
 The Eigen header files define many types, but for simple applications it may be enough to use only the \c MatrixXd type. This represents a matrix of arbitrary size (hence the \c X in \c MatrixXd), in which every entry is a \c double (hence the \c d in \c MatrixXd). See the \ref QuickRef_Types "quick reference guide" for an overview of the different types you can use to represent a matrix.
 
-The \c Eigen/Dense header file defines all member functions for the MatrixXd type and related types (see also the \ref QuickRef_Headers "table of header files"). All classes and functions defined in this header file (and other Eigen header files) are in the \c Eigen namespace. 
+The \c Eigen/Dense header file defines all member functions for the MatrixXd type and related types (see also the \ref QuickRef_Headers "table of header files"). All classes and functions defined in this header file (and other Eigen header files) are in the \c Eigen namespace.
 
 The first line of the \c main function declares a variable of type \c MatrixXd and specifies that it is a matrix with 2 rows and 2 columns (the entries are not initialized). The statement <tt>m(0,0) = 3</tt> sets the entry in the top-left corner to 3. You need to use round parentheses to refer to entries in the matrix. As usual in computer science, the index of the first index is 0, as opposed to the convention in mathematics that the first index is 1.
 
@@ -66,7 +66,7 @@
 
 \section GettingStartedExplanation2 Explanation of the second example
 
-The second example starts by declaring a 3-by-3 matrix \c m which is initialized using the \link DenseBase::Random(Index,Index) Random() \endlink method with random values between -1 and 1. The next line applies a linear mapping such that the values are between 10 and 110. The function call \link DenseBase::Constant(Index,Index,const Scalar&) MatrixXd::Constant\endlink(3,3,1.2) returns a 3-by-3 matrix expression having all coefficients equal to 1.2. The rest is standard arithmetic.
+The second example starts by declaring a 3-by-3 matrix \c m which is initialized using the \link DenseBase::Random(Index,Index) Random() \endlink method with random values between -1 and 1. The next line applies a linear mapping such that the values are between 10 and 110. The function call \link DenseBase::Constant(Index,Index,const DenseBase::Scalar&) MatrixXd::Constant\endlink(3,3,1.2) returns a 3-by-3 matrix expression having all coefficients equal to 1.2. The rest is standard arithmetic.
 
 The next line of the \c main function introduces a new type: \c VectorXd. This represents a (column) vector of arbitrary size. Here, the vector \c v is created to contain \c 3 coefficients which are left uninitialized. The one but last line uses the so-called comma-initializer, explained in \ref TutorialAdvancedInitialization, to set all coefficients of the vector \c v to be as follows:
 
diff --git a/doc/TutorialGeometry.dox b/doc/TutorialGeometry.dox
index 1d214f3..30bc25a 100644
--- a/doc/TutorialGeometry.dox
+++ b/doc/TutorialGeometry.dox
@@ -7,7 +7,7 @@
 \eigenAutoToc
 
 Eigen's Geometry module provides two different kinds of geometric transformations:
-  - Abstract transformations, such as rotations (represented by \ref AngleAxis "angle and axis" or by a \ref Quaternion "quaternion"), \ref Translation "translations", \ref Scaling "scalings". These transformations are NOT represented as matrices, but you can nevertheless mix them with matrices and vectors in expressions, and convert them to matrices if you wish.
+  - Abstract transformations, such as rotations (represented by \ref AngleAxis "angle and axis" or by a \ref Quaternion "quaternion"), \ref Translation "translations", \ref Scaling() "scalings". These transformations are NOT represented as matrices, but you can nevertheless mix them with matrices and vectors in expressions, and convert them to matrices if you wish.
   - Projective or affine transformation matrices: see the Transform class. These are really matrices.
 
 \note If you are working with OpenGL 4x4 matrices then Affine3f and Affine3d are what you want. Since Eigen defaults to column-major storage, you can directly use the Transform::data() method to pass your transformation matrix to OpenGL.
diff --git a/doc/TutorialMatrixArithmetic.dox b/doc/TutorialMatrixArithmetic.dox
index 53916c2..6dcb607 100644
--- a/doc/TutorialMatrixArithmetic.dox
+++ b/doc/TutorialMatrixArithmetic.dox
@@ -10,7 +10,7 @@
 \section TutorialArithmeticIntroduction Introduction
 
 Eigen offers matrix/vector arithmetic operations either through overloads of common C++ arithmetic operators such as +, -, *,
-or through special methods such as dot(), cross(), etc.
+or through special methods such as \link MatrixBase::dot() dot()\endlink, \link MatrixBase::cross() cross()\endlink, etc.
 For the Matrix class (matrices and vectors), operators are only overloaded to support
 linear-algebraic operations. For example, \c matrix1 \c * \c matrix2 means matrix-matrix product,
 and \c vector \c + \c scalar is just not allowed. If you want to perform all kinds of array operations,
@@ -100,7 +100,7 @@
 <td>
 \verbinclude tut_arithmetic_transpose_aliasing.out
 </td></tr></table>
-This is the so-called \ref TopicAliasing "aliasing issue". In "debug mode", i.e., when \ref TopicAssertions "assertions" have not been disabled, such common pitfalls are automatically detected. 
+This is the so-called \ref TopicAliasing "aliasing issue". In "debug mode", i.e., when \ref TopicAssertions "assertions" have not been disabled, such common pitfalls are automatically detected.
 
 For \em in-place transposition, as for instance in <tt>a = a.transpose()</tt>, simply use the \link DenseBase::transposeInPlace() transposeInPlace()\endlink  function:
 <table class="example">
diff --git a/doc/TutorialMatrixClass.dox b/doc/TutorialMatrixClass.dox
index e4e4f98..6b0c6f6 100644
--- a/doc/TutorialMatrixClass.dox
+++ b/doc/TutorialMatrixClass.dox
@@ -117,7 +117,7 @@
 \endcode
 
 In the general case of matrices and vectors with either fixed or runtime sizes,
-coefficients have to be grouped by rows and passed as an initializer list of initializer list (\link Matrix::Matrix(const std::initializer_list<std::initializer_list<Scalar>>&) details \endlink):
+coefficients have to be grouped by rows and passed as an initializer list of initializer list (\link matrix_initializer_list details \endlink):
 \code
 MatrixXi a {      // construct a 2x2 matrix
       {1, 2},     // first row
diff --git a/doc/TutorialSparse.dox b/doc/TutorialSparse.dox
index a00bacd..f226108 100644
--- a/doc/TutorialSparse.dox
+++ b/doc/TutorialSparse.dox
@@ -90,9 +90,7 @@
 <tr><td>
 \include Tutorial_sparse_example.cpp
 </td>
-<td>
-\image html Tutorial_sparse_example.jpeg
-</td></tr></table>
+</tr></table>
 
 In this example, we start by defining a column-major sparse matrix type of double \c SparseMatrix<double>, and a triplet list of the same scalar type \c  Triplet<double>. A triplet is a simple object representing a non-zero entry as the triplet: \c row index, \c column index, \c value.
 
diff --git a/doc/UnalignedArrayAssert.dox b/doc/UnalignedArrayAssert.dox
index 410c8a5..ca674a2 100644
--- a/doc/UnalignedArrayAssert.dox
+++ b/doc/UnalignedArrayAssert.dox
@@ -106,7 +106,7 @@
 
 Three possibilities:
 <ul>
-  <li>Use the \c DontAlign option to Matrix, Array, Quaternion, etc. objects that gives you trouble. This way %Eigen won't try to over-align them, and thus won"t assume any special alignment. On the down side, you will pay the cost of unaligned loads/stores for them, but on modern CPUs, the overhead is either null or marginal. See \link StructHavingEigenMembers_othersolutions here \endlink for an example.</li>
+  <li>Use the \c DontAlign option to Matrix, Array, Quaternion, etc. objects that gives you trouble. This way %Eigen won't try to over-align them, and thus won't assume any special alignment. On the down side, you will pay the cost of unaligned loads/stores for them, but on modern CPUs, the overhead is either null or marginal. See \link StructHavingEigenMembers_othersolutions here \endlink for an example.</li>
   <li>Define \link TopicPreprocessorDirectivesPerformance EIGEN_MAX_STATIC_ALIGN_BYTES \endlink to 0. That disables all 16-byte (and above) static alignment code, while keeping 16-byte (or above) heap alignment. This has the effect of
       vectorizing fixed-size objects (like Matrix4d) through unaligned stores (as controlled by \link TopicPreprocessorDirectivesPerformance EIGEN_UNALIGNED_VECTORIZE \endlink), while keeping unchanged the vectorization of dynamic-size objects
       (like MatrixXd). On 64 bytes systems, you might also define it 16 to disable only 32 and 64 bytes of over-alignment. But do note that this breaks ABI compatibility with the default behavior of static alignment.</li>
diff --git a/doc/eigen_navtree_hacks.js b/doc/eigen_navtree_hacks.js
deleted file mode 100644
index 38a498a..0000000
--- a/doc/eigen_navtree_hacks.js
+++ /dev/null
@@ -1,382 +0,0 @@
-
-// generate a table of contents in the side-nav based on the h1/h2 tags of the current page.
-function generate_autotoc() {
-  var headers = $("h1, h2");
-  if(headers.length > 1) {
-    var toc = $("#side-nav").append('<div id="nav-toc" class="toc"><h3>Table of contents</h3></div>');
-    toc = $("#nav-toc");
-    var footer  = $("#nav-path");
-    var footerHeight = footer.height();
-    toc = toc.append('<ul></ul>');
-    toc = toc.find('ul');
-    var indices = new Array();
-    indices[0] = 0;
-    indices[1] = 0;
-
-    var h1counts = $("h1").length;
-    headers.each(function(i) {
-      var current = $(this);
-      var levelTag = current[0].tagName.charAt(1);
-      if(h1counts==0)
-        levelTag--;
-      var cur_id = current.attr("id");
-
-      indices[levelTag-1]+=1;  
-      var prefix = indices[0];
-      if (levelTag >1) {
-        prefix+="."+indices[1];
-      }
-        
-      // Uncomment to add number prefixes
-      // current.html(prefix + "   " + current.html());
-      for(var l = levelTag; l < 2; ++l){
-          indices[l] = 0;
-      }
-
-      if(cur_id == undefined) {
-        current.attr('id', 'title' + i);
-        current.addClass('anchor');
-        toc.append("<li class='level" + levelTag + "'><a id='link" + i + "' href='#title" +
-                    i + "' title='" + current.prop("tagName") + "'>" + current.text() + "</a></li>");
-      } else {
-        toc.append("<li class='level" + levelTag + "'><a id='" + cur_id + "' href='#title" +
-                    i + "' title='" + current.prop("tagName") + "'>" + current.text() + "</a></li>");
-      }
-    });
-    resizeHeight();
-  }
-}
-
-
-var global_navtree_object;
-
-// Overloaded to remove links to sections/subsections
-function getNode(o, po)
-{
-  po.childrenVisited = true;
-  var l = po.childrenData.length-1;
-  for (var i in po.childrenData) {
-    var nodeData = po.childrenData[i];
-    if((!nodeData[1]) ||  (nodeData[1].indexOf('#')==-1)) // <- we added this line
-      po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l);
-  }
-}
-
-/*
- @licstart  The following is the entire license notice for the JavaScript code in this file.
-
- The MIT License (MIT)
-
- Copyright (C) 1997-2020 by Dimitri van Heesch
-
- 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.
-
- @licend  The above is the entire license notice for the JavaScript code in this file
- */
-// We need to override entire resizable just so we can change the height to account for the TOC.
-function initResizable()
-{
-  var cookie_namespace = 'doxygen';
-  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
-
-  function readCookie(cookie)
-  {
-    var myCookie = cookie_namespace+"_"+cookie+"=";
-    if (document.cookie) {
-      var index = document.cookie.indexOf(myCookie);
-      if (index != -1) {
-        var valStart = index + myCookie.length;
-        var valEnd = document.cookie.indexOf(";", valStart);
-        if (valEnd == -1) {
-          valEnd = document.cookie.length;
-        }
-        var val = document.cookie.substring(valStart, valEnd);
-        return val;
-      }
-    }
-    return 0;
-  }
-
-  function writeCookie(cookie, val, expiration)
-  {
-    if (val==undefined) return;
-    if (expiration == null) {
-      var date = new Date();
-      date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week
-      expiration = date.toGMTString();
-    }
-    document.cookie = cookie_namespace + "_" + cookie + "=" + val + "; expires=" + expiration+"; path=/";
-  }
-
-  function resizeWidth()
-  {
-    var windowWidth = $(window).width() + "px";
-    var sidenavWidth = $(sidenav).outerWidth();
-    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
-    writeCookie('width',sidenavWidth-barWidth, null);
-  }
-
-  function restoreWidth(navWidth)
-  {
-    var windowWidth = $(window).width() + "px";
-    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
-    sidenav.css({width:navWidth + "px"});
-  }
-
-  function resizeHeight()
-  {  
-    var headerHeight = header.outerHeight();
-    var footerHeight = footer.outerHeight();
-    var windowHeight = $(window).height() - headerHeight - footerHeight;
-    //==========================================================================
-    // MODIFICATION:
-    // This small section is the only portion modified within initResizable().
-    // The rest is copy-pasted from the doxygen-generated resize.js.
-    //
-    // Adjust nav height to make room for TOC.
-    var toc = $("#nav-toc");
-    var tocHeight = toc.height();
-    var navHeight = windowHeight;
-    // tocHeight is not always defined (e.g. if empty)
-    if (tocHeight) {
-      navHeight = windowHeight - tocHeight;
-    }
-   //==========================================================================
-    
-    content.css({height:windowHeight + "px"});
-    navtree.css({height:navHeight + "px"});
-    sidenav.css({height:windowHeight + "px"});
-    
-    var width=$(window).width();
-    if (width!=collapsedWidth) {
-      if (width<desktop_vp && collapsedWidth>=desktop_vp) {
-        if (!collapsed) {
-          collapseExpand();
-        }
-      } else if (width>desktop_vp && collapsedWidth<desktop_vp) {
-        if (collapsed) {
-          collapseExpand();
-        }
-      }
-      collapsedWidth=width;
-    }
-    if (location.hash.slice(1)) {
-      (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView();
-    }
-  }
-
-  function collapseExpand()
-  {
-    if (sidenav.width()>0) {
-      restoreWidth(0);
-      collapsed=true;
-    }
-    else {
-      var width = readCookie('width');
-      if (width>200 && width<$(window).width()) { restoreWidth(width); } else { restoreWidth(200); }
-      collapsed=false;
-    }
-  }
-  header  = $("#top");
-  sidenav = $("#side-nav");
-  content = $("#doc-content");
-  navtree = $("#nav-tree");
-  footer  = $("#nav-path");
-
-  $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
-  $(sidenav).resizable({ minWidth: 0 });
-  $(window).resize(function() { resizeHeight(); });
-  var device = navigator.userAgent.toLowerCase();
-  var touch_device = device.match(/(iphone|ipod|ipad|android)/);
-  if (touch_device) { /* wider split bar for touch only devices */
-    $(sidenav).css({ paddingRight:'20px' });
-    $('.ui-resizable-e').css({ width:'20px' });
-    $('#nav-sync').css({ right:'34px' });
-    barWidth=20;
-  }
-  var width = readCookie('width');
-  if (width) { restoreWidth(width); } else { resizeWidth(); }
-  resizeHeight();
-  var url = location.href;
-  var i=url.indexOf("#");
-  if (i>=0) window.location.hash=url.substr(i);
-  var _preventDefault = function(evt) { evt.preventDefault(); };
-  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
-  $(".ui-resizable-handle").dblclick(collapseExpand);
-  $(window).on('load',resizeHeight);
-}
-
-// Overloaded to save the root node into global_navtree_object
-function initNavTree(toroot,relpath)
-{
-  var o = new Object();
-  global_navtree_object = o; // <- we added this line
-  o.toroot = toroot;
-  o.node = new Object();
-  o.node.li = document.getElementById("nav-tree-contents");
-  o.node.childrenData = NAVTREE;
-  o.node.children = new Array();
-  o.node.childrenUL = document.createElement("ul");
-  o.node.getChildrenUL = function() { return o.node.childrenUL; };
-  o.node.li.appendChild(o.node.childrenUL);
-  o.node.depth = 0;
-  o.node.relpath = relpath;
-  o.node.expanded = false;
-  o.node.isLast = true;
-  o.node.plus_img = document.createElement("img");
-  o.node.plus_img.src = relpath+"ftv2pnode.png";
-  o.node.plus_img.width = 16;
-  o.node.plus_img.height = 22;
-
-  if (localStorageSupported()) {
-    var navSync = $('#nav-sync');
-    if (cachedLink()) {
-      showSyncOff(navSync,relpath);
-      navSync.removeClass('sync');
-    } else {
-      showSyncOn(navSync,relpath);
-    }
-    navSync.click(function(){ toggleSyncButton(relpath); });
-  }
-
-  navTo(o,toroot,window.location.hash,relpath);
-
-  $(window).bind('hashchange', function(){
-     if (window.location.hash && window.location.hash.length>1){
-       var a;
-       if ($(location).attr('hash')){
-         var clslink=stripPath($(location).attr('pathname'))+':'+
-                               $(location).attr('hash').substring(1);
-         a=$('.item a[class$="'+clslink+'"]');
-       }
-       if (a==null || !$(a).parent().parent().hasClass('selected')){
-         $('.item').removeClass('selected');
-         $('.item').removeAttr('id');
-       }
-       var link=stripPath2($(location).attr('pathname'));
-       navTo(o,link,$(location).attr('hash'),relpath);
-     } else if (!animationInProgress) {
-       $('#doc-content').scrollTop(0);
-       $('.item').removeClass('selected');
-       $('.item').removeAttr('id');
-       navTo(o,toroot,window.location.hash,relpath);
-     }
-  })
-
-  $(window).on("load", showRoot);
-}
-
-// return false if the the node has no children at all, or has only section/subsection children
-function checkChildrenData(node) {
-  if (!(typeof(node.childrenData)==='string')) {
-    for (var i in node.childrenData) {
-      var url = node.childrenData[i][1];
-      if(url.indexOf("#")==-1)
-        return true;
-    }
-    return false;
-  }
-  return (node.childrenData);
-}
-
-// Modified to:
-// 1 - remove the root node 
-// 2 - remove the section/subsection children
-function createIndent(o,domNode,node,level)
-{
-  var level=-2; // <- we replaced level=-1 by level=-2
-  var n = node;
-  while (n.parentNode) { level++; n=n.parentNode; }
-  if (checkChildrenData(node)) { // <- we modified this line to use checkChildrenData(node) instead of node.childrenData
-    var imgNode = document.createElement("span");
-    imgNode.className = 'arrow';
-    imgNode.style.paddingLeft=(16*level).toString()+'px';
-    imgNode.innerHTML=arrowRight;
-    node.plus_img = imgNode;
-    node.expandToggle = document.createElement("a");
-    node.expandToggle.href = "javascript:void(0)";
-    node.expandToggle.onclick = function() {
-      if (node.expanded) {
-        $(node.getChildrenUL()).slideUp("fast");
-        node.plus_img.innerHTML=arrowRight;
-        node.expanded = false;
-      } else {
-        expandNode(o, node, false, false);
-      }
-    }
-    node.expandToggle.appendChild(imgNode);
-    domNode.appendChild(node.expandToggle);
-  } else {
-    var span = document.createElement("span");
-    span.className = 'arrow';
-    span.style.width   = 16*(level+1)+'px';
-    span.innerHTML = '&#160;';
-    domNode.appendChild(span);
-  }
-}
-
-// Overloaded to automatically expand the selected node
-function selectAndHighlight(hash,n)
-{
-  var a;
-  if (hash) {
-    var link=stripPath($(location).attr('pathname'))+':'+hash.substring(1);
-    a=$('.item a[class$="'+link+'"]');
-  }
-  if (a && a.length) {
-    a.parent().parent().addClass('selected');
-    a.parent().parent().attr('id','selected');
-    highlightAnchor();
-  } else if (n) {
-    $(n.itemDiv).addClass('selected');
-    $(n.itemDiv).attr('id','selected');
-  }
-  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
-    $('#nav-sync').css('top','30px');
-  } else {
-    $('#nav-sync').css('top','5px');
-  }
-  expandNode(global_navtree_object, n, true, true); // <- we added this line
-  showRoot();
-}
-
-
-$(document).ready(function() {
-  
-  generate_autotoc();
-  
-  (function (){ // wait until the first "selected" element has been created
-    try {
-      // this line will trigger an exception if there is no #selected element, i.e., before the tree structure is
-      // complete.
-      document.getElementById("selected").className = "item selected";
-      
-      // ok, the default tree has been created, we can keep going...
-      
-      // expand the "Chapters" node
-      if(window.location.href.indexOf('unsupported')==-1)
-        expandNode(global_navtree_object, global_navtree_object.node.children[0].children[2], true, true);
-      else
-        expandNode(global_navtree_object, global_navtree_object.node.children[0].children[1], true, true);
-      
-      // Hide the root node "Eigen"
-      $(document.getElementsByClassName('index.html')[0]).parent().parent().css({display:"none"});
-      
-    } catch (err) {
-      setTimeout(arguments.callee, 10);
-    }
-  })();
-});
diff --git a/doc/eigendoxy_footer.html.in b/doc/eigendoxy_footer.html.in
index 1266535..e337305 100644
--- a/doc/eigendoxy_footer.html.in
+++ b/doc/eigendoxy_footer.html.in
@@ -1,23 +1,18 @@
+<!-- HTML footer for doxygen 1.13.0-->
 <!-- start footer part -->
 <!--BEGIN GENERATE_TREEVIEW-->
 <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
   <ul>
     $navpath
-    <li class="footer">$generatedby
-    <a href="http://www.doxygen.org/index.html">
-    <img class="footer" src="$relpath^doxygen.png" alt="doxygen"/></a> $doxygenversion </li>
+    <li class="footer">$generatedby <a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion </li>
   </ul>
 </div>
 <!--END GENERATE_TREEVIEW-->
 <!--BEGIN !GENERATE_TREEVIEW-->
 <hr class="footer"/><address class="footer"><small>
-$generatedby &#160;<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="$relpath^doxygen.png" alt="doxygen"/>
-</a> $doxygenversion
+$generatedby&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion
 </small></address>
+</div><!-- doc-content -->
 <!--END !GENERATE_TREEVIEW-->
-
 </body>
 </html>
-
-
diff --git a/doc/eigendoxy_header.html.in b/doc/eigendoxy_header.html.in
index 53e95c3..e377b26 100644
--- a/doc/eigendoxy_header.html.in
+++ b/doc/eigendoxy_header.html.in
@@ -1,25 +1,41 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
+<!-- HTML header for doxygen 1.13.0-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="$langISO">
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
-<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
 <meta name="generator" content="Doxygen $doxygenversion"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
 <!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<!--BEGIN PROJECT_ICON-->
+<link rel="icon" href="$relpath^$projecticon" type="image/x-icon" />
+<!--END PROJECT_ICON-->
 <link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<script type="text/javascript">var page_layout=1;</script>
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
 <script type="text/javascript" src="$relpath^jquery.js"></script>
 <script type="text/javascript" src="$relpath^dynsections.js"></script>
+<!--BEGIN COPY_CLIPBOARD-->
+<script type="text/javascript" src="$relpath^clipboard.js"></script>
+<!--END COPY_CLIPBOARD-->
 $treeview
 $search
 $mathjax
+$darkmode
 <link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
 <link href="$relpath$eigendoxy.css" rel="stylesheet" type="text/css">
-<!-- $extrastylesheet -->
-<script type="text/javascript" src="$relpath$eigen_navtree_hacks.js"></script>
-
+$extrastylesheet
 </head>
 <body>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<div id="side-nav" class="ui-resizable side-nav-resizable"><!-- do not remove this div, it is closed by doxygen! -->
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
 
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
 
@@ -27,12 +43,12 @@
 <div id="titlearea">
 <table cellspacing="0" cellpadding="0">
  <tbody>
- <tr style="height: 56px;">
+ <tr id="projectrow">
   <!--BEGIN PROJECT_LOGO-->
-  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"$logosize/></td>
   <!--END PROJECT_LOGO-->
   <!--BEGIN PROJECT_NAME-->
-  <td id="projectalign" style="padding-left: 0.5em;">
+  <td id="projectalign">
    <div id="projectname"><a href="http://eigen.tuxfamily.org">$projectname</a>
    <!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
    </div>
@@ -41,20 +57,26 @@
   <!--END PROJECT_NAME-->
   <!--BEGIN !PROJECT_NAME-->
    <!--BEGIN PROJECT_BRIEF-->
-    <td id="projectalign" style="padding-left: 0.5em;">
+    <td>
     <div id="projectbrief">$projectbrief</div>
     </td>
    <!--END PROJECT_BRIEF-->
   <!--END !PROJECT_NAME-->
   <!--BEGIN DISABLE_INDEX-->
    <!--BEGIN SEARCHENGINE-->
-   <td>$searchbox</td>
+     <!--BEGIN !FULL_SIDEBAR-->
+    <td>$searchbox</td>
+     <!--END !FULL_SIDEBAR-->
    <!--END SEARCHENGINE-->
   <!--END DISABLE_INDEX-->
  </tr>
+  <!--BEGIN SEARCHENGINE-->
+   <!--BEGIN FULL_SIDEBAR-->
+   <tr><td colspan="2">$searchbox</td></tr>
+   <!--END FULL_SIDEBAR-->
+  <!--END SEARCHENGINE-->
  </tbody>
 </table>
 </div>
 <!--END TITLEAREA-->
 <!-- end header part -->
-
diff --git a/doc/eigendoxy_layout.xml.in b/doc/eigendoxy_layout.xml.in
index c14b621..9e3021a 100644
--- a/doc/eigendoxy_layout.xml.in
+++ b/doc/eigendoxy_layout.xml.in
@@ -1,67 +1,103 @@
-<?xml version="1.0"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <doxygenlayout version="1.0">
+  <!-- Generated by doxygen 1.13.0 -->
   <!-- Navigation index tabs for HTML output -->
   <navindex>
-    <tab type="user" url="index.html" title="Overview" />
-    <tab type="user" url="@ref GettingStarted" title="Getting started" />
-    <tab type="modules" visible="yes" title="Chapters" intro=""/>
-    <tab type="mainpage" visible="yes" title=""/>
-    <tab type="classlist" visible="yes" title="" intro=""/>
-<!--     <tab type="classmembers" visible="yes" title="" intro=""/> -->
+    <tab type="mainpage" visible="no" title="main"/>
+    <tab type="pages" visible="yes" title="" intro=""/>
+    <tab type="topics" visible="yes" title="Chapters" intro=""/>
+    <tab type="modules" visible="yes" title="" intro="">
+      <tab type="modulelist" visible="yes" title="" intro=""/>
+      <tab type="modulemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="namespaces" visible="no" title="">
+      <tab type="namespacelist" visible="yes" title="" intro=""/>
+      <tab type="namespacemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="concepts" visible="yes" title="">
+    </tab>
+    <tab type="interfaces" visible="yes" title="">
+      <tab type="interfacelist" visible="yes" title="" intro=""/>
+      <tab type="interfaceindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="interfacehierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classlist" visible="yes" title="" intro=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="hierarchy" visible="yes" title="" intro=""/>
+      <tab type="classmembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="structs" visible="yes" title="">
+      <tab type="structlist" visible="yes" title="" intro=""/>
+      <tab type="structindex" visible="$ALPHABETICAL_INDEX" title=""/>
+    </tab>
+    <tab type="exceptions" visible="yes" title="">
+      <tab type="exceptionlist" visible="yes" title="" intro=""/>
+      <tab type="exceptionindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="exceptionhierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="filelist" visible="yes" title="" intro=""/>
+      <tab type="globals" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="examples" visible="yes" title="" intro=""/>
   </navindex>
 
   <!-- Layout definition for a class page -->
   <class>
     <briefdescription visible="no"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <detaileddescription title=""/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <detaileddescription visible="yes" title=""/>
     <inheritancegraph visible="$CLASS_GRAPH"/>
     <collaborationgraph visible="$COLLABORATION_GRAPH"/>
-    <allmemberslink visible="yes"/>
     <memberdecl>
       <nestedclasses visible="yes" title=""/>
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-      <publicslots title=""/>
-      <signals title=""/>
-      <publicmethods title=""/>
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-      <protectedtypes title=""/>
-      <protectedslots title=""/>
-      <protectedmethods title=""/>
-      <protectedstaticmethods title=""/>
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-      <protectedstaticattributes title=""/>
-      <packagetypes title=""/>
-      <packagemethods title=""/>
-      <packagestaticmethods title=""/>
-      <packageattributes title=""/>
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-      <privateslots title=""/>
-      <privatemethods title=""/>
-      <privatestaticmethods title=""/>
-      <privateattributes title=""/>
-      <privatestaticattributes title=""/>
-      <friends title=""/>
-      <related title="" subtitle=""/>
+      <publictypes visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicmethods visible="yes" title=""/>
+      <publicstaticmethods visible="yes" title=""/>
+      <publicattributes visible="yes" title=""/>
+      <publicstaticattributes visible="yes" title=""/>
+      <protectedtypes visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <protectedmethods visible="yes" title=""/>
+      <protectedstaticmethods visible="yes" title=""/>
+      <protectedattributes visible="yes" title=""/>
+      <protectedstaticattributes visible="yes" title=""/>
+      <packagetypes visible="yes" title=""/>
+      <packagemethods visible="yes" title=""/>
+      <packagestaticmethods visible="yes" title=""/>
+      <packageattributes visible="yes" title=""/>
+      <packagestaticattributes visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <privatetypes visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <privatemethods visible="yes" title=""/>
+      <privatestaticmethods visible="yes" title=""/>
+      <privateattributes visible="yes" title=""/>
+      <privatestaticattributes visible="yes" title=""/>
+      <friends visible="yes" title=""/>
+      <related visible="yes" title="" subtitle=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    
     <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <constructors title=""/>
-      <functions title=""/>
-      <related title=""/>
-      <variables title=""/>
-      <properties title=""/>
-      <events title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <constructors visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <related visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
     </memberdef>
+    <allmemberslink visible="yes"/>
     <usedfiles visible="$SHOW_USED_FILES"/>
     <authorsection visible="yes"/>
   </class>
@@ -71,24 +107,44 @@
     <briefdescription visible="yes"/>
     <memberdecl>
       <nestednamespaces visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
       <classes visible="yes" title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
     </memberdef>
     <authorsection visible="yes"/>
   </namespace>
 
+  <!-- Layout definition for a concept page -->
+  <concept>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <definition visible="yes" title=""/>
+    <detaileddescription visible="yes" title=""/>
+    <authorsection visible="yes"/>
+  </concept>
+
   <!-- Layout definition for a file page -->
   <file>
     <briefdescription visible="yes"/>
@@ -97,23 +153,34 @@
     <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
     <sourcelink visible="yes"/>
     <memberdecl>
+      <interfaces visible="yes" title=""/>
       <classes visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
       <namespaces visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <memberdef>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
     </memberdef>
     <authorsection/>
   </file>
@@ -121,50 +188,74 @@
   <!-- Layout definition for a group page -->
   <group>
     <briefdescription visible="no"/>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <groupgraph visible="$GROUP_GRAPHS"/>
     <memberdecl>
       <nestedgroups visible="yes" title=""/>
+      <modules visible="yes" title=""/>
       <dirs visible="yes" title=""/>
       <files visible="yes" title=""/>
       <namespaces visible="yes" title=""/>
+      <concepts visible="yes" title=""/>
       <classes visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    
     <memberdef>
       <pagedocs/>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
     </memberdef>
     <authorsection visible="yes"/>
   </group>
 
+  <!-- Layout definition for a C++20 module page -->
+  <module>
+    <briefdescription visible="yes"/>
+    <exportedmodules visible="yes"/>
+    <memberdecl>
+      <concepts visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <membergroups visible="yes" title=""/>
+    </memberdecl>
+    <detaileddescription visible="yes" title=""/>
+    <memberdecl>
+      <files visible="yes"/>
+    </memberdecl>
+  </module>
+
   <!-- Layout definition for a directory page -->
   <directory>
     <briefdescription visible="yes"/>
@@ -173,6 +264,6 @@
       <dirs visible="yes"/>
       <files visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
   </directory>
 </doxygenlayout>
diff --git a/doc/examples/CMakeLists.txt b/doc/examples/CMakeLists.txt
index dd49e3c..39766c1 100644
--- a/doc/examples/CMakeLists.txt
+++ b/doc/examples/CMakeLists.txt
@@ -6,6 +6,7 @@
   if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
     target_link_libraries(${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
   endif()
+  target_link_libraries(${example} Eigen3::Eigen)
   add_custom_command(
     TARGET ${example}
     POST_BUILD
diff --git a/doc/examples/TutorialInplaceLU.cpp b/doc/examples/TutorialInplaceLU.cpp
index 06f7e53..a0bf8b5 100644
--- a/doc/examples/TutorialInplaceLU.cpp
+++ b/doc/examples/TutorialInplaceLU.cpp
@@ -1,12 +1,8 @@
 #include <iostream>
-struct init {
-  init() { std::cout << "[init]\n"; }
-};
-init init_obj;
-// [init]
 #include <Eigen/Dense>
 
 int main() {
+  std::cout << "[init]\n";
   Eigen::MatrixXd A(2, 2);
   A << 2, -1, 1, 3;
   std::cout << "Here is the input matrix A before decomposition:\n" << A << "\n";
diff --git a/doc/snippets/AngleAxis_mimic_euler.cpp b/doc/snippets/AngleAxis_mimic_euler.cpp
index eb27cbf..0033f59 100644
--- a/doc/snippets/AngleAxis_mimic_euler.cpp
+++ b/doc/snippets/AngleAxis_mimic_euler.cpp
@@ -1,4 +1,4 @@
 Matrix3f m;
-m = AngleAxisf(0.25 * M_PI, Vector3f::UnitX()) * AngleAxisf(0.5 * M_PI, Vector3f::UnitY()) *
-    AngleAxisf(0.33 * M_PI, Vector3f::UnitZ());
+m = AngleAxisf(0.25 * EIGEN_PI, Vector3f::UnitX()) * AngleAxisf(0.5 * EIGEN_PI, Vector3f::UnitY()) *
+    AngleAxisf(0.33 * EIGEN_PI, Vector3f::UnitZ());
 cout << m << endl << "is unitary: " << m.isUnitary() << endl;
diff --git a/doc/snippets/CMakeLists.txt b/doc/snippets/CMakeLists.txt
index 868d669..1c25831 100644
--- a/doc/snippets/CMakeLists.txt
+++ b/doc/snippets/CMakeLists.txt
@@ -6,7 +6,7 @@
   get_filename_component(snippet ${snippet_src} NAME_WE)
   set(compile_snippet_target compile_${snippet})
   set(compile_snippet_src ${compile_snippet_target}.cpp)
-  
+
   file(READ ${snippet_src} snippet_source_code)
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/compile_snippet.cpp.in
                 ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
@@ -15,6 +15,7 @@
   if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
     target_link_libraries(${compile_snippet_target} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
   endif()
+  target_link_libraries(${compile_snippet_target} Eigen3::Eigen)
 
   if(${snippet_src} MATCHES "deprecated")
     set_target_properties(${compile_snippet_target} PROPERTIES COMPILE_FLAGS "-DEIGEN_NO_DEPRECATED_WARNING")
diff --git a/doc/snippets/Cwise_cos.cpp b/doc/snippets/Cwise_cos.cpp
index f84f325..37bb0a5 100644
--- a/doc/snippets/Cwise_cos.cpp
+++ b/doc/snippets/Cwise_cos.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.cos() << endl;
diff --git a/doc/snippets/Cwise_sin.cpp b/doc/snippets/Cwise_sin.cpp
index 43c4a04..697a188 100644
--- a/doc/snippets/Cwise_sin.cpp
+++ b/doc/snippets/Cwise_sin.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.sin() << endl;
diff --git a/doc/snippets/Cwise_tan.cpp b/doc/snippets/Cwise_tan.cpp
index abe8d1c..ccb85f5 100644
--- a/doc/snippets/Cwise_tan.cpp
+++ b/doc/snippets/Cwise_tan.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.tan() << endl;
diff --git a/doc/snippets/MatrixBase_homogeneous.cpp b/doc/snippets/MatrixBase_homogeneous.cpp
index 6818f9b..ead1796 100644
--- a/doc/snippets/MatrixBase_homogeneous.cpp
+++ b/doc/snippets/MatrixBase_homogeneous.cpp
@@ -1,4 +1,4 @@
-Vector3d v = Vector3d::Random(), w;
+Vector3d v = Vector3d::Random();
 Projective3d P(Matrix4d::Random());
 cout << "v                                   = [" << v.transpose() << "]^T" << endl;
 cout << "h.homogeneous()                     = [" << v.homogeneous().transpose() << "]^T" << endl;
diff --git a/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp b/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp
index c6a73ab..a400cb2 100644
--- a/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp
+++ b/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp
@@ -1,6 +1,6 @@
 ArrayXXf table(10, 4);
 table.col(0) = ArrayXf::LinSpaced(10, 0, 90);
-table.col(1) = M_PI / 180 * table.col(0);
+table.col(1) = EIGEN_PI / 180 * table.col(0);
 table.col(2) = table.col(1).sin();
 table.col(3) = table.col(1).cos();
 std::cout << "  Degrees   Radians      Sine    Cosine\n";
diff --git a/doc/snippets/compile_snippet.cpp.in b/doc/snippets/compile_snippet.cpp.in
index e841f43..9202025 100644
--- a/doc/snippets/compile_snippet.cpp.in
+++ b/doc/snippets/compile_snippet.cpp.in
@@ -8,11 +8,8 @@
 
 #include <iostream>
 #include <cassert>
-#include <Eigen/Eigen>
-
-#ifndef M_PI
-#define M_PI 3.1415926535897932384626433832795
-#endif
+#include <Eigen/Dense>
+#include <Eigen/Sparse>
 
 using namespace Eigen;
 using namespace std;
diff --git a/doc/special_examples/CMakeLists.txt b/doc/special_examples/CMakeLists.txt
index e6407aa..af3f7e4 100644
--- a/doc/special_examples/CMakeLists.txt
+++ b/doc/special_examples/CMakeLists.txt
@@ -7,7 +7,7 @@
 
 if(QT4_FOUND)
   add_executable(Tutorial_sparse_example Tutorial_sparse_example.cpp Tutorial_sparse_example_details.cpp)
-  target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY})
+  target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} Eigen3::Eigen)
 
   add_custom_command(
     TARGET Tutorial_sparse_example
@@ -20,7 +20,7 @@
 endif()
 
 add_executable(random_cpp11 random_cpp11.cpp)
-target_link_libraries(random_cpp11 ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
+target_link_libraries(random_cpp11 ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} Eigen3::Eigen)
 add_dependencies(all_examples random_cpp11)
 
 add_custom_command(
diff --git a/doc/special_examples/Tutorial_sparse_example_details.cpp b/doc/special_examples/Tutorial_sparse_example_details.cpp
index 18abd6f..1bcdeb5 100644
--- a/doc/special_examples/Tutorial_sparse_example_details.cpp
+++ b/doc/special_examples/Tutorial_sparse_example_details.cpp
@@ -20,7 +20,7 @@
 
 void buildProblem(std::vector<T>& coefficients, Eigen::VectorXd& b, int n) {
   b.setZero();
-  Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0, M_PI).sin().pow(2);
+  Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0, EIGEN_PI).sin().pow(2);
   for (int j = 0; j < n; ++j) {
     for (int i = 0; i < n; ++i) {
       int id = i + j * n;
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 4692584..fdfde45 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -285,6 +285,7 @@
 ei_add_test(simplicial_cholesky)
 ei_add_test(conjugate_gradient)
 ei_add_test(incomplete_cholesky)
+ei_add_test(incomplete_LUT)
 ei_add_test(bicgstab)
 ei_add_test(lscg)
 ei_add_test(sparselu)
diff --git a/test/incomplete_LUT.cpp b/test/incomplete_LUT.cpp
new file mode 100644
index 0000000..7213ecc
--- /dev/null
+++ b/test/incomplete_LUT.cpp
@@ -0,0 +1,89 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2025 Johannes Zipfel <johzip1010@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/.
+
+#include "sparse_solver.h"
+#include <Eigen/IterativeLinearSolvers>
+
+template <typename T, typename I_>
+void test_incompleteLUT_T() {
+  IncompleteLUT<T, I_> ilut;
+  ilut.setDroptol(NumTraits<T>::epsilon() * 4);
+}
+
+template <typename T>
+void test_extract_LU() {
+  typedef Eigen::SparseMatrix<T> SparseMatrix;
+
+  SparseMatrix A(5, 5);
+  std::vector<Eigen::Triplet<T>> triplets;
+  triplets.push_back({0, 0, 4});
+  triplets.push_back({0, 1, -1});
+  triplets.push_back({0, 4, -1});
+  triplets.push_back({1, 0, -1});
+  triplets.push_back({1, 1, 4});
+  triplets.push_back({1, 2, -1});
+  triplets.push_back({2, 1, -1});
+  triplets.push_back({2, 2, 4});
+  triplets.push_back({2, 3, -1});
+  triplets.push_back({3, 2, -1});
+  triplets.push_back({3, 3, 4});
+  triplets.push_back({3, 4, -1});
+  triplets.push_back({4, 0, -1});
+  triplets.push_back({4, 3, -1});
+  triplets.push_back({4, 4, 4});
+
+  A.setFromTriplets(triplets.begin(), triplets.end());
+
+  IncompleteLUT<T> ilut;
+  ilut.compute(A);
+
+  Eigen::SparseMatrix<T> matL = ilut.matrixL();  // Extract L
+  Eigen::SparseMatrix<T> matU = ilut.matrixU();  // Extract U
+
+  Eigen::SparseMatrix<T> expectedMatL(5, 5);
+  std::vector<Eigen::Triplet<T>> tripletsExL;
+  tripletsExL.emplace_back(0, 0, 1);
+  tripletsExL.emplace_back(1, 0, -0.25);
+  tripletsExL.emplace_back(1, 1, 1);
+  tripletsExL.emplace_back(2, 0, -0.25);
+  tripletsExL.emplace_back(2, 1, -0.0666667);
+  tripletsExL.emplace_back(2, 2, 1);
+  tripletsExL.emplace_back(3, 2, -0.25);
+  tripletsExL.emplace_back(3, 3, 1);
+  tripletsExL.emplace_back(4, 1, -0.266667);
+  tripletsExL.emplace_back(4, 3, -0.266667);
+  tripletsExL.emplace_back(4, 4, 1);
+  expectedMatL.setFromTriplets(tripletsExL.begin(), tripletsExL.end());
+
+  Eigen::SparseMatrix<T> expectedMatU(5, 5);
+  std::vector<Eigen::Triplet<T>> tripletsExU;
+  tripletsExU.emplace_back(0, 0, 4);
+  tripletsExU.emplace_back(0, 1, -1);
+  tripletsExU.emplace_back(1, 1, 3.75);
+  tripletsExU.emplace_back(1, 4, -1);
+  tripletsExU.emplace_back(2, 2, 4);
+  tripletsExU.emplace_back(2, 3, -1);
+  tripletsExU.emplace_back(3, 3, 3.75);
+  tripletsExU.emplace_back(3, 4, -1);
+  tripletsExU.emplace_back(4, 4, 3.46667);
+  expectedMatU.setFromTriplets(tripletsExU.begin(), tripletsExU.end());
+
+  VERIFY_IS_APPROX(expectedMatL, matL);
+  VERIFY_IS_APPROX(expectedMatU, matU);
+}
+
+EIGEN_DECLARE_TEST(incomplete_LUT) {
+  CALL_SUBTEST_1((test_incompleteLUT_T<double, int>()));
+  CALL_SUBTEST_1((test_incompleteLUT_T<float, int>()));
+  CALL_SUBTEST_2((test_incompleteLUT_T<std::complex<double>, int>()));
+  CALL_SUBTEST_3((test_incompleteLUT_T<double, long int>()));
+
+  CALL_SUBTEST_4(test_extract_LU<double>());
+  CALL_SUBTEST_4(test_extract_LU<float>());
+}
diff --git a/unsupported/Eigen/CXX11/TensorSymmetry b/unsupported/Eigen/CXX11/TensorSymmetry
index 44ee6a8..0bf9a48 100644
--- a/unsupported/Eigen/CXX11/TensorSymmetry
+++ b/unsupported/Eigen/CXX11/TensorSymmetry
@@ -16,7 +16,7 @@
 
 #include "src/util/CXX11Meta.h"
 
-/** \defgroup CXX11_TensorSymmetry_Module Tensor Symmetry Module
+/** \defgroup TensorSymmetry_Module Tensor Symmetry Module
  *
  * This module provides a classes that allow for the definition of
  * symmetries w.r.t. tensor indices.
diff --git a/unsupported/Eigen/CXX11/src/Tensor/README.md b/unsupported/Eigen/CXX11/src/Tensor/README.md
index 6cd0ca3..395f44d 100644
--- a/unsupported/Eigen/CXX11/src/Tensor/README.md
+++ b/unsupported/Eigen/CXX11/src/Tensor/README.md
@@ -8,7 +8,6 @@
 You can manipulate a tensor with one of the following classes.  They all are in
 the namespace `::Eigen.`
 
-
 ### Class Tensor<data_type, rank>
 
 This is the class to use to create a tensor and allocate memory for it.  The
@@ -90,7 +89,7 @@
 
 ## Accessing Tensor Elements
 
-#### <data_type> tensor(index0, index1...)
+#### data_type tensor(index0, index1...)
 
 Return the element at position `(index0, index1...)` in tensor
 `tensor`.  You must pass as many parameters as the rank of `tensor`.
diff --git a/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h b/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h
index c7203a9..902aa96 100644
--- a/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h
+++ b/unsupported/Eigen/CXX11/src/Tensor/TensorContractionSycl.h
@@ -428,7 +428,7 @@
  * \tparam input_mapper_properties : determine if the input tensors are matrix. If they are matrix, special memory
  access is used to guarantee that always the memory access are coalesced.
  *
- * \tptaram IsFinal : determine if this is the final kernel. If so, the result will be written in a final output.
+ * \tparam IsFinal : determine if this is the final kernel. If so, the result will be written in a final output.
  Otherwise, the result of contraction will be written iin a temporary buffer. This is the case when Tall/Skinny
  contraction is used. So in this case, a final reduction step is required to compute final output.
 
diff --git a/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h b/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h
index f5d1b2d..2671cc7 100644
--- a/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h
+++ b/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h
@@ -261,7 +261,7 @@
         // pos_j_base_powered[0] = ComplexScalar(1, 0);
         // if (line_len > 1) {
         //   const ComplexScalar pos_j_base = ComplexScalar(
-        //       numext::cos(M_PI / line_len), numext::sin(M_PI / line_len));
+        //       numext::cos(EIGEN_PI / line_len), numext::sin(EIGEN_PI / line_len));
         //   pos_j_base_powered[1] = pos_j_base;
         //   if (line_len > 2) {
         //     const ComplexScalar pos_j_base_sq = pos_j_base * pos_j_base;
@@ -511,8 +511,8 @@
   template <int Dir>
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void butterfly_1D_merge(ComplexScalar* data, Index n, Index n_power_of_2) {
     // Original code:
-    // RealScalar wtemp = std::sin(M_PI/n);
-    // RealScalar wpi =  -std::sin(2 * M_PI/n);
+    // RealScalar wtemp = std::sin(EIGEN_PI/n);
+    // RealScalar wpi =  -std::sin(2 * EIGEN_PI/n);
     const RealScalar wtemp = m_sin_PI_div_n_LUT[n_power_of_2];
     const RealScalar wpi =
         (Dir == FFT_FORWARD) ? m_minus_sin_2_PI_div_n_LUT[n_power_of_2] : -m_minus_sin_2_PI_div_n_LUT[n_power_of_2];
@@ -600,7 +600,7 @@
   const Device EIGEN_DEVICE_REF m_device;
 
   // This will support a maximum FFT size of 2^32 for each dimension
-  // m_sin_PI_div_n_LUT[i] = (-2) * std::sin(M_PI / std::pow(2,i)) ^ 2;
+  // m_sin_PI_div_n_LUT[i] = (-2) * std::sin(EIGEN_PI / std::pow(2,i)) ^ 2;
   const RealScalar m_sin_PI_div_n_LUT[32] = {RealScalar(0.0),
                                              RealScalar(-2),
                                              RealScalar(-0.999999999999999),
@@ -634,7 +634,7 @@
                                              RealScalar(-1.71210344531737e-17),
                                              RealScalar(-4.28025861329343e-18)};
 
-  // m_minus_sin_2_PI_div_n_LUT[i] = -std::sin(2 * M_PI / std::pow(2,i));
+  // m_minus_sin_2_PI_div_n_LUT[i] = -std::sin(2 * EIGEN_PI / std::pow(2,i));
   const RealScalar m_minus_sin_2_PI_div_n_LUT[32] = {RealScalar(0.0),
                                                      RealScalar(0.0),
                                                      RealScalar(-1.00000000000000e+00),
diff --git a/unsupported/Eigen/IterativeSolvers b/unsupported/Eigen/IterativeSolvers
index 7efb299..4ae0975 100644
--- a/unsupported/Eigen/IterativeSolvers
+++ b/unsupported/Eigen/IterativeSolvers
@@ -15,7 +15,7 @@
 #include "../../Eigen/Householder"
 
 /**
- * \defgroup IterativeLinearSolvers_Module Iterative Solvers module
+ * \defgroup IterativeLinearSolvers_Module IterativeLinearSolvers module
  * This module aims to provide various iterative linear and non linear solver algorithms.
  * It currently provides:
  *  - a Householder GMRES implementation
@@ -26,40 +26,48 @@
  *  - a IDRSTABL implementation
  *
  * Choosing the best solver for solving \c A \c x = \c b depends a lot on the preconditioner chosen as well as the
- *properties of \c A. The following flowchart might help you. \dot width=50% digraph g { node [ fontname=Arial,
- *fontsize=11]; edge [ fontname=Helvetica, fontsize=10 ]; A1[label="hermitian",shape="box"]; A2[label="positive
- *definite",shape="box"]; CG[shape="plaintext"]; A3[label="ill conditioned",shape="box"]; A4[label="good
- *preconditioner",shape="box"]; A5[label="flexible preconditioner",shape="box"]; A6[label="strongly
- *indefinite",shape="box"]; A8[label="large imaginary eigenvalue",shape="box"]; A7[label="large imaginary
- *eigenvalue",shape="box"];
+ *properties of \c A. The following flowchart might help you.
+ * \dot width=50% 
+ * digraph g {
+ *   node [ fontname=Arial, fontsize=11];
+ *   edge [ fontname=Helvetica, fontsize=10 ];
+ *   A1[label="hermitian", shape="box"];
+ *   A2[label="positive definite", shape="box"];
+ *   CG[shape="plaintext"];
+ *   A3[label="ill conditioned", shape="box"];
+ *   A4[label="good preconditioner", shape="box"];
+ *   A5[label="flexible preconditioner", shape="box"];
+ *   A6[label="strongly indefinite", shape="box"];
+ *   A8[label="large imaginary eigenvalue", shape="box"];
+ *   A7[label="large imaginary eigenvalue",shape="box"];
  *
- * SYMMLQ[shape="plaintext"];
- * MINRES[shape="plaintext"];
- * GCR[shape="plaintext"];
- * GMRES[shape="plaintext"];
- * IDRSTABL[shape="plaintext"];
- * IDRS[shape="plaintext"];
- * BICGSTABL[shape="plaintext"];
- * BICGSTAB[shape="plaintext"];
+ *   SYMMLQ[shape="plaintext"];
+ *   MINRES[shape="plaintext"];
+ *   GCR[shape="plaintext"];
+ *   GMRES[shape="plaintext"];
+ *   IDRSTABL[shape="plaintext"];
+ *   IDRS[shape="plaintext"];
+ *   BICGSTABL[shape="plaintext"];
+ *   BICGSTAB[shape="plaintext"];
  *
- *	A1 -> A2 [label="yes"];
- *	A2 -> CG [label="yes"];
- *	A2 -> A3 [label="no"];
- *	A3 -> SYMMLQ [label="yes"];
- *	A3 -> MINRES [label="no"];
+ *	 A1 -> A2 [label="yes"];
+ *	 A2 -> CG [label="yes"];
+ *	 A2 -> A3 [label="no"];
+ *	 A3 -> SYMMLQ [label="yes"];
+ *	 A3 -> MINRES [label="no"];
  *
- *	A1 -> A4 [label="no"];
- *	A4 -> A5 [label="yes"];
- *	A5 -> GCR [label="yes"];
- *	A5 -> GMRES [label="no"];
+ *	 A1 -> A4 [label="no"];
+ *	 A4 -> A5 [label="yes"];
+ *	 A5 -> GCR [label="yes"];
+ *	 A5 -> GMRES [label="no"];
  *
- *	A4 -> A6 [label="no"];
- *	A6 -> A8 [label="yes"];
- *	A6 -> A7 [label="no"];
- *	A7 -> BICGSTABL [label="yes"];
- *	A7 -> BICGSTAB [label="no"];
- *	A8 -> IDRSTABL [label="yes"];
- *	A8 -> IDRS [label="no"];
+ *	 A4 -> A6 [label="no"];
+ *	 A6 -> A8 [label="yes"];
+ *	 A6 -> A7 [label="no"];
+ *	 A7 -> BICGSTABL [label="yes"];
+ *	 A7 -> BICGSTAB [label="no"];
+ *	 A8 -> IDRSTABL [label="yes"];
+ *	 A8 -> IDRS [label="no"];
  * }
  * \enddot
  * \code
diff --git a/unsupported/Eigen/src/BVH/KdBVH.h b/unsupported/Eigen/src/BVH/KdBVH.h
index d556783..d421e6f 100644
--- a/unsupported/Eigen/src/BVH/KdBVH.h
+++ b/unsupported/Eigen/src/BVH/KdBVH.h
@@ -55,20 +55,20 @@
  *
  *  \param Scalar_ The underlying scalar type of the bounding boxes
  *  \param Dim_ The dimension of the space in which the hierarchy lives
- *  \param _Object The object type that lives in the hierarchy.  It must have value semantics.  Either
- * bounding_box(_Object) must be defined and return an AlignedBox<Scalar_, Dim_> or bounding boxes must be provided to
- * the tree initializer.
+ *  \param Object_ The object type that lives in the hierarchy.  It must have value semantics.  Either
+ *                 `bounding_box(Object_)` must be defined and return an `AlignedBox<Scalar_, Dim_>` or bounding boxes
+ *                  must be provided to the tree initializer.
  *
- *  This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a
+ * This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a
  * Kd-tree. Given a sequence of objects, it computes their bounding boxes, constructs a Kd-tree of their centers and
  * builds a BVH with the structure of that Kd-tree.  When the elements of the tree are too expensive to be copied
- * around, it is useful for _Object to be a pointer.
+ * around, it is useful for `Object_` to be a pointer.
  */
-template <typename Scalar_, int Dim_, typename _Object>
+template <typename Scalar_, int Dim_, typename Object_>
 class KdBVH {
  public:
   enum { Dim = Dim_ };
-  typedef _Object Object;
+  typedef Object_ Object;
   typedef std::vector<Object, aligned_allocator<Object> > ObjectList;
   typedef Scalar_ Scalar;
   typedef AlignedBox<Scalar, Dim> Volume;
diff --git a/unsupported/Eigen/src/EulerAngles/EulerAngles.h b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
index 14ecd04..b0b3617 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerAngles.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerAngles.h
@@ -315,6 +315,16 @@
 EIGEN_EULER_ANGLES_TYPEDEFS(float, f)
 EIGEN_EULER_ANGLES_TYPEDEFS(double, d)
 
+// Specifically-referenced instantiations.
+/** \typedef EulerAnglesXYZd
+ * \ingroup EulerAngles_Module
+ * Euler XYZ system with type double entries.
+ */
+/** \typedef EulerAnglesZYZf
+ * \ingroup EulerAngles_Module
+ * Euler ZYZ system with type float entries.
+ */
+
 namespace internal {
 template <typename Scalar_, class _System>
 struct traits<EulerAngles<Scalar_, _System> > {
diff --git a/unsupported/Eigen/src/EulerAngles/EulerSystem.h b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
index 98f91ea..bf8a334 100644
--- a/unsupported/Eigen/src/EulerAngles/EulerSystem.h
+++ b/unsupported/Eigen/src/EulerAngles/EulerSystem.h
@@ -260,10 +260,11 @@
   friend struct internal::eulerangles_assign_impl;
 };
 
-#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) \
-  /** \ingroup EulerAngles_Module */        \
-  typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
+#define EIGEN_EULER_SYSTEM_TYPEDEF(A, B, C) typedef EulerSystem<EULER_##A, EULER_##B, EULER_##C> EulerSystem##A##B##C;
 
+/** Default XYZ Euler coordinate system.
+ * \ingroup EulerAngles_Module
+ */
 EIGEN_EULER_SYSTEM_TYPEDEF(X, Y, Z)
 EIGEN_EULER_SYSTEM_TYPEDEF(X, Y, X)
 EIGEN_EULER_SYSTEM_TYPEDEF(X, Z, Y)
diff --git a/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/unsupported/Eigen/src/IterativeSolvers/Scaling.h
index ee23e29..248c7b8 100644
--- a/unsupported/Eigen/src/IterativeSolvers/Scaling.h
+++ b/unsupported/Eigen/src/IterativeSolvers/Scaling.h
@@ -16,7 +16,7 @@
 namespace Eigen {
 
 /**
- * \ingroup IterativeSolvers_Module
+ * \ingroup IterativeLinearSolvers_Module
  * \brief iterative scaling algorithm to equilibrate rows and column norms in matrices
  *
  * This class can be used as a preprocessing tool to accelerate the convergence of iterative methods
diff --git a/unsupported/doc/Overview.dox b/unsupported/doc/Overview.dox
index bae51dc..b3cfa96 100644
--- a/unsupported/doc/Overview.dox
+++ b/unsupported/doc/Overview.dox
@@ -1,7 +1,7 @@
 /// \brief Namespace containing all symbols from the %Eigen library.
 namespace Eigen {
 
-/** \mainpage %Eigen's unsupported modules
+/** \mainpage notitle
 
 This is the API documentation for %Eigen's unsupported modules.
 
diff --git a/unsupported/doc/eigendoxy_layout.xml.in b/unsupported/doc/eigendoxy_layout.xml.in
index c93621e..9e3021a 100644
--- a/unsupported/doc/eigendoxy_layout.xml.in
+++ b/unsupported/doc/eigendoxy_layout.xml.in
@@ -1,66 +1,103 @@
-<?xml version="1.0"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <doxygenlayout version="1.0">
+  <!-- Generated by doxygen 1.13.0 -->
   <!-- Navigation index tabs for HTML output -->
   <navindex>
-    <tab type="user" url="index.html" title="Overview" />
-    <tab type="modules" visible="yes" title="Unsupported Modules" intro=""/>
-<!--     <tab type="mainpage" visible="yes" title=""/> -->
-    <tab type="classlist" visible="yes" title="" intro=""/>
-<!--     <tab type="classmembers" visible="yes" title="" intro=""/> -->
+    <tab type="mainpage" visible="no" title="main"/>
+    <tab type="pages" visible="yes" title="" intro=""/>
+    <tab type="topics" visible="yes" title="Chapters" intro=""/>
+    <tab type="modules" visible="yes" title="" intro="">
+      <tab type="modulelist" visible="yes" title="" intro=""/>
+      <tab type="modulemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="namespaces" visible="no" title="">
+      <tab type="namespacelist" visible="yes" title="" intro=""/>
+      <tab type="namespacemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="concepts" visible="yes" title="">
+    </tab>
+    <tab type="interfaces" visible="yes" title="">
+      <tab type="interfacelist" visible="yes" title="" intro=""/>
+      <tab type="interfaceindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="interfacehierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classlist" visible="yes" title="" intro=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="hierarchy" visible="yes" title="" intro=""/>
+      <tab type="classmembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="structs" visible="yes" title="">
+      <tab type="structlist" visible="yes" title="" intro=""/>
+      <tab type="structindex" visible="$ALPHABETICAL_INDEX" title=""/>
+    </tab>
+    <tab type="exceptions" visible="yes" title="">
+      <tab type="exceptionlist" visible="yes" title="" intro=""/>
+      <tab type="exceptionindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="exceptionhierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="filelist" visible="yes" title="" intro=""/>
+      <tab type="globals" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="examples" visible="yes" title="" intro=""/>
   </navindex>
 
   <!-- Layout definition for a class page -->
   <class>
     <briefdescription visible="no"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <detaileddescription title=""/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <detaileddescription visible="yes" title=""/>
     <inheritancegraph visible="$CLASS_GRAPH"/>
     <collaborationgraph visible="$COLLABORATION_GRAPH"/>
-    <allmemberslink visible="yes"/>
     <memberdecl>
       <nestedclasses visible="yes" title=""/>
-      <publictypes title=""/>
-      <publicslots title=""/>
-      <signals title=""/>
-      <publicmethods title=""/>
-      <publicstaticmethods title=""/>
-      <publicattributes title=""/>
-      <publicstaticattributes title=""/>
-      <protectedtypes title=""/>
-      <protectedslots title=""/>
-      <protectedmethods title=""/>
-      <protectedstaticmethods title=""/>
-      <protectedattributes title=""/>
-      <protectedstaticattributes title=""/>
-      <packagetypes title=""/>
-      <packagemethods title=""/>
-      <packagestaticmethods title=""/>
-      <packageattributes title=""/>
-      <packagestaticattributes title=""/>
-      <properties title=""/>
-      <events title=""/>
-      <privatetypes title=""/>
-      <privateslots title=""/>
-      <privatemethods title=""/>
-      <privatestaticmethods title=""/>
-      <privateattributes title=""/>
-      <privatestaticattributes title=""/>
-      <friends title=""/>
-      <related title="" subtitle=""/>
+      <publictypes visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicmethods visible="yes" title=""/>
+      <publicstaticmethods visible="yes" title=""/>
+      <publicattributes visible="yes" title=""/>
+      <publicstaticattributes visible="yes" title=""/>
+      <protectedtypes visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <protectedmethods visible="yes" title=""/>
+      <protectedstaticmethods visible="yes" title=""/>
+      <protectedattributes visible="yes" title=""/>
+      <protectedstaticattributes visible="yes" title=""/>
+      <packagetypes visible="yes" title=""/>
+      <packagemethods visible="yes" title=""/>
+      <packagestaticmethods visible="yes" title=""/>
+      <packageattributes visible="yes" title=""/>
+      <packagestaticattributes visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <privatetypes visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <privatemethods visible="yes" title=""/>
+      <privatestaticmethods visible="yes" title=""/>
+      <privateattributes visible="yes" title=""/>
+      <privatestaticattributes visible="yes" title=""/>
+      <friends visible="yes" title=""/>
+      <related visible="yes" title="" subtitle=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    
     <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <constructors title=""/>
-      <functions title=""/>
-      <related title=""/>
-      <variables title=""/>
-      <properties title=""/>
-      <events title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <constructors visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <related visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
     </memberdef>
+    <allmemberslink visible="yes"/>
     <usedfiles visible="$SHOW_USED_FILES"/>
     <authorsection visible="yes"/>
   </class>
@@ -70,24 +107,44 @@
     <briefdescription visible="yes"/>
     <memberdecl>
       <nestednamespaces visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
       <classes visible="yes" title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
     </memberdef>
     <authorsection visible="yes"/>
   </namespace>
 
+  <!-- Layout definition for a concept page -->
+  <concept>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <definition visible="yes" title=""/>
+    <detaileddescription visible="yes" title=""/>
+    <authorsection visible="yes"/>
+  </concept>
+
   <!-- Layout definition for a file page -->
   <file>
     <briefdescription visible="yes"/>
@@ -96,23 +153,34 @@
     <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
     <sourcelink visible="yes"/>
     <memberdecl>
+      <interfaces visible="yes" title=""/>
       <classes visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
       <namespaces visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <memberdef>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
     </memberdef>
     <authorsection/>
   </file>
@@ -120,50 +188,74 @@
   <!-- Layout definition for a group page -->
   <group>
     <briefdescription visible="no"/>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
     <groupgraph visible="$GROUP_GRAPHS"/>
     <memberdecl>
       <nestedgroups visible="yes" title=""/>
+      <modules visible="yes" title=""/>
       <dirs visible="yes" title=""/>
       <files visible="yes" title=""/>
       <namespaces visible="yes" title=""/>
+      <concepts visible="yes" title=""/>
       <classes visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    
     <memberdef>
       <pagedocs/>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
     </memberdef>
     <authorsection visible="yes"/>
   </group>
 
+  <!-- Layout definition for a C++20 module page -->
+  <module>
+    <briefdescription visible="yes"/>
+    <exportedmodules visible="yes"/>
+    <memberdecl>
+      <concepts visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <membergroups visible="yes" title=""/>
+    </memberdecl>
+    <detaileddescription visible="yes" title=""/>
+    <memberdecl>
+      <files visible="yes"/>
+    </memberdecl>
+  </module>
+
   <!-- Layout definition for a directory page -->
   <directory>
     <briefdescription visible="yes"/>
@@ -172,6 +264,6 @@
       <dirs visible="yes"/>
       <files visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
   </directory>
 </doxygenlayout>
diff --git a/unsupported/doc/examples/CMakeLists.txt b/unsupported/doc/examples/CMakeLists.txt
index 7bb6773..74f36eb 100644
--- a/unsupported/doc/examples/CMakeLists.txt
+++ b/unsupported/doc/examples/CMakeLists.txt
@@ -2,14 +2,13 @@
 
 add_custom_target(unsupported_examples)
 
-include_directories(../../../unsupported ../../../unsupported/test)
-
 foreach(example_src ${examples_SRCS})
   get_filename_component(example ${example_src} NAME_WE)
   add_executable(example_${example} ${example_src})
   if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
     target_link_libraries(example_${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
   endif()
+  target_link_libraries(example_${example}  Eigen3::Eigen)
   add_custom_command(
     TARGET example_${example}
     POST_BUILD