diff --git a/Eigen/Core b/Eigen/Core
index c8fcb1c..3dce642 100644
--- a/Eigen/Core
+++ b/Eigen/Core
@@ -200,6 +200,7 @@
 #include "src/Core/products/TriangularMatrixMatrix.h"
 #include "src/Core/products/TriangularSolverMatrix.h"
 #include "src/Core/BandMatrix.h"
+#include "src/Core/ExpressionMaker.h"
 
 } // namespace Eigen
 
diff --git a/Eigen/Eigenvalues b/Eigen/Eigenvalues
index 9a6443f..8c68415 100644
--- a/Eigen/Eigenvalues
+++ b/Eigen/Eigenvalues
@@ -8,6 +8,7 @@
 #include "Cholesky"
 #include "Jacobi"
 #include "Householder"
+#include "LU"
 
 // Note that EIGEN_HIDE_HEAVY_CODE has to be defined per module
 #if (defined EIGEN_EXTERN_INSTANTIATIONS) && (EIGEN_EXTERN_INSTANTIATIONS>=2)
diff --git a/Eigen/Sparse b/Eigen/Sparse
index a8888da..96bd614 100644
--- a/Eigen/Sparse
+++ b/Eigen/Sparse
@@ -110,6 +110,7 @@
 #include "src/Sparse/SparseLLT.h"
 #include "src/Sparse/SparseLDLT.h"
 #include "src/Sparse/SparseLU.h"
+#include "src/Sparse/SparseExpressionMaker.h"
 
 #ifdef EIGEN_CHOLMOD_SUPPORT
 # include "src/Sparse/CholmodSupport.h"
diff --git a/Eigen/src/Array/Replicate.h b/Eigen/src/Array/Replicate.h
index b20bcd4..478c0bf 100644
--- a/Eigen/src/Array/Replicate.h
+++ b/Eigen/src/Array/Replicate.h
@@ -45,14 +45,10 @@
   typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
   typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
-    RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
-                  int(MatrixType::RowsAtCompileTime) + 1 : Dynamic,
-    ColsPlusOne = (MatrixType::ColsAtCompileTime != Dynamic) ?
-                  int(MatrixType::ColsAtCompileTime) + 1 : Dynamic,
-    RowsAtCompileTime = RowFactor==Dynamic || MatrixType::RowsAtCompileTime==Dynamic
+    RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
                       ? Dynamic
                       : RowFactor * MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = ColFactor==Dynamic || MatrixType::ColsAtCompileTime==Dynamic
+    ColsAtCompileTime = ColFactor==Dynamic || int(MatrixType::ColsAtCompileTime)==Dynamic
                       ? Dynamic
                       : ColFactor * MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = RowsAtCompileTime,
@@ -70,7 +66,7 @@
     EIGEN_GENERIC_PUBLIC_INTERFACE(Replicate)
 
     template<typename OriginalMatrixType>
-    inline Replicate(const OriginalMatrixType& matrix)
+    inline explicit Replicate(const OriginalMatrixType& matrix)
       : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
     {
       EIGEN_STATIC_ASSERT((ei_is_same_type<MatrixType,OriginalMatrixType>::ret),
@@ -98,6 +94,9 @@
     const typename MatrixType::Nested m_matrix;
     const ei_int_if_dynamic<RowFactor> m_rowFactor;
     const ei_int_if_dynamic<ColFactor> m_colFactor;
+
+  private:
+    Replicate& operator=(const Replicate&);
 };
 
 /** \nonstableyet
@@ -113,7 +112,7 @@
 inline const Replicate<Derived,RowFactor,ColFactor>
 MatrixBase<Derived>::replicate() const
 {
-  return derived();
+  return Replicate<Derived,RowFactor,ColFactor>(derived());
 }
 
 /** \nonstableyet
diff --git a/Eigen/src/Array/VectorwiseOp.h b/Eigen/src/Array/VectorwiseOp.h
index fa09589..8805672 100644
--- a/Eigen/src/Array/VectorwiseOp.h
+++ b/Eigen/src/Array/VectorwiseOp.h
@@ -95,6 +95,14 @@
         return m_functor(m_matrix.row(i));
     }
 
+    const Scalar coeff(int index) const
+    {
+      if (Direction==Vertical)
+        return m_functor(m_matrix.col(index));
+      else
+        return m_functor(m_matrix.row(index));
+    }
+
   protected:
     const MatrixTypeNested m_matrix;
     const MemberOp m_functor;
@@ -114,6 +122,7 @@
 EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(norm, (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(sum, (Size-1)*NumTraits<Scalar>::AddCost);
+EIGEN_MEMBER_FUNCTOR(mean, (Size-1)*NumTraits<Scalar>::AddCost + NumTraits<Scalar>::MulCost);
 EIGEN_MEMBER_FUNCTOR(minCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(maxCoeff, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(all, (Size-1)*NumTraits<Scalar>::AddCost);
@@ -289,6 +298,13 @@
     const typename ReturnType<ei_member_sum>::Type sum() const
     { return _expression(); }
 
+    /** \returns a row (or column) vector expression of the mean
+    * of each column (or row) of the referenced expression.
+    *
+    * \sa MatrixBase::mean() */
+    const typename ReturnType<ei_member_mean>::Type mean() const
+    { return _expression(); }
+
     /** \returns a row (or column) vector expression representing
       * whether \b all coefficients of each respective column (or row) are \c true.
       *
@@ -442,6 +458,9 @@
 
   protected:
     ExpressionTypeNested m_matrix;
+
+  private:
+    VectorwiseOp& operator=(const VectorwiseOp&);
 };
 
 /** \array_module
diff --git a/Eigen/src/Core/Assign.h b/Eigen/src/Core/Assign.h
index 4bd1046..8dc0157 100644
--- a/Eigen/src/Core/Assign.h
+++ b/Eigen/src/Core/Assign.h
@@ -93,7 +93,7 @@
               ? ( int(MayUnrollCompletely) && int(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
               : int(NoUnrolling)
   };
-  
+
   static void debug()
   {
     EIGEN_DEBUG_VAR(DstIsAligned)
diff --git a/Eigen/src/Core/Block.h b/Eigen/src/Core/Block.h
index cebfeaf..5fffdcb 100644
--- a/Eigen/src/Core/Block.h
+++ b/Eigen/src/Core/Block.h
@@ -33,10 +33,10 @@
   * \param MatrixType the type of the object in which we are taking a block
   * \param BlockRows the number of rows of the block we are taking at compile time (optional)
   * \param BlockCols the number of columns of the block we are taking at compile time (optional)
-  * \param _PacketAccess allows to enforce aligned loads and stores if set to \b ForceAligned.
-  *                      The default is \b AsRequested. This parameter is internaly used by Eigen
-  *                      in expressions such as \code mat.block() += other; \endcode and most of
-  *                      the time this is the only way it is used.
+  * \param _PacketAccess \internal used to enforce aligned loads in expressions such as
+  *                      \code mat.block() += other; \endcode. Possible values are
+  *                      \c AsRequested (default) and \c EnforceAlignedAccess.
+  *                      See class MapBase for more details.
   * \param _DirectAccessStatus \internal used for partial specialization
   *
   * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
@@ -84,9 +84,9 @@
     CoeffReadCost = ei_traits<MatrixType>::CoeffReadCost,
     PacketAccess = _PacketAccess
   };
-  typedef typename ei_meta_if<int(PacketAccess)==ForceAligned,
+  typedef typename ei_meta_if<int(PacketAccess)==EnforceAlignedAccess,
                  Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectAccessStatus>&,
-                 Block<MatrixType, BlockRows, BlockCols, ForceAligned, _DirectAccessStatus> >::ret AlignedDerivedType;
+                 Block<MatrixType, BlockRows, BlockCols, EnforceAlignedAccess, _DirectAccessStatus> >::ret AlignedDerivedType;
 };
 
 template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess, int _DirectAccessStatus> class Block
@@ -228,13 +228,13 @@
 
     class InnerIterator;
     typedef typename ei_traits<Block>::AlignedDerivedType AlignedDerivedType;
-    friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==AsRequested?ForceAligned:AsRequested,HasDirectAccess>;
+    friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==EnforceAlignedAccess?AsRequested:EnforceAlignedAccess,HasDirectAccess>;
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
 
-    AlignedDerivedType _convertToForceAligned()
+    AlignedDerivedType _convertToEnforceAlignedAccess()
     {
-      return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
+      return Block<MatrixType,BlockRows,BlockCols,EnforceAlignedAccess,HasDirectAccess>
                     (m_matrix, Base::m_data, Base::m_rows.value(), Base::m_cols.value());
     }
 
diff --git a/Eigen/src/Core/CwiseNullaryOp.h b/Eigen/src/Core/CwiseNullaryOp.h
index 61ce518..7c1984b 100644
--- a/Eigen/src/Core/CwiseNullaryOp.h
+++ b/Eigen/src/Core/CwiseNullaryOp.h
@@ -147,7 +147,6 @@
 MatrixBase<Derived>::NullaryExpr(int size, const CustomNullaryOp& func)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  ei_assert(IsVectorAtCompileTime);
   if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
   else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
 }
diff --git a/Eigen/src/Core/ExpressionMaker.h b/Eigen/src/Core/ExpressionMaker.h
new file mode 100644
index 0000000..1d265b6
--- /dev/null
+++ b/Eigen/src/Core/ExpressionMaker.h
@@ -0,0 +1,61 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_EXPRESSIONMAKER_H
+#define EIGEN_EXPRESSIONMAKER_H
+
+// computes the shape of a matrix from its traits flag
+template<typename XprType> struct ei_shape_of
+{
+  enum { ret = ei_traits<XprType>::Flags&SparseBit ? IsSparse : IsDense };
+};
+
+
+// Since the Sparse module is completely separated from the Core module, there is
+// no way to write the type of a generic expression working for both dense and sparse
+// matrix. Unless we change the overall design, here is a workaround.
+// There is an example in unsuported/Eigen/src/AutoDiff/AutoDiffScalar.
+
+template<typename XprType, int Shape = ei_shape_of<XprType>::ret>
+struct MakeNestByValue
+{
+  typedef NestByValue<XprType> Type;
+};
+
+template<typename Func, typename XprType, int Shape = ei_shape_of<XprType>::ret>
+struct MakeCwiseUnaryOp
+{
+  typedef CwiseUnaryOp<Func,XprType> Type;
+};
+
+template<typename Func, typename A, typename B, int Shape = ei_shape_of<A>::ret>
+struct MakeCwiseBinaryOp
+{
+  typedef CwiseBinaryOp<Func,A,B> Type;
+};
+
+// TODO complete the list
+
+
+#endif // EIGEN_EXPRESSIONMAKER_H
diff --git a/Eigen/src/Core/Functors.h b/Eigen/src/Core/Functors.h
index cbaeb83..259f402 100644
--- a/Eigen/src/Core/Functors.h
+++ b/Eigen/src/Core/Functors.h
@@ -350,7 +350,7 @@
   EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
   EIGEN_STRONG_INLINE const PacketScalar packetOp(const PacketScalar& a) const
   { return ei_pmul(a, ei_pset1(m_other)); }
-  const Scalar m_other;
+  typename ei_makeconst<typename NumTraits<Scalar>::Nested>::type m_other;
 private:
   ei_scalar_multiple_op& operator=(const ei_scalar_multiple_op&);
 };
@@ -364,7 +364,7 @@
   EIGEN_STRONG_INLINE ei_scalar_multiple2_op(const ei_scalar_multiple2_op& other) : m_other(other.m_other) { }
   EIGEN_STRONG_INLINE ei_scalar_multiple2_op(const Scalar2& other) : m_other(other) { }
   EIGEN_STRONG_INLINE result_type operator() (const Scalar1& a) const { return a * m_other; }
-  const Scalar2 m_other;
+  typename ei_makeconst<typename NumTraits<Scalar2>::Nested>::type m_other;
 };
 template<typename Scalar1,typename Scalar2>
 struct ei_functor_traits<ei_scalar_multiple2_op<Scalar1,Scalar2> >
@@ -393,7 +393,7 @@
   EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const ei_scalar_quotient1_impl& other) : m_other(other.m_other) { }
   EIGEN_STRONG_INLINE ei_scalar_quotient1_impl(const Scalar& other) : m_other(other) {}
   EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
-  const Scalar m_other;
+  typename ei_makeconst<typename NumTraits<Scalar>::Nested>::type m_other;
 };
 template<typename Scalar>
 struct ei_functor_traits<ei_scalar_quotient1_impl<Scalar,false> >
diff --git a/Eigen/src/Core/Map.h b/Eigen/src/Core/Map.h
index f6bc814..dba7e20 100644
--- a/Eigen/src/Core/Map.h
+++ b/Eigen/src/Core/Map.h
@@ -31,16 +31,14 @@
   * \brief A matrix or vector expression mapping an existing array of data.
   *
   * \param MatrixType the equivalent matrix type of the mapped data
-  * \param _PacketAccess allows to enforce aligned loads and stores if set to ForceAligned.
-  *                      The default is AsRequested. This parameter is internaly used by Eigen
-  *                      in expressions such as \code Map<...>(...) += other; \endcode and most
-  *                      of the time this is the only way it is used.
+  * \param PointerAlignment specifies whether the pointer is \c Aligned, or \c Unaligned.
+  *                         The default is \c Unaligned.
   *
   * This class represents a matrix or vector expression mapping an existing array of data.
   * It can be used to let Eigen interface without any overhead with non-Eigen data structures,
   * such as plain C arrays or structures from other libraries.
   *
-  * \b Tips: to change the array of data mapped by a Map object, you can use the C++
+  * \b Tip: to change the array of data mapped by a Map object, you can use the C++
   * placement new syntax:
   *
   * Example: \include Map_placement_new.cpp
@@ -48,22 +46,27 @@
   *
   * This class is the return type of Matrix::Map() but can also be used directly.
   *
+  * \b Note \b to \b Eigen \b developers: The template parameter \c PointerAlignment
+  * can also be or-ed with \c EnforceAlignedAccess in order to enforce aligned read 
+  * in expressions such as \code A += B; \endcode. See class MapBase for further details.
+  *
   * \sa Matrix::Map()
   */
-template<typename MatrixType, int _PacketAccess>
-struct ei_traits<Map<MatrixType, _PacketAccess> > : public ei_traits<MatrixType>
+template<typename MatrixType, int Options>
+struct ei_traits<Map<MatrixType, Options> > : public ei_traits<MatrixType>
 {
   enum {
-    PacketAccess = _PacketAccess,
-    Flags = ei_traits<MatrixType>::Flags & ~AlignedBit
+    PacketAccess = Options & EnforceAlignedAccess,
+    Flags = (Options&Aligned)==Aligned ? ei_traits<MatrixType>::Flags |  AlignedBit
+                                       : ei_traits<MatrixType>::Flags & ~AlignedBit
   };
-  typedef typename ei_meta_if<int(PacketAccess)==ForceAligned,
-                              Map<MatrixType, _PacketAccess>&,
-                              Map<MatrixType, ForceAligned> >::ret AlignedDerivedType;
+  typedef typename ei_meta_if<int(PacketAccess)==EnforceAlignedAccess,
+                              Map<MatrixType, Options>&,
+                              Map<MatrixType, Options|EnforceAlignedAccess> >::ret AlignedDerivedType;
 };
 
-template<typename MatrixType, int PacketAccess> class Map
-  : public MapBase<Map<MatrixType, PacketAccess> >
+template<typename MatrixType, int Options> class Map
+  : public MapBase<Map<MatrixType, Options> >
 {
   public:
 
@@ -72,9 +75,9 @@
 
     inline int stride() const { return this->innerSize(); }
 
-    AlignedDerivedType _convertToForceAligned()
+    AlignedDerivedType _convertToEnforceAlignedAccess()
     {
-      return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
+      return AlignedDerivedType(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
     }
 
     inline Map(const Scalar* data) : Base(data) {}
diff --git a/Eigen/src/Core/MapBase.h b/Eigen/src/Core/MapBase.h
index 88a3fac..8770732 100644
--- a/Eigen/src/Core/MapBase.h
+++ b/Eigen/src/Core/MapBase.h
@@ -32,11 +32,17 @@
   *
   * Expression classes inheriting MapBase must define the constant \c PacketAccess,
   * and type \c AlignedDerivedType in their respective ei_traits<> specialization structure.
-  * The value of \c PacketAccess can be either:
-  *  - \b ForceAligned which enforces both aligned loads and stores
-  *  - \b AsRequested which is the default behavior
+  * The value of \c PacketAccess can be either \b AsRequested, or set to \b EnforceAlignedAccess which
+  * enforces both aligned loads and stores.
+  * 
+  * \c EnforceAlignedAccess is automatically set in expressions such as 
+  * \code A += B; \endcode where A is either a Block or a Map. Here,
+  * this expression is transfomed into \code A = A_with_EnforceAlignedAccess + B; \endcode
+  * avoiding unaligned loads from A. Indeed, since Eigen's packet evaluation mechanism
+  * automatically align to the destination matrix, we know that loads to A will be aligned too.
+  * 
   * The type \c AlignedDerivedType should correspond to the equivalent expression type
-  * with \c PacketAccess being \c ForceAligned.
+  * with \c PacketAccess set to \c EnforceAlignedAccess.
   *
   * \sa class Map, class Block
   */
@@ -79,19 +85,19 @@
       * \sa MapBase::stride() */
     inline const Scalar* data() const { return m_data; }
 
-    template<bool IsForceAligned,typename Dummy> struct force_aligned_impl {
+    template<bool IsEnforceAlignedAccess,typename Dummy> struct force_aligned_impl {
       static AlignedDerivedType run(MapBase& a) { return a.derived(); }
     };
 
     template<typename Dummy> struct force_aligned_impl<false,Dummy> {
-      static AlignedDerivedType run(MapBase& a) { return a.derived()._convertToForceAligned(); }
+      static AlignedDerivedType run(MapBase& a) { return a.derived()._convertToEnforceAlignedAccess(); }
     };
 
     /** \returns an expression equivalent to \c *this but having the \c PacketAccess constant
-      * set to \c ForceAligned. Must be reimplemented by the derived class. */
+      * set to \c EnforceAlignedAccess. Must be reimplemented by the derived class. */
     AlignedDerivedType forceAligned()
     {
-      return force_aligned_impl<int(PacketAccess)==int(ForceAligned),Derived>::run(*this);
+      return force_aligned_impl<int(PacketAccess)==int(EnforceAlignedAccess),Derived>::run(*this);
     }
 
     inline const Scalar& coeff(int row, int col) const
@@ -131,7 +137,7 @@
     template<int LoadMode>
     inline PacketScalar packet(int row, int col) const
     {
-      return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode>
+      return ei_ploadt<Scalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : LoadMode>
                (m_data + (IsRowMajor ? col + row * stride()
                                      : row + col * stride()));
     }
@@ -139,13 +145,13 @@
     template<int LoadMode>
     inline PacketScalar packet(int index) const
     {
-      return ei_ploadt<Scalar, int(PacketAccess) == ForceAligned ? Aligned : LoadMode>(m_data + index);
+      return ei_ploadt<Scalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : LoadMode>(m_data + index);
     }
 
     template<int StoreMode>
     inline void writePacket(int row, int col, const PacketScalar& x)
     {
-      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode>
+      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : StoreMode>
                (const_cast<Scalar*>(m_data) + (IsRowMajor ? col + row * stride()
                                                           : row + col * stride()), x);
     }
@@ -153,13 +159,14 @@
     template<int StoreMode>
     inline void writePacket(int index, const PacketScalar& x)
     {
-      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == ForceAligned ? Aligned : StoreMode>
+      ei_pstoret<Scalar, PacketScalar, int(PacketAccess) == EnforceAlignedAccess ? Aligned : StoreMode>
         (const_cast<Scalar*>(m_data) + index, x);
     }
 
     inline MapBase(const Scalar* data) : m_data(data), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
     {
       EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
+      checkDataAlignment();
     }
 
     inline MapBase(const Scalar* data, int size)
@@ -170,6 +177,7 @@
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
       ei_assert(size >= 0);
       ei_assert(data == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == size);
+      checkDataAlignment();
     }
 
     inline MapBase(const Scalar* data, int rows, int cols)
@@ -178,6 +186,7 @@
       ei_assert( (data == 0)
               || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
                   && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+      checkDataAlignment();
     }
 
     Derived& operator=(const MapBase& other)
@@ -215,6 +224,13 @@
     { return derived() = forceAligned() / other; }
 
   protected:
+
+    void checkDataAlignment() const
+    {
+      ei_assert( ((!(ei_traits<Derived>::Flags&AlignedBit))
+                  || ((std::size_t(m_data)&0xf)==0)) && "data is not aligned");
+    }
+    
     const Scalar* EIGEN_RESTRICT m_data;
     const ei_int_if_dynamic<RowsAtCompileTime> m_rows;
     const ei_int_if_dynamic<ColsAtCompileTime> m_cols;
diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index 027e6bb..17d2f28 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -58,6 +58,9 @@
   * \li \c MatrixXf is a dynamic-size matrix of floats (\c Matrix<float, Dynamic, Dynamic>)
   * \li \c VectorXf is a dynamic-size vector of floats (\c Matrix<float, Dynamic, 1>)
   *
+  * \li \c Matrix2Xf is a partially fixed-size (dynamic-size) matrix of floats (\c Matrix<float, 2, Dynamic>)
+  * \li \c MatrixX3d is a partially dynamic-size (fixed-size) matrix of double (\c Matrix<double, Dynamic, 3>)
+  *
   * See \link matrixtypedefs this page \endlink for a complete list of predefined \em %Matrix and \em Vector typedefs.
   *
   * You can access elements of vectors and matrices using normal subscripting:
@@ -794,11 +797,20 @@
 /** \ingroup matrixtypedefs */                                    \
 typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
 
+#define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix;  \
+/** \ingroup matrixtypedefs */                                    \
+typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
+
 #define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
 EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
-EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X)
+EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
 
 EIGEN_MAKE_TYPEDEFS_ALL_SIZES(int,                  i)
 EIGEN_MAKE_TYPEDEFS_ALL_SIZES(float,                f)
diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h
index 387c113..72ce865 100644
--- a/Eigen/src/Core/MatrixBase.h
+++ b/Eigen/src/Core/MatrixBase.h
@@ -145,12 +145,6 @@
 #endif
     };
 
-    /** Default constructor. Just checks at compile-time for self-consistency of the flags. */
-    MatrixBase()
-    {
-      ei_assert(ei_are_flags_consistent<Flags>::ret);
-    }
-
 #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
@@ -177,7 +171,7 @@
     inline int diagonalSize() const { return std::min(rows(),cols()); }
     /** \returns the number of nonzero coefficients which is in practice the number
       * of stored coefficients. */
-    inline int nonZeros() const { return derived().nonZeros(); }
+    inline int nonZeros() const { return size(); }
     /** \returns true if either the number of rows or the number of columns is equal to 1.
       * In other words, this function returns
       * \code rows()==1 || cols()==1 \endcode
@@ -190,6 +184,25 @@
       * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
     int innerSize() const { return (int(Flags)&RowMajorBit) ? this->cols() : this->rows(); }
 
+    /** Only plain matrices, not expressions may be resized; therefore the only useful resize method is
+      * Matrix::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(int size)
+    {
+      ei_assert(size == this->size()
+                && "MatrixBase::resize() does not actually allow to resize.");
+    }
+    /** Only plain matrices, not expressions may be resized; therefore the only useful resize method is
+      * Matrix::resize(). The present method only asserts that the new size equals the old size, and does
+      * nothing else.
+      */
+    void resize(int rows, int cols)
+    {
+      ei_assert(rows == this->rows() && cols == this->cols()
+                && "MatrixBase::resize() does not actually allow to resize.");
+    }
+
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
       * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
@@ -626,8 +639,9 @@
     const CwiseBinaryOp<CustomBinaryOp, Derived, OtherDerived>
     binaryExpr(const MatrixBase<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const;
 
-
+    
     Scalar sum() const;
+    Scalar mean() const;
     Scalar trace() const;
 
     Scalar prod() const;
@@ -782,6 +796,24 @@
     #ifdef EIGEN_MATRIXBASE_PLUGIN
     #include EIGEN_MATRIXBASE_PLUGIN
     #endif
+
+  protected:
+    /** Default constructor. Do nothing. */
+    MatrixBase()
+    {
+      /* Just checks for self-consistency of the flags.
+       * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
+       */
+#ifdef EIGEN_INTERNAL_DEBUGGING
+      EIGEN_STATIC_ASSERT(ei_are_flags_consistent<Flags>::ret,
+                          INVALID_MATRIXBASE_TEMPLATE_PARAMETERS)
+#endif
+    }
+    
+  private:
+    explicit MatrixBase(int);
+    MatrixBase(int,int);
+    template<typename OtherDerived> explicit MatrixBase(const MatrixBase<OtherDerived>&);
 };
 
 #endif // EIGEN_MATRIXBASE_H
diff --git a/Eigen/src/Core/NumTraits.h b/Eigen/src/Core/NumTraits.h
index 24afe54..304e2c1 100644
--- a/Eigen/src/Core/NumTraits.h
+++ b/Eigen/src/Core/NumTraits.h
@@ -52,6 +52,7 @@
 {
   typedef int Real;
   typedef double FloatingPoint;
+  typedef int Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 0,
@@ -65,6 +66,7 @@
 {
   typedef float Real;
   typedef float FloatingPoint;
+  typedef float Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 1,
@@ -78,6 +80,7 @@
 {
   typedef double Real;
   typedef double FloatingPoint;
+  typedef double Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 1,
@@ -91,6 +94,7 @@
 {
   typedef _Real Real;
   typedef std::complex<_Real> FloatingPoint;
+  typedef std::complex<_Real> Nested;
   enum {
     IsComplex = 1,
     HasFloatingPoint = NumTraits<Real>::HasFloatingPoint,
@@ -104,6 +108,7 @@
 {
   typedef long long int Real;
   typedef long double FloatingPoint;
+  typedef long long int Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 0,
@@ -117,6 +122,7 @@
 {
   typedef long double Real;
   typedef long double FloatingPoint;
+  typedef long double Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 1,
@@ -130,6 +136,7 @@
 {
   typedef bool Real;
   typedef float FloatingPoint;
+  typedef bool Nested;
   enum {
     IsComplex = 0,
     HasFloatingPoint = 0,
diff --git a/Eigen/src/Core/Redux.h b/Eigen/src/Core/Redux.h
index f437208..9f79615 100644
--- a/Eigen/src/Core/Redux.h
+++ b/Eigen/src/Core/Redux.h
@@ -112,6 +112,16 @@
   }
 };
 
+// This is actually dead code and will never be called. It is required
+// to prevent false warnings regarding failed inlining though
+// for 0 length run() will never be called at all.
+template<typename Func, typename Derived, int Start>
+struct ei_redux_novec_unroller<Func, Derived, Start, 0>
+{
+  typedef typename Derived::Scalar Scalar;
+  EIGEN_STRONG_INLINE static Scalar run(const Derived&, const Func&) { return Scalar(); }
+};
+
 /*** vectorization ***/
   
 template<typename Func, typename Derived, int Start, int Length>
@@ -297,7 +307,7 @@
 /** \returns the result of a full redux operation on the whole matrix or vector using \a func
   *
   * The template parameter \a BinaryOp is the type of the functor \a func which must be
-  * an assiociative operator. Both current STL and TR1 functor styles are handled.
+  * an associative operator. Both current STL and TR1 functor styles are handled.
   *
   * \sa MatrixBase::sum(), MatrixBase::minCoeff(), MatrixBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
   */
@@ -332,7 +342,7 @@
 
 /** \returns the sum of all coefficients of *this
   *
-  * \sa trace(), prod()
+  * \sa trace(), prod(), mean()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar
@@ -341,12 +351,23 @@
   return this->redux(Eigen::ei_scalar_sum_op<Scalar>());
 }
 
+/** \returns the mean of all coefficients of *this
+*
+* \sa trace(), prod(), sum()
+*/
+template<typename Derived>
+EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar
+MatrixBase<Derived>::mean() const
+{
+  return this->redux(Eigen::ei_scalar_sum_op<Scalar>()) / this->size();
+}
+
 /** \returns the product of all coefficients of *this
   *
   * Example: \include MatrixBase_prod.cpp
   * Output: \verbinclude MatrixBase_prod.out
   *
-  * \sa sum()
+  * \sa sum(), mean(), trace()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE typename ei_traits<Derived>::Scalar
diff --git a/Eigen/src/Core/StableNorm.h b/Eigen/src/Core/StableNorm.h
index 06e69c4..f2d1e72 100644
--- a/Eigen/src/Core/StableNorm.h
+++ b/Eigen/src/Core/StableNorm.h
@@ -59,7 +59,7 @@
   RealScalar invScale = 1;
   RealScalar ssq = 0; // sum of square
   enum {
-    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? ForceAligned : AsRequested
+    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? EnforceAlignedAccess : AsRequested
   };
   int n = size();
   int bi=0;
diff --git a/Eigen/src/Core/Swap.h b/Eigen/src/Core/Swap.h
index a7cf219..45c1809 100644
--- a/Eigen/src/Core/Swap.h
+++ b/Eigen/src/Core/Swap.h
@@ -117,6 +117,9 @@
 
   protected:
     ExpressionType& m_expression;
+
+  private:
+    SwapWrapper& operator=(const SwapWrapper&);
 };
 
 /** swaps *this with the expression \a other.
diff --git a/Eigen/src/Core/Transpose.h b/Eigen/src/Core/Transpose.h
index 8527edc..990aa38 100644
--- a/Eigen/src/Core/Transpose.h
+++ b/Eigen/src/Core/Transpose.h
@@ -69,7 +69,6 @@
 
     inline int rows() const { return m_matrix.cols(); }
     inline int cols() const { return m_matrix.rows(); }
-    inline int nonZeros() const { return m_matrix.nonZeros(); }
     inline int stride() const { return m_matrix.stride(); }
     inline Scalar* data() { return m_matrix.data(); }
     inline const Scalar* data() const { return m_matrix.data(); }
@@ -354,5 +353,5 @@
   return lazyAssign(static_cast<const MatrixBase<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerivedA,CwiseUnaryOp<ei_scalar_conjugate_op<Scalar>, NestByValue<Eigen::Transpose<DerivedB> > > > >& >(other));
 }
 #endif
-    
+
 #endif // EIGEN_TRANSPOSE_H
diff --git a/Eigen/src/Core/arch/SSE/PacketMath.h b/Eigen/src/Core/arch/SSE/PacketMath.h
index eb1c2d3..f588a86 100644
--- a/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -220,8 +220,14 @@
 template<> EIGEN_STRONG_INLINE void ei_pstoreu<float>(float*  to, const Packet4f& from) { ei_pstoreu((double*)to, _mm_castps_pd(from)); }
 template<> EIGEN_STRONG_INLINE void ei_pstoreu<int>(int*      to, const Packet4i& from) { ei_pstoreu((double*)to, _mm_castsi128_pd(from)); }
 
-#ifdef _MSC_VER
-// this fix internal compilation error
+#if (_MSC_VER <= 1500) && defined(_WIN64)
+// The temporary variable fixes an internal compilation error.
+// Direct of the struct members fixed bug #62.
+template<> EIGEN_STRONG_INLINE float  ei_pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
+template<> EIGEN_STRONG_INLINE double ei_pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
+template<> EIGEN_STRONG_INLINE int    ei_pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#elif (_MSC_VER <= 1500)
+// The temporary variable fixes an internal compilation error.
 template<> EIGEN_STRONG_INLINE float  ei_pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
 template<> EIGEN_STRONG_INLINE double ei_pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
 template<> EIGEN_STRONG_INLINE int    ei_pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
diff --git a/Eigen/src/Core/util/Constants.h b/Eigen/src/Core/util/Constants.h
index affc1d4..169fb5a 100644
--- a/Eigen/src/Core/util/Constants.h
+++ b/Eigen/src/Core/util/Constants.h
@@ -196,8 +196,8 @@
 
 enum { DiagonalOnTheLeft, DiagonalOnTheRight };
 
-enum { Aligned, Unaligned };
-enum { ForceAligned, AsRequested };
+enum { Unaligned=0, Aligned=1 };
+enum { AsRequested=0, EnforceAlignedAccess=2 };
 enum { ConditionalJumpCost = 5 };
 enum CornerType { TopLeft, TopRight, BottomLeft, BottomRight };
 enum DirectionType { Vertical, Horizontal, BothDirections };
diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index 65e5ce6..0259047 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -129,6 +129,7 @@
 // Geometry module:
 template<typename Derived, int _Dim> class RotationBase;
 template<typename Lhs, typename Rhs> class Cross;
+template<typename Derived> class QuaternionBase;
 template<typename Scalar> class Quaternion;
 template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
index 706b301..5ee17e9 100644
--- a/Eigen/src/Core/util/Macros.h
+++ b/Eigen/src/Core/util/Macros.h
@@ -256,7 +256,7 @@
 
 // C++0x features
 #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600))
-  #define EIGEN_REF_TO_TEMPORARY &&
+  #define EIGEN_REF_TO_TEMPORARY const &
 #else
   #define EIGEN_REF_TO_TEMPORARY const &
 #endif
diff --git a/Eigen/src/Core/util/Memory.h b/Eigen/src/Core/util/Memory.h
index f8581ee..bc52355 100644
--- a/Eigen/src/Core/util/Memory.h
+++ b/Eigen/src/Core/util/Memory.h
@@ -83,7 +83,7 @@
     ei_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
   #endif
 
-  void *result;  
+  void *result;
   #if !EIGEN_ALIGN
     result = malloc(size);
   #elif EIGEN_MALLOC_ALREADY_ALIGNED
@@ -97,7 +97,7 @@
   #else
     result = ei_handmade_aligned_malloc(size);
   #endif
-    
+
   #ifdef EIGEN_EXCEPTIONS
     if(result == 0)
       throw std::bad_alloc();
@@ -324,34 +324,34 @@
         typedef aligned_allocator<U> other;
     };
 
-    pointer address( reference value ) const 
+    pointer address( reference value ) const
     {
         return &value;
     }
 
-    const_pointer address( const_reference value ) const 
+    const_pointer address( const_reference value ) const
     {
         return &value;
     }
 
-    aligned_allocator() throw() 
+    aligned_allocator() throw()
     {
     }
 
-    aligned_allocator( const aligned_allocator& ) throw() 
+    aligned_allocator( const aligned_allocator& ) throw()
     {
     }
 
     template<class U>
-    aligned_allocator( const aligned_allocator<U>& ) throw() 
+    aligned_allocator( const aligned_allocator<U>& ) throw()
     {
     }
 
-    ~aligned_allocator() throw() 
+    ~aligned_allocator() throw()
     {
     }
 
-    size_type max_size() const throw() 
+    size_type max_size() const throw()
     {
         return std::numeric_limits<size_type>::max();
     }
@@ -362,24 +362,24 @@
         return static_cast<pointer>( ei_aligned_malloc( num * sizeof(T) ) );
     }
 
-    void construct( pointer p, const T& value ) 
+    void construct( pointer p, const T& value )
     {
         ::new( p ) T( value );
     }
 
-    void destroy( pointer p ) 
+    void destroy( pointer p )
     {
         p->~T();
     }
 
-    void deallocate( pointer p, size_type /*num*/ ) 
+    void deallocate( pointer p, size_type /*num*/ )
     {
         ei_aligned_free( p );
     }
-    
+
     bool operator!=(const aligned_allocator<T>& other) const
     { return false; }
-    
+
     bool operator==(const aligned_allocator<T>& other) const
     { return true; }
 };
diff --git a/Eigen/src/Core/util/Meta.h b/Eigen/src/Core/util/Meta.h
index 3a960be..2fdfd93 100644
--- a/Eigen/src/Core/util/Meta.h
+++ b/Eigen/src/Core/util/Meta.h
@@ -64,6 +64,13 @@
 template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
 template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
 
+template<typename T> struct ei_makeconst            { typedef const T type;  };
+template<typename T> struct ei_makeconst<const T>   { typedef const T type;  };
+template<typename T> struct ei_makeconst<T&>        { typedef const T& type; };
+template<typename T> struct ei_makeconst<const T&>  { typedef const T& type; };
+template<typename T> struct ei_makeconst<T*>        { typedef const T* type; };
+template<typename T> struct ei_makeconst<const T*>  { typedef const T* type; };
+
 /** \internal Allows to enable/disable an overload
   * according to a compile time condition.
   */
diff --git a/Eigen/src/Core/util/StaticAssert.h b/Eigen/src/Core/util/StaticAssert.h
index 883f2d9..56a57b7 100644
--- a/Eigen/src/Core/util/StaticAssert.h
+++ b/Eigen/src/Core/util/StaticAssert.h
@@ -76,9 +76,11 @@
         THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES,
         THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES,
         INVALID_MATRIX_TEMPLATE_PARAMETERS,
+        INVALID_MATRIXBASE_TEMPLATE_PARAMETERS,
         BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER,
         THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX,
-        THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE
+        THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE,
+        THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES
       };
     };
 
diff --git a/Eigen/src/Core/util/XprHelper.h b/Eigen/src/Core/util/XprHelper.h
index cea2faa..be4266f 100644
--- a/Eigen/src/Core/util/XprHelper.h
+++ b/Eigen/src/Core/util/XprHelper.h
@@ -1,4 +1,4 @@
-// This file is part of Eigen, a lightweight C++ template library
+// // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
diff --git a/Eigen/src/Eigenvalues/ComplexSchur.h b/Eigen/src/Eigenvalues/ComplexSchur.h
index 0534715..a25af34 100644
--- a/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -167,10 +167,11 @@
     //locate the range in which to iterate
     while(iu > 0)
     {
-      d = ei_norm1(m_matT.coeffRef(iu,iu)) + ei_norm1(m_matT.coeffRef(iu-1,iu-1));
-      sd = ei_norm1(m_matT.coeffRef(iu,iu-1));
+      d = ei_norm1(m_matT.coeff(iu,iu)) + ei_norm1(m_matT.coeff(iu-1,iu-1));
+      sd = ei_norm1(m_matT.coeff(iu,iu-1));
 
-      if(sd >= eps * d) break; // FIXME : precision criterion ??
+      if(!ei_isMuchSmallerThan(sd,d,eps))
+        break;
 
       m_matT.coeffRef(iu,iu-1) = Complex(0);
       iter = 0;
@@ -187,13 +188,14 @@
     }
 
     il = iu-1;
-    while( il > 0 )
+    while(il > 0)
     {
       // check if the current 2x2 block on the diagonal is upper triangular
-      d = ei_norm1(m_matT.coeffRef(il,il)) + ei_norm1(m_matT.coeffRef(il-1,il-1));
-      sd = ei_norm1(m_matT.coeffRef(il,il-1));
+      d = ei_norm1(m_matT.coeff(il,il)) + ei_norm1(m_matT.coeff(il-1,il-1));
+      sd = ei_norm1(m_matT.coeff(il,il-1));
 
-      if(sd < eps * d) break; // FIXME : precision criterion ??
+      if(ei_isMuchSmallerThan(sd,d,eps))
+        break;
 
       --il;
     }
diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 2f9f978..67b0401 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
+// Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -25,11 +26,6 @@
 #ifndef EIGEN_QUATERNION_H
 #define EIGEN_QUATERNION_H
 
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-struct ei_quaternion_assign_impl;
-
 /** \geometry_module \ingroup Geometry_Module
   *
   * \class Quaternion
@@ -52,28 +48,33 @@
   * \sa  class AngleAxis, class Transform
   */
 
-template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> >
+template<typename Other,
+         int OtherRows=Other::RowsAtCompileTime,
+         int OtherCols=Other::ColsAtCompileTime>
+struct ei_quaternionbase_assign_impl;
+
+template<typename Scalar> class Quaternion; // [XXX] => remove when Quaternion becomes Quaternion
+
+template<typename Derived>
+struct ei_traits<QuaternionBase<Derived> >
 {
-  typedef _Scalar Scalar;
+  typedef typename ei_traits<Derived>::Scalar Scalar;
+  enum {
+    PacketAccess = ei_traits<Derived>::PacketAccess
+  };
 };
 
-template<typename _Scalar>
-class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
+template<class Derived>
+class QuaternionBase : public RotationBase<Derived, 3>
 {
-  typedef RotationBase<Quaternion<_Scalar>,3> Base;
-
-
-
+  typedef RotationBase<Derived, 3> Base;
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
-
   using Base::operator*;
 
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
+  typedef typename ei_traits<QuaternionBase<Derived> >::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
 
-  /** the type of the Coefficients 4-vector */
-  typedef Matrix<Scalar, 4, 1> Coefficients;
+ // typedef typename Matrix<Scalar,4,1> Coefficients;
   /** the type of a 3D vector */
   typedef Matrix<Scalar,3,1> Vector3;
   /** the equivalent rotation matrix type */
@@ -82,34 +83,130 @@
   typedef AngleAxis<Scalar> AngleAxisType;
 
   /** \returns the \c x coefficient */
-  inline Scalar x() const { return m_coeffs.coeff(0); }
+  inline Scalar x() const { return this->derived().coeffs().coeff(0); }
   /** \returns the \c y coefficient */
-  inline Scalar y() const { return m_coeffs.coeff(1); }
+  inline Scalar y() const { return this->derived().coeffs().coeff(1); }
   /** \returns the \c z coefficient */
-  inline Scalar z() const { return m_coeffs.coeff(2); }
+  inline Scalar z() const { return this->derived().coeffs().coeff(2); }
   /** \returns the \c w coefficient */
-  inline Scalar w() const { return m_coeffs.coeff(3); }
+  inline Scalar w() const { return this->derived().coeffs().coeff(3); }
 
   /** \returns a reference to the \c x coefficient */
-  inline Scalar& x() { return m_coeffs.coeffRef(0); }
+  inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
   /** \returns a reference to the \c y coefficient */
-  inline Scalar& y() { return m_coeffs.coeffRef(1); }
+  inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
   /** \returns a reference to the \c z coefficient */
-  inline Scalar& z() { return m_coeffs.coeffRef(2); }
+  inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
   /** \returns a reference to the \c w coefficient */
-  inline Scalar& w() { return m_coeffs.coeffRef(3); }
+  inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
 
   /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const Block<Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
+  inline const VectorBlock<typename ei_traits<Derived>::Coefficients,3> vec() const { return this->derived().coeffs().template start<3>(); }
 
   /** \returns a vector expression of the imaginary part (x,y,z) */
-  inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
+  inline VectorBlock<typename ei_traits<Derived>::Coefficients,3> vec() { return this->derived().coeffs().template start<3>(); }
 
   /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
+  inline const typename ei_traits<Derived>::Coefficients& coeffs() const { return this->derived().coeffs(); }
 
   /** \returns a vector expression of the coefficients (x,y,z,w) */
-  inline Coefficients& coeffs() { return m_coeffs; }
+  inline typename ei_traits<Derived>::Coefficients& coeffs() { return this->derived().coeffs(); }
+
+  template<class OtherDerived> QuaternionBase& operator=(const QuaternionBase<OtherDerived>& other);
+  QuaternionBase& operator=(const AngleAxisType& aa);
+  template<class OtherDerived>
+  QuaternionBase& operator=(const MatrixBase<OtherDerived>& m);
+
+  /** \returns a quaternion representing an identity rotation
+    * \sa MatrixBase::Identity()
+    */
+  inline static Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); }
+
+  /** \sa Quaternion2::Identity(), MatrixBase::setIdentity()
+    */
+  inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; }
+
+  /** \returns the squared norm of the quaternion's coefficients
+    * \sa Quaternion2::norm(), MatrixBase::squaredNorm()
+    */
+  inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
+
+  /** \returns the norm of the quaternion's coefficients
+    * \sa Quaternion2::squaredNorm(), MatrixBase::norm()
+    */
+  inline Scalar norm() const { return coeffs().norm(); }
+
+  /** Normalizes the quaternion \c *this
+    * \sa normalized(), MatrixBase::normalize() */
+  inline void normalize() { coeffs().normalize(); }
+  /** \returns a normalized version of \c *this
+    * \sa normalize(), MatrixBase::normalized() */
+  inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
+
+    /** \returns the dot product of \c *this and \a other
+    * Geometrically speaking, the dot product of two unit quaternions
+    * corresponds to the cosine of half the angle between the two rotations.
+    * \sa angularDistance()
+    */
+  template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+
+  template<class OtherDerived> inline Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+
+  Matrix3 toRotationMatrix(void) const;
+
+  template<typename Derived1, typename Derived2>
+  QuaternionBase& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+
+  template<class OtherDerived> inline Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
+  template<class OtherDerived> inline QuaternionBase& operator*= (const QuaternionBase<OtherDerived>& q);
+
+  Quaternion<Scalar> inverse(void) const;
+  Quaternion<Scalar> conjugate(void) const;
+
+  template<class OtherDerived> Quaternion<Scalar> slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const;
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  bool isApprox(const QuaternionBase& other, RealScalar prec = precision<Scalar>()) const
+  { return coeffs().isApprox(other.coeffs(), prec); }
+
+  Vector3 _transformVector(Vector3 v) const;
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  inline typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  {
+    return typename ei_cast_return_type<Derived,Quaternion<NewScalarType> >::type(
+      coeffs().template cast<NewScalarType>());
+  }
+};
+
+template<typename _Scalar>
+struct ei_traits<Quaternion<_Scalar> >
+{
+  typedef _Scalar Scalar;
+  typedef Matrix<_Scalar,4,1> Coefficients;
+  enum{
+    PacketAccess = Aligned 
+  };
+};
+
+template<typename _Scalar>
+class Quaternion : public QuaternionBase<Quaternion<_Scalar> >{
+  typedef QuaternionBase<Quaternion<_Scalar> > Base;
+public:
+  using Base::operator=;
+
+  typedef _Scalar Scalar;
+
+  typedef typename ei_traits<Quaternion<Scalar> >::Coefficients Coefficients;
+  typedef typename Base::AngleAxisType AngleAxisType;
 
   /** Default constructor leaving the quaternion uninitialized. */
   inline Quaternion() {}
@@ -122,10 +219,14 @@
     * [\c x, \c y, \c z, \c w]
     */
   inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
-  { m_coeffs << x, y, z, w; }
+  { coeffs() << x, y, z, w; }
+
+  /** Constructs and initialize a quaternion from the array data
+    * This constructor is also used to map an array */
+  inline Quaternion(const Scalar* data) : m_coeffs(data) {}
 
   /** Copy constructor */
-  inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
+//  template<class Derived> inline Quaternion(const QuaternionBase<Derived>& other) { m_coeffs = other.coeffs(); } [XXX] redundant with 703
 
   /** Constructs and initializes a quaternion from the angle-axis \a aa */
   explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
@@ -133,121 +234,96 @@
   /** Constructs and initializes a quaternion from either:
     *  - a rotation matrix expression,
     *  - a 4D vector expression representing quaternion coefficients.
-    * \sa operator=(MatrixBase<Derived>)
     */
   template<typename Derived>
   explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
 
-  Quaternion& operator=(const Quaternion& other);
-  Quaternion& operator=(const AngleAxisType& aa);
-  template<typename Derived>
-  Quaternion& operator=(const MatrixBase<Derived>& m);
-
-  /** \returns a quaternion representing an identity rotation
-    * \sa MatrixBase::Identity()
-    */
-  inline static Quaternion Identity() { return Quaternion(1, 0, 0, 0); }
-
-  /** \sa Quaternion::Identity(), MatrixBase::setIdentity()
-    */
-  inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
-
-  /** \returns the squared norm of the quaternion's coefficients
-    * \sa Quaternion::norm(), MatrixBase::squaredNorm()
-    */
-  inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); }
-
-  /** \returns the norm of the quaternion's coefficients
-    * \sa Quaternion::squaredNorm(), MatrixBase::norm()
-    */
-  inline Scalar norm() const { return m_coeffs.norm(); }
-
-  /** Normalizes the quaternion \c *this
-    * \sa normalized(), MatrixBase::normalize() */
-  inline void normalize() { m_coeffs.normalize(); }
-  /** \returns a normalized version of \c *this
-    * \sa normalize(), MatrixBase::normalized() */
-  inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); }
-
-  /** \returns the dot product of \c *this and \a other
-    * Geometrically speaking, the dot product of two unit quaternions
-    * corresponds to the cosine of half the angle between the two rotations.
-    * \sa angularDistance()
-    */
-  inline Scalar dot(const Quaternion& other) const { return m_coeffs.dot(other.m_coeffs); }
-
-  inline Scalar angularDistance(const Quaternion& other) const;
-
-  Matrix3 toRotationMatrix(void) const;
-
-  template<typename Derived1, typename Derived2>
-  Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
-
-  inline Quaternion operator* (const Quaternion& q) const;
-  inline Quaternion& operator*= (const Quaternion& q);
-
-  Quaternion inverse(void) const;
-  Quaternion conjugate(void) const;
-
-  Quaternion slerp(Scalar t, const Quaternion& other) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
-  { return typename ei_cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
-
   /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Quaternion(const Quaternion<OtherScalarType>& other)
+  template<class Derived>
+  inline explicit Quaternion(const QuaternionBase<Derived>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-  Vector3 _transformVector(Vector3 v) const;
+  inline Coefficients& coeffs() { return m_coeffs;}
+  inline const Coefficients& coeffs() const { return m_coeffs;}
 
 protected:
   Coefficients m_coeffs;
 };
 
-/** \ingroup Geometry_Module
-  * single precision quaternion type */
-typedef Quaternion<float> Quaternionf;
-/** \ingroup Geometry_Module
-  * double precision quaternion type */
-typedef Quaternion<double> Quaterniond;
+/* ########### Map<Quaternion> */
+
+/** \class Map<Quaternion>
+  * \nonstableyet
+  *
+  * \brief Expression of a quaternion
+  *
+  * \param Scalar the type of the vector of diagonal coefficients
+  *
+  * \sa class Quaternion, class QuaternionBase
+  */
+template<typename _Scalar, int _PacketAccess>
+struct ei_traits<Map<Quaternion<_Scalar>, _PacketAccess> >:
+ei_traits<Quaternion<_Scalar> >
+{
+  typedef _Scalar Scalar;
+  typedef Map<Matrix<_Scalar,4,1> > Coefficients;
+  enum {
+    PacketAccess = _PacketAccess
+  };
+};
+
+template<typename _Scalar, int PacketAccess>
+class Map<Quaternion<_Scalar>, PacketAccess > : public QuaternionBase<Map<Quaternion<_Scalar>, PacketAccess> >, ei_no_assignment_operator {
+  public:
+    
+    typedef _Scalar Scalar;
+
+    typedef typename ei_traits<Map<Quaternion<Scalar>, PacketAccess> >::Coefficients Coefficients;
+
+    inline Map<Quaternion<Scalar>, PacketAccess >(const Scalar* coeffs) : m_coeffs(coeffs) {}
+    
+    inline Coefficients& coeffs() { return m_coeffs;}
+    inline const Coefficients& coeffs() const { return m_coeffs;}
+
+  protected:
+    Coefficients m_coeffs;
+};
+
+typedef Map<Quaternion<double> > QuaternionMapd;
+typedef Map<Quaternion<float> > QuaternionMapf;
+typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
+typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
 
 // Generic Quaternion * Quaternion product
-template<int Arch,typename Scalar> inline Quaternion<Scalar>
-ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
+template<int Arch, class Derived, class OtherDerived, typename Scalar, int PacketAccess> struct ei_quat_product
 {
-  return Quaternion<Scalar>
-  (
-    a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-    a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-    a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
-    a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
-  );
-}
+  inline static Quaternion<Scalar> run(const QuaternionBase<Derived>& a, const QuaternionBase<OtherDerived>& b){
+    return Quaternion<Scalar>
+    (
+      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+      a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
+      a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
+    );
+  }
+};
 
 /** \returns the concatenation of two rotations as a quaternion-quaternion product */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
+template <class Derived>
+template <class OtherDerived>
+inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
 {
-  return ei_quaternion_product<EiArch>(*this,other);
+  EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename OtherDerived::Scalar>::ret),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+   return ei_quat_product<EiArch, Derived, OtherDerived, 
+                          typename ei_traits<Derived>::Scalar,
+                          ei_traits<Derived>::PacketAccess && ei_traits<OtherDerived>::PacketAccess>::run(*this, other);
 }
 
 /** \sa operator*(Quaternion) */
-template <typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other)
+template <class Derived>
+template <class OtherDerived>
+inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
 {
   return (*this = *this * other);
 }
@@ -256,12 +332,12 @@
   * \remarks If the quaternion is used to rotate several points (>1)
   * then it is much more efficient to first convert it to a 3x3 Matrix.
   * Comparison of the operation cost for n transformations:
-  *   - Quaternion:    30n
+  *   - Quaternion2:    30n
   *   - Via a Matrix3: 24 + 15n
   */
-template <typename Scalar>
-inline typename Quaternion<Scalar>::Vector3
-Quaternion<Scalar>::_transformVector(Vector3 v) const
+template <class Derived>
+inline typename QuaternionBase<Derived>::Vector3
+QuaternionBase<Derived>::_transformVector(Vector3 v) const
 {
     // Note that this algorithm comes from the optimization by hand
     // of the conversion to a Matrix followed by a Matrix/Vector product.
@@ -272,17 +348,18 @@
     return v + this->w() * uv + this->vec().cross(uv);
 }
 
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other)
+template<class Derived>
+template<class OtherDerived>
+inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
 {
-  m_coeffs = other.m_coeffs;
+  coeffs() = other.coeffs();
   return *this;
 }
 
 /** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
   */
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa)
+template<class Derived>
+inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
 {
   Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
   this->w() = ei_cos(ha);
@@ -295,20 +372,23 @@
   *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
   *     and \a xpr is converted to a quaternion
   */
-template<typename Scalar>
-template<typename Derived>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr)
+
+template<class Derived>
+template<class MatrixDerived>
+inline QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
 {
-  ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived());
+  EIGEN_STATIC_ASSERT((ei_is_same_type<typename Derived::Scalar, typename MatrixDerived::Scalar>::ret),
+   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  ei_quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
   return *this;
 }
 
 /** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
   * be normalized, otherwise the result is undefined.
   */
-template<typename Scalar>
-inline typename Quaternion<Scalar>::Matrix3
-Quaternion<Scalar>::toRotationMatrix(void) const
+template<class Derived>
+inline typename QuaternionBase<Derived>::Matrix3
+QuaternionBase<Derived>::toRotationMatrix(void) const
 {
   // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
   // if not inlined then the cost of the return by value is huge ~ +35%,
@@ -352,9 +432,9 @@
   * Note that the two input vectors do \b not have to be normalized, and
   * do not need to have the same norm.
   */
-template<typename Scalar>
+template<class Derived>
 template<typename Derived1, typename Derived2>
-inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+inline QuaternionBase<Derived>& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
@@ -393,19 +473,19 @@
   * Note that in most cases, i.e., if you simply want the opposite rotation,
   * and/or the quaternion is normalized, then it is enough to use the conjugate.
   *
-  * \sa Quaternion::conjugate()
+  * \sa Quaternion2::conjugate()
   */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const
+template <class Derived>
+inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::inverse() const
 {
   // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
   Scalar n2 = this->squaredNorm();
   if (n2 > 0)
-    return Quaternion(conjugate().coeffs() / n2);
+    return Quaternion<Scalar>(conjugate().coeffs() / n2);
   else
   {
     // return an invalid result to flag the error
-    return Quaternion(Coefficients::Zero());
+    return Quaternion<Scalar>(ei_traits<Derived>::Coefficients::Zero());
   }
 }
 
@@ -413,19 +493,20 @@
   * if the quaternion is normalized.
   * The conjugate of a quaternion represents the opposite rotation.
   *
-  * \sa Quaternion::inverse()
+  * \sa Quaternion2::inverse()
   */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
+template <class Derived>
+inline Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::conjugate() const
 {
-  return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
+  return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
 }
 
 /** \returns the angle (in radian) between two rotations
   * \sa dot()
   */
-template <typename Scalar>
-inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
+template <class Derived>
+template <class OtherDerived>
+inline typename ei_traits<QuaternionBase<Derived> >::Scalar QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
 {
   double d = ei_abs(this->dot(other));
   if (d>=1.0)
@@ -436,14 +517,15 @@
 /** \returns the spherical linear interpolation between the two quaternions
   * \c *this and \a other at the parameter \a t
   */
-template <typename Scalar>
-Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
+template <class Derived>
+template <class OtherDerived>
+Quaternion<typename ei_traits<QuaternionBase<Derived> >::Scalar> QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& other) const
 {
   static const Scalar one = Scalar(1) - precision<Scalar>();
   Scalar d = this->dot(other);
   Scalar absD = ei_abs(d);
   if (absD>=one)
-    return *this;
+    return Quaternion<Scalar>(*this);
 
   // theta is the angle between the 2 quaternions
   Scalar theta = std::acos(absD);
@@ -454,15 +536,15 @@
   if (d<0)
     scale1 = -scale1;
 
-  return Quaternion(scale0 * m_coeffs + scale1 * other.m_coeffs);
+  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
 }
 
 // set from a rotation matrix
 template<typename Other>
-struct ei_quaternion_assign_impl<Other,3,3>
+struct ei_quaternionbase_assign_impl<Other,3,3>
 {
   typedef typename Other::Scalar Scalar;
-  inline static void run(Quaternion<Scalar>& q, const Other& mat)
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& mat)
   {
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
@@ -498,13 +580,14 @@
 
 // set from a vector of coefficients assumed to be a quaternion
 template<typename Other>
-struct ei_quaternion_assign_impl<Other,4,1>
+struct ei_quaternionbase_assign_impl<Other,4,1>
 {
   typedef typename Other::Scalar Scalar;
-  inline static void run(Quaternion<Scalar>& q, const Other& vec)
+  template<class Derived> inline static void run(QuaternionBase<Derived>& q, const Other& vec)
   {
     q.coeffs() = vec;
   }
 };
 
+
 #endif // EIGEN_QUATERNION_H
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h
index d03fd52..c493563 100644
--- a/Eigen/src/Geometry/Transform.h
+++ b/Eigen/src/Geometry/Transform.h
@@ -481,6 +481,15 @@
 typedef Transform<double,3> Transform3d;
 
 /** \ingroup Geometry_Module */
+typedef Transform<float,2,Isometry> Isometry2f;
+/** \ingroup Geometry_Module */
+typedef Transform<float,3,Isometry> Isometry3f;
+/** \ingroup Geometry_Module */
+typedef Transform<double,2,Isometry> Isometry2d;
+/** \ingroup Geometry_Module */
+typedef Transform<double,3,Isometry> Isometry3d;
+
+/** \ingroup Geometry_Module */
 typedef Transform<float,2> Affine2f;
 /** \ingroup Geometry_Module */
 typedef Transform<float,3> Affine3f;
@@ -512,7 +521,7 @@
 **************************/
 
 #ifdef EIGEN_QT_SUPPORT
-/** Initialises \c *this from a QMatrix assuming the dimension is 2.
+/** Initializes \c *this from a QMatrix assuming the dimension is 2.
   *
   * This function is available only if the token EIGEN_QT_SUPPORT is defined.
   */
@@ -538,7 +547,7 @@
 
 /** \returns a QMatrix from \c *this assuming the dimension is 2.
   *
-  * \warning this convertion might loss data if \c *this is not affine
+  * \warning this conversion might loss data if \c *this is not affine
   *
   * This function is available only if the token EIGEN_QT_SUPPORT is defined.
   */
@@ -551,7 +560,7 @@
                  matrix.coeff(0,2), matrix.coeff(1,2));
 }
 
-/** Initialises \c *this from a QTransform assuming the dimension is 2.
+/** Initializes \c *this from a QTransform assuming the dimension is 2.
   *
   * This function is available only if the token EIGEN_QT_SUPPORT is defined.
   */
@@ -881,7 +890,7 @@
   * \returns the inverse transformation according to some given knowledge
   * on \c *this.
   *
-  * \param traits allows to optimize the inversion process when the transformion
+  * \param traits allows to optimize the inversion process when the transformation
   * is known to be not a general transformation. The possible values are:
   *  - Projective if the transformation is not necessarily affine, i.e., if the
   *    last row is not guaranteed to be [0 ... 0 1]
@@ -950,7 +959,7 @@
 };
 
 /*****************************************************
-*** Specializations of construct from matix        ***
+*** Specializations of construct from matrix       ***
 *****************************************************/
 
 template<typename Other, int Mode, int Dim, int HDim>
diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index 7652aa9..551a69e 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -117,7 +117,7 @@
   enum { Dimension = EIGEN_ENUM_MIN(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
 
   typedef Matrix<Scalar, Dimension, 1> VectorType;
-  typedef typename ei_plain_matrix_type<Derived>::type MatrixType;
+  typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
   typedef typename ei_plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
 
   const int m = src.rows(); // dimension
@@ -131,17 +131,11 @@
   const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
 
   // demeaning of src and dst points
-  RowMajorMatrixType src_demean(m,n);
-  RowMajorMatrixType dst_demean(m,n);
-  for (int i=0; i<n; ++i)
-  {
-    src_demean.col(i) = src.col(i) - src_mean;
-    dst_demean.col(i) = dst.col(i) - dst_mean;
-  }
+  const RowMajorMatrixType src_demean = src.colwise() - src_mean;
+  const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
 
   // Eq. (36)-(37)
   const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
-  // const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n;
 
   // Eq. (38)
   const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
diff --git a/Eigen/src/Geometry/arch/Geometry_SSE.h b/Eigen/src/Geometry/arch/Geometry_SSE.h
index d0342fe..a6ed10d 100644
--- a/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ b/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -26,24 +26,26 @@
 #ifndef EIGEN_GEOMETRY_SSE_H
 #define EIGEN_GEOMETRY_SSE_H
 
-template<> inline Quaternion<float>
-ei_quaternion_product<EiArch_SSE,float>(const Quaternion<float>& _a, const Quaternion<float>& _b)
+template<class Derived, class OtherDerived> struct ei_quat_product<EiArch_SSE, Derived, OtherDerived, float, Aligned>
 {
-  const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
-  Quaternion<float> res;
-  __m128 a = _a.coeffs().packet<Aligned>(0);
-  __m128 b = _b.coeffs().packet<Aligned>(0);
-  __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
-                                       ei_vec4f_swizzle1(b,2,0,1,2)),mask);
-  __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
-                                       ei_vec4f_swizzle1(b,0,1,2,1)),mask);
-  ei_pstore(&res.x(),
-            _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
-                                  _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
-                                             ei_vec4f_swizzle1(b,1,2,0,0))),
-                       _mm_add_ps(flip1,flip2)));
-  return res;
-}
+  inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
+  {
+    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
+    Quaternion<float> res;
+    __m128 a = _a.coeffs().template packet<Aligned>(0);
+    __m128 b = _b.coeffs().template packet<Aligned>(0);
+    __m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
+                                         ei_vec4f_swizzle1(b,2,0,1,2)),mask);
+    __m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
+                                         ei_vec4f_swizzle1(b,0,1,2,1)),mask);
+    ei_pstore(&res.x(),
+              _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
+                                    _mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
+                                               ei_vec4f_swizzle1(b,1,2,0,0))),
+                         _mm_add_ps(flip1,flip2)));
+    return res;
+  }
+};
 
 template<typename VectorLhs,typename VectorRhs>
 struct ei_cross3_impl<EiArch_SSE,VectorLhs,VectorRhs,float,true> {
diff --git a/Eigen/src/QR/HouseholderQR.h b/Eigen/src/QR/HouseholderQR.h
index 4cc5539..01cd2ad 100644
--- a/Eigen/src/QR/HouseholderQR.h
+++ b/Eigen/src/QR/HouseholderQR.h
@@ -206,7 +206,7 @@
 ) const
 {
   ei_assert(m_isInitialized && "HouseholderQR is not initialized.");
-  result->resize(m_qr.cols(), b.cols());
+  result->derived().resize(m_qr.cols(), b.cols());
   const int rows = m_qr.rows();
   const int rank = std::min(m_qr.rows(), m_qr.cols());
   ei_assert(b.rows() == rows);
diff --git a/Eigen/src/SVD/SVD.h b/Eigen/src/SVD/SVD.h
index da01cf3..9927225 100644
--- a/Eigen/src/SVD/SVD.h
+++ b/Eigen/src/SVD/SVD.h
@@ -426,8 +426,11 @@
       else
         aux.coeffRef(i) /= si;
     }
-
-    result->col(j) = m_matV * aux;
+    const int cols = m_matV.rows();
+    const int minsize = std::min(rows,cols);
+    result->col(j).start(minsize) = aux.start(minsize);
+    if(cols>rows) result->col(j).end(cols-minsize).setZero();
+    result->col(j) = m_matV * result->col(j);
   }
   return true;
 }
diff --git a/Eigen/src/Sparse/CholmodSupport.h b/Eigen/src/Sparse/CholmodSupport.h
index 30a33c3..f02374d 100644
--- a/Eigen/src/Sparse/CholmodSupport.h
+++ b/Eigen/src/Sparse/CholmodSupport.h
@@ -126,6 +126,7 @@
     typedef SparseLLT<MatrixType> Base;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
+    typedef typename Base::CholMatrixType CholMatrixType;
     using Base::MatrixLIsDirty;
     using Base::SupernodalFactorIsDirty;
     using Base::m_flags;
@@ -154,7 +155,7 @@
       cholmod_finish(&m_cholmod);
     }
 
-    inline const typename Base::CholMatrixType& matrixL(void) const;
+    inline const CholMatrixType& matrixL() const;
 
     template<typename Derived>
     bool solveInPlace(MatrixBase<Derived> &b) const;
@@ -198,7 +199,7 @@
 }
 
 template<typename MatrixType>
-inline const typename SparseLLT<MatrixType>::CholMatrixType&
+inline const typename SparseLLT<MatrixType,Cholmod>::CholMatrixType&
 SparseLLT<MatrixType,Cholmod>::matrixL() const
 {
   if (m_status & MatrixLIsDirty)
diff --git a/Eigen/src/Sparse/SparseExpressionMaker.h b/Eigen/src/Sparse/SparseExpressionMaker.h
new file mode 100644
index 0000000..1fdcbb1
--- /dev/null
+++ b/Eigen/src/Sparse/SparseExpressionMaker.h
@@ -0,0 +1,48 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_SPARSE_EXPRESSIONMAKER_H
+#define EIGEN_SPARSE_EXPRESSIONMAKER_H
+
+template<typename XprType>
+struct MakeNestByValue<XprType,IsSparse>
+{
+  typedef SparseNestByValue<XprType> Type;
+};
+
+template<typename Func, typename XprType>
+struct MakeCwiseUnaryOp<Func,XprType,IsSparse>
+{
+  typedef SparseCwiseUnaryOp<Func,XprType> Type;
+};
+
+template<typename Func, typename A, typename B>
+struct MakeCwiseBinaryOp<Func,A,B,IsSparse>
+{
+  typedef SparseCwiseBinaryOp<Func,A,B> Type;
+};
+
+// TODO complete the list
+
+#endif // EIGEN_SPARSE_EXPRESSIONMAKER_H
diff --git a/bench/BenchTimer.h b/bench/BenchTimer.h
index bfc3a99..7017342 100644
--- a/bench/BenchTimer.h
+++ b/bench/BenchTimer.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -26,8 +26,14 @@
 #ifndef EIGEN_BENCH_TIMER_H
 #define EIGEN_BENCH_TIMER_H
 
-#include <sys/time.h>
+#ifndef WIN32
+#include <time.h>
 #include <unistd.h>
+#else
+#define NOMINMAX
+#include <windows.h>
+#endif
+
 #include <cstdlib>
 #include <numeric>
 
@@ -35,12 +41,25 @@
 {
 
 /** Elapsed time timer keeping the best try.
+  *
+  * On POSIX platforms we use clock_gettime with CLOCK_PROCESS_CPUTIME_ID.
+  * On Windows we use QueryPerformanceCounter
+  *
+  * Important: on linux, you must link with -lrt
   */
 class BenchTimer
 {
 public:
 
-  BenchTimer() { reset(); }
+  BenchTimer() 
+  { 
+#ifdef WIN32
+    LARGE_INTEGER freq;
+    QueryPerformanceFrequency(&freq);
+    m_frequency = (double)freq.QuadPart;
+#endif
+    reset(); 
+  }
 
   ~BenchTimer() {}
 
@@ -51,23 +70,34 @@
     m_best = std::min(m_best, getTime() - m_start);
   }
 
-  /** Return the best elapsed time.
+  /** Return the best elapsed time in seconds.
     */
   inline double value(void)
   {
-      return m_best;
+    return m_best;
   }
 
+#ifdef WIN32
+  inline double getTime(void)
+#else
   static inline double getTime(void)
+#endif
   {
-      struct timeval tv;
-      struct timezone tz;
-      gettimeofday(&tv, &tz);
-      return (double)tv.tv_sec + 1.e-6 * (double)tv.tv_usec;
+#ifdef WIN32
+    LARGE_INTEGER query_ticks;
+    QueryPerformanceCounter(&query_ticks);
+    return query_ticks.QuadPart/m_frequency;
+#else
+    timespec ts;
+    clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
+    return double(ts.tv_sec) + 1e-9 * double(ts.tv_nsec);
+#endif
   }
 
 protected:
-
+#ifdef WIN32
+  double m_frequency;
+#endif
   double m_best, m_start;
 
 };
diff --git a/bench/benchBlasGemm.cpp b/bench/benchBlasGemm.cpp
index 25458f8..a4a9e78 100644
--- a/bench/benchBlasGemm.cpp
+++ b/bench/benchBlasGemm.cpp
@@ -178,13 +178,13 @@
 void bench_eigengemm(MyMatrix& mc, const MyMatrix& ma, const MyMatrix& mb, int nbloops)
 {
   for (uint j=0 ; j<nbloops ; ++j)
-      mc += (ma * mb).lazy();
+      mc.noalias() += ma * mb;
 }
 
 void bench_eigengemm_normal(MyMatrix& mc, const MyMatrix& ma, const MyMatrix& mb, int nbloops)
 {
   for (uint j=0 ; j<nbloops ; ++j)
-    mc += Product<MyMatrix,MyMatrix,NormalProduct>(ma,mb).lazy();
+    mc.noalias() += GeneralProduct<MyMatrix,MyMatrix,UnrolledProduct>(ma,mb);
 }
 
 #define MYVERIFY(A,M) if (!(A)) { \
diff --git a/bench/benchFFT.cpp b/bench/benchFFT.cpp
new file mode 100644
index 0000000..3104929
--- /dev/null
+++ b/bench/benchFFT.cpp
@@ -0,0 +1,112 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#include <bench/BenchUtil.h>
+#include <complex>
+#include <vector>
+#include <Eigen/Core>
+
+#include <unsupported/Eigen/FFT>
+
+using namespace Eigen;
+using namespace std;
+
+
+template <typename T>
+string nameof();
+
+template <> string nameof<float>() {return "float";}
+template <> string nameof<double>() {return "double";}
+template <> string nameof<long double>() {return "long double";}
+
+#ifndef TYPE
+#define TYPE float
+#endif
+
+#ifndef NFFT
+#define NFFT 1024
+#endif
+#ifndef NDATA
+#define NDATA 1000000
+#endif
+
+using namespace Eigen;
+
+template <typename T>
+void bench(int nfft,bool fwd)
+{
+    typedef typename NumTraits<T>::Real Scalar;
+    typedef typename std::complex<Scalar> Complex;
+    int nits = NDATA/nfft;
+    vector<T> inbuf(nfft);
+    vector<Complex > outbuf(nfft);
+    FFT< Scalar > fft;
+
+    fft.fwd( outbuf , inbuf);
+
+    BenchTimer timer;
+    timer.reset();
+    for (int k=0;k<8;++k) {
+        timer.start();
+        for(int i = 0; i < nits; i++)
+            if (fwd)
+                fft.fwd( outbuf , inbuf);
+            else
+                fft.inv(inbuf,outbuf);
+        timer.stop();
+    }
+
+    cout << nameof<Scalar>() << " ";
+    double mflops = 5.*nfft*log2((double)nfft) / (1e6 * timer.value() / (double)nits );
+    if ( NumTraits<T>::IsComplex ) {
+        cout << "complex";
+    }else{
+        cout << "real   ";
+        mflops /= 2;
+    }
+
+    if (fwd)
+        cout << " fwd";
+    else
+        cout << " inv";
+
+    cout << " NFFT=" << nfft << "  " << (double(1e-6*nfft*nits)/timer.value()) << " MS/s  " << mflops << "MFLOPS\n";
+}
+
+int main(int argc,char ** argv)
+{
+    bench<complex<float> >(NFFT,true);
+    bench<complex<float> >(NFFT,false);
+    bench<float>(NFFT,true);
+    bench<float>(NFFT,false);
+    bench<complex<double> >(NFFT,true);
+    bench<complex<double> >(NFFT,false);
+    bench<double>(NFFT,true);
+    bench<double>(NFFT,false);
+    bench<complex<long double> >(NFFT,true);
+    bench<complex<long double> >(NFFT,false);
+    bench<long double>(NFFT,true);
+    bench<long double>(NFFT,false);
+    return 0;
+}
diff --git a/cmake/FindFFTW.cmake b/cmake/FindFFTW.cmake
new file mode 100644
index 0000000..a56450b
--- /dev/null
+++ b/cmake/FindFFTW.cmake
@@ -0,0 +1,24 @@
+
+if (FFTW_INCLUDES AND FFTW_LIBRARIES)
+  set(FFTW_FIND_QUIETLY TRUE)
+endif (FFTW_INCLUDES AND FFTW_LIBRARIES)
+
+find_path(FFTW_INCLUDES
+  NAMES
+  fftw3.h
+  PATHS
+  $ENV{FFTWDIR}
+  ${INCLUDE_INSTALL_DIR}
+)
+
+find_library(FFTWF_LIB NAMES fftw3f PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR})
+find_library(FFTW_LIB NAMES fftw3 PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR})
+find_library(FFTWL_LIB NAMES fftw3l  PATHS $ENV{FFTWDIR} ${LIB_INSTALL_DIR})
+set(FFTW_LIBRARIES "${FFTWF_LIB} ${FFTW_LIB} ${FFTWL_LIB}" )
+message(STATUS "FFTW ${FFTW_LIBRARIES}" )
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(FFTW DEFAULT_MSG
+                                  FFTW_INCLUDES FFTW_LIBRARIES)
+
+mark_as_advanced(FFTW_INCLUDES FFTW_LIBRARIES)
diff --git a/doc/AsciiQuickReference.txt b/doc/AsciiQuickReference.txt
index b868741..6c1c4fb 100644
--- a/doc/AsciiQuickReference.txt
+++ b/doc/AsciiQuickReference.txt
@@ -118,6 +118,9 @@
 R.sum()                   // sum(R(:))
 R.colwise.sum()           // sum(R)
 R.rowwise.sum()           // sum(R, 2) or sum(R')'
+R.prod()                  // prod(R(:))
+R.colwise.prod()          // prod(R)
+R.rowwise.prod()          // prod(R, 2) or prod(R')'
 R.trace()                 // trace(R)
 R.all()                   // all(R(:))
 R.colwise().all()         // all(R)
diff --git a/doc/C01_QuickStartGuide.dox b/doc/C01_QuickStartGuide.dox
index 2943aed..06b2595 100644
--- a/doc/C01_QuickStartGuide.dox
+++ b/doc/C01_QuickStartGuide.dox
@@ -278,18 +278,24 @@
 
 
 \subsection TutorialMap Map
-Any memory buffer can be mapped as an Eigen expression:
-<table class="tutorial_code"><tr><td>
+Any memory buffer can be mapped as an Eigen expression using the Map() static method:
 \code
 std::vector<float> stlarray(10);
-Map<VectorXf>(&stlarray[0], stlarray.size()).setOnes();
-int data[4] = 1, 2, 3, 4;
-Matrix2i mat2x2(data);
-MatrixXi mat2x2 = Map<Matrix2i>(data);
-MatrixXi mat2x2 = Map<MatrixXi>(data,2,2);
+VectorXf::Map(&stlarray[0], stlarray.size()).squaredNorm();
 \endcode
-</td></tr></table>
-
+Here VectorXf::Map returns an object of class Map<VectorXf>, which behaves like a VectorXf except that it uses the existing array. You can write to this object, that will write to the existing array. You can also construct a named obtect to reuse it:
+\code
+float array[rows*cols];
+Map<MatrixXf> m(array,rows,cols);
+m = othermatrix1 * othermatrix2;
+m.eigenvalues();
+\endcode
+In the fixed-size case, no need to pass sizes:
+\code
+float array[9];
+Map<Matrix3d> m(array);
+Matrix3d::Map(array).setIdentity();
+\endcode
 
 
 \subsection TutorialCommaInit Comma initializer
diff --git a/scripts/eigen_gen_credits.cpp b/scripts/eigen_gen_credits.cpp
index 086548e..d7a625d 100644
--- a/scripts/eigen_gen_credits.cpp
+++ b/scripts/eigen_gen_credits.cpp
@@ -13,10 +13,24 @@
 std::string contributor_name(const std::string& line)
 {
   string result;
+
+  // let's first take care of the case of isolated email addresses, like
+  // "user@localhost.localdomain" entries
+  if(line.find("markb@localhost.localdomain") != string::npos)
+  {
+    return "Mark Borgerding";
+  }
+
+  // from there on we assume that we have a entry of the form
+  // either:
+  //   Bla bli Blurp
+  // or:
+  //   Bla bli Blurp <bblurp@email.com>
+  
   size_t position_of_email_address = line.find_first_of('<');
   if(position_of_email_address != string::npos)
   {
-    // there is an e-mail address.
+    // there is an e-mail address in <...>.
     
     // Hauke once committed as "John Smith", fix that.
     if(line.find("hauke.heibel") != string::npos)
@@ -29,7 +43,7 @@
   }
   else
   {
-    // there is no e-mail address.
+    // there is no e-mail address in <...>.
     
     if(line.find("convert-repo") != string::npos)
       result = "";
diff --git a/test/array_replicate.cpp b/test/array_replicate.cpp
index d160891..cd0f65f 100644
--- a/test/array_replicate.cpp
+++ b/test/array_replicate.cpp
@@ -42,9 +42,9 @@
 
   MatrixType m1 = MatrixType::Random(rows, cols),
              m2 = MatrixType::Random(rows, cols);
-  
+
   VectorType v1 = VectorType::Random(rows);
-  
+
   MatrixX x1, x2;
   VectorX vx1;
 
@@ -56,17 +56,17 @@
   for(int i=0; i<f1; i++)
     x1.block(i*rows,j*cols,rows,cols) = m1;
   VERIFY_IS_APPROX(x1, m1.replicate(f1,f2));
-  
+
   x2.resize(2*rows,3*cols);
   x2 << m2, m2, m2,
         m2, m2, m2;
   VERIFY_IS_APPROX(x2, (m2.template replicate<2,3>()));
-  
+
   x2.resize(rows,f1);
   for (int j=0; j<f1; ++j)
     x2.col(j) = v1;
   VERIFY_IS_APPROX(x2, v1.rowwise().replicate(f1));
-  
+
   vx1.resize(rows*f2);
   for (int j=0; j<f2; ++j)
     vx1.segment(j*rows,rows) = v1;
diff --git a/test/eigensolver_complex.cpp b/test/eigensolver_complex.cpp
index 38ede7c..e1ce575 100644
--- a/test/eigensolver_complex.cpp
+++ b/test/eigensolver_complex.cpp
@@ -49,6 +49,10 @@
   ComplexEigenSolver<MatrixType> ei1(a);
   VERIFY_IS_APPROX(a * ei1.eigenvectors(), ei1.eigenvectors() * ei1.eigenvalues().asDiagonal());
 
+  // Regression test for issue #66
+  MatrixType z = MatrixType::Zero(rows,cols);
+  ComplexEigenSolver<MatrixType> eiz(z);
+  VERIFY((eiz.eigenvalues().cwise()==0).all());
 }
 
 void test_eigensolver_complex()
@@ -58,4 +62,3 @@
     CALL_SUBTEST( eigensolver(MatrixXcd(14,14)) );
   }
 }
-
diff --git a/test/geo_hyperplane.cpp b/test/geo_hyperplane.cpp
index f8281a1..010989f 100644
--- a/test/geo_hyperplane.cpp
+++ b/test/geo_hyperplane.cpp
@@ -121,7 +121,8 @@
     VERIFY_IS_APPROX(result, center);
 
     // check conversions between two types of lines
-    CoeffsType converted_coeffs = HLine(PLine(line_u)).coeffs();
+    PLine pl(line_u); // gcc 3.3 will commit suicide if we don't name this variable
+    CoeffsType converted_coeffs = HLine(pl).coeffs();
     converted_coeffs *= (line_u.coeffs()[0])/(converted_coeffs[0]);
     VERIFY(line_u.coeffs().isApprox(converted_coeffs));
   }
diff --git a/test/map.cpp b/test/map.cpp
index 62e7273..fbff647 100644
--- a/test/map.cpp
+++ b/test/map.cpp
@@ -37,14 +37,15 @@
   Scalar* array3unaligned = size_t(array3)%16 == 0 ? array3+1 : array3;
   
   Map<VectorType, Aligned>(array1, size) = VectorType::Random(size);
-  Map<VectorType>(array2, size) = Map<VectorType>(array1, size);
+  Map<VectorType, Aligned>(array2, size) = Map<VectorType,Aligned>(array1, size);
   Map<VectorType>(array3unaligned, size) = Map<VectorType>(array1, size);
-  VectorType ma1 = Map<VectorType>(array1, size);
+  VectorType ma1 = Map<VectorType, Aligned>(array1, size);
   VectorType ma2 = Map<VectorType, Aligned>(array2, size);
   VectorType ma3 = Map<VectorType>(array3unaligned, size);
   VERIFY_IS_APPROX(ma1, ma2);
   VERIFY_IS_APPROX(ma1, ma3);
-  
+  VERIFY_RAISES_ASSERT((Map<VectorType,Aligned>(array3unaligned, size)));
+
   ei_aligned_delete(array1, size);
   ei_aligned_delete(array2, size);
   delete[] array3;
diff --git a/test/qr.cpp b/test/qr.cpp
index 036a3c9..8648287 100644
--- a/test/qr.cpp
+++ b/test/qr.cpp
@@ -31,12 +31,16 @@
   int cols = m.cols();
 
   typedef typename MatrixType::Scalar Scalar;
-  typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> SquareMatrixType;
+  typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MatrixType::RowsAtCompileTime> MatrixQType;
   typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
 
   MatrixType a = MatrixType::Random(rows,cols);
   HouseholderQR<MatrixType> qrOfA(a);
   MatrixType r = qrOfA.matrixQR();
+  
+  MatrixQType q = qrOfA.matrixQ();
+  VERIFY_IS_UNITARY(q);
+  
   // FIXME need better way to construct trapezoid
   for(int i = 0; i < rows; i++) for(int j = 0; j < cols; j++) if(i>j) r(i,j) = Scalar(0);
 
diff --git a/test/qr_colpivoting.cpp b/test/qr_colpivoting.cpp
index 4b6f7dd..5c5c5d2 100644
--- a/test/qr_colpivoting.cpp
+++ b/test/qr_colpivoting.cpp
@@ -32,7 +32,7 @@
   int rank = ei_random<int>(1, std::min(rows, cols)-1);
 
   typedef typename MatrixType::Scalar Scalar;
-  typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> SquareMatrixType;
+  typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MatrixType::RowsAtCompileTime> MatrixQType;
   typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
   MatrixType m1;
   createRandomMatrixOfRank(rank,rows,cols,m1);
@@ -44,6 +44,10 @@
   VERIFY(!qr.isSurjective());
 
   MatrixType r = qr.matrixQR();
+  
+  MatrixQType q = qr.matrixQ();
+  VERIFY_IS_UNITARY(q);
+  
   // FIXME need better way to construct trapezoid
   for(int i = 0; i < rows; i++) for(int j = 0; j < cols; j++) if(i>j) r(i,j) = Scalar(0);
 
diff --git a/test/qr_fullpivoting.cpp b/test/qr_fullpivoting.cpp
index 3a37bcb..891c2a5 100644
--- a/test/qr_fullpivoting.cpp
+++ b/test/qr_fullpivoting.cpp
@@ -32,7 +32,7 @@
   int rank = ei_random<int>(1, std::min(rows, cols)-1);
 
   typedef typename MatrixType::Scalar Scalar;
-  typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> SquareMatrixType;
+  typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MatrixType::RowsAtCompileTime> MatrixQType;
   typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> VectorType;
   MatrixType m1;
   createRandomMatrixOfRank(rank,rows,cols,m1);
@@ -44,6 +44,10 @@
   VERIFY(!qr.isSurjective());
 
   MatrixType r = qr.matrixQR();
+  
+  MatrixQType q = qr.matrixQ();
+  VERIFY_IS_UNITARY(q);
+  
   // FIXME need better way to construct trapezoid
   for(int i = 0; i < rows; i++) for(int j = 0; j < cols; j++) if(i>j) r(i,j) = Scalar(0);
 
diff --git a/test/unalignedassert.cpp b/test/unalignedassert.cpp
index 233268d..2b81941 100644
--- a/test/unalignedassert.cpp
+++ b/test/unalignedassert.cpp
@@ -93,25 +93,27 @@
 
 void unalignedassert()
 {
+  #if EIGEN_ALIGN
   construct_at_boundary<Vector2f>(4);
   construct_at_boundary<Vector3f>(4);
   construct_at_boundary<Vector4f>(16);
   construct_at_boundary<Matrix2f>(16);
   construct_at_boundary<Matrix3f>(4);
   construct_at_boundary<Matrix4f>(16);
-  
+
   construct_at_boundary<Vector2d>(16);
   construct_at_boundary<Vector3d>(4);
   construct_at_boundary<Vector4d>(16);
   construct_at_boundary<Matrix2d>(16);
   construct_at_boundary<Matrix3d>(4);
   construct_at_boundary<Matrix4d>(16);
-  
+
   construct_at_boundary<Vector2cf>(16);
   construct_at_boundary<Vector3cf>(4);
   construct_at_boundary<Vector2cd>(16);
   construct_at_boundary<Vector3cd>(16);
-  
+  #endif
+
   check_unalignedassert_good<TestNew1>();
   check_unalignedassert_good<TestNew2>();
   check_unalignedassert_good<TestNew3>();
@@ -120,7 +122,7 @@
   check_unalignedassert_good<TestNew5>();
   check_unalignedassert_good<TestNew6>();
   check_unalignedassert_good<Depends<true> >();
-  
+
 #if EIGEN_ALIGN
   VERIFY_RAISES_ASSERT(construct_at_boundary<Vector4f>(8));
   VERIFY_RAISES_ASSERT(construct_at_boundary<Matrix4f>(8));
diff --git a/test/visitor.cpp b/test/visitor.cpp
index b78782b..6ec442b 100644
--- a/test/visitor.cpp
+++ b/test/visitor.cpp
@@ -40,7 +40,7 @@
         m(i) = ei_random<Scalar>();
   
   Scalar minc = Scalar(1000), maxc = Scalar(-1000);
-  int minrow,mincol,maxrow,maxcol;
+  int minrow=0,mincol=0,maxrow=0,maxcol=0;
   for(int j = 0; j < cols; j++)
   for(int i = 0; i < rows; i++)
   {
@@ -86,7 +86,7 @@
         v(i) = ei_random<Scalar>();
   
   Scalar minc = Scalar(1000), maxc = Scalar(-1000);
-  int minidx,maxidx;
+  int minidx=0,maxidx=0;
   for(int i = 0; i < size; i++)
   {
     if(v(i) < minc)
diff --git a/unsupported/Eigen/Complex b/unsupported/Eigen/Complex
new file mode 100644
index 0000000..04228c9
--- /dev/null
+++ b/unsupported/Eigen/Complex
@@ -0,0 +1,229 @@
+#ifndef EIGEN_COMPLEX_H
+#define EIGEN_COMPLEX_H
+
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+// Eigen::Complex reuses as much as possible from std::complex
+// and allows easy conversion to and from, even at the pointer level.
+
+
+#include <complex>
+
+namespace Eigen {
+
+template <typename _NativeData,typename _PunnedData>
+struct castable_pointer
+{
+    castable_pointer(_NativeData * ptr) : _ptr(ptr) { }
+    operator _NativeData * ()  {return _ptr;}
+    operator _PunnedData * ()  {return reinterpret_cast<_PunnedData*>(_ptr);}
+    operator const _NativeData * () const {return _ptr;}
+    operator const _PunnedData * () const {return reinterpret_cast<_PunnedData*>(_ptr);}
+    private: 
+    _NativeData *  _ptr;
+};
+
+template <typename _NativeData,typename _PunnedData>
+struct const_castable_pointer
+{
+    const_castable_pointer(_NativeData * ptr) : _ptr(ptr) { }
+    operator const _NativeData * () const {return _ptr;}
+    operator const _PunnedData * () const {return reinterpret_cast<_PunnedData*>(_ptr);}
+    private: 
+    _NativeData * _ptr;
+};
+
+template <typename T>
+struct Complex
+{
+    typedef typename std::complex<T> StandardComplex;
+    typedef T value_type;
+
+    // constructors
+    Complex() {}
+    Complex(const T& re, const T& im = T()) : _re(re),_im(im) { }
+    Complex(const Complex&other ): _re(other.real()) ,_im(other.imag()) {}
+
+    template<class X> 
+    Complex(const Complex<X>&other): _re(other.real()) ,_im(other.imag()) {}
+    template<class X> 
+    Complex(const std::complex<X>&other): _re(other.real()) ,_im(other.imag()) {}
+
+    // allow binary access to the object as a std::complex
+    typedef castable_pointer< Complex<T>, StandardComplex > pointer_type;
+    typedef const_castable_pointer< Complex<T>, StandardComplex > const_pointer_type;
+
+    inline
+    pointer_type operator & () {return pointer_type(this);}
+
+    inline
+    const_pointer_type operator & () const {return const_pointer_type(this);}
+
+    inline
+    operator StandardComplex () const {return std_type();}
+    inline
+    operator StandardComplex & () {return std_type();}
+
+    inline
+    const StandardComplex & std_type() const {return *reinterpret_cast<const StandardComplex*>(this);}
+
+    inline
+    StandardComplex & std_type() {return *reinterpret_cast<StandardComplex*>(this);}
+
+
+    // every sort of accessor and mutator that has ever been in fashion.
+    // For a brief history, search for "std::complex over-encapsulated"
+    // http://www.open-std.org/jtc1/sc22/wg21/docs/lwg-defects.html#387
+    inline
+    const T & real() const {return _re;}
+    inline
+    const T & imag() const {return _im;}
+    inline
+    T & real() {return _re;}
+    inline
+    T & imag() {return _im;}
+    inline
+    T & real(const T & x) {return _re=x;}
+    inline
+    T & imag(const T & x) {return _im=x;}
+    inline
+    void set_real(const T & x) {_re = x;}
+    inline
+    void set_imag(const T & x) {_im = x;}
+
+    // *** complex member functions: ***
+    inline
+    Complex<T>& operator= (const T& val) { _re=val;_im=0;return *this;  }
+    inline
+    Complex<T>& operator+= (const T& val) {_re+=val;return *this;}
+    inline
+    Complex<T>& operator-= (const T& val) {_re-=val;return *this;}
+    inline
+    Complex<T>& operator*= (const T& val) {_re*=val;_im*=val;return *this;  }
+    inline
+    Complex<T>& operator/= (const T& val) {_re/=val;_im/=val;return *this;  }
+
+    inline
+    Complex& operator= (const Complex& rhs) {_re=rhs._re;_im=rhs._im;return *this;}
+    inline
+    Complex& operator= (const StandardComplex& rhs) {_re=rhs.real();_im=rhs.imag();return *this;}
+
+    template<class X> Complex<T>& operator= (const Complex<X>& rhs) { _re=rhs._re;_im=rhs._im;return *this;}
+    template<class X> Complex<T>& operator+= (const Complex<X>& rhs) { _re+=rhs._re;_im+=rhs._im;return *this;}
+    template<class X> Complex<T>& operator-= (const Complex<X>& rhs) { _re-=rhs._re;_im-=rhs._im;return *this;}
+    template<class X> Complex<T>& operator*= (const Complex<X>& rhs) { this->std_type() *= rhs.std_type(); return *this; }
+    template<class X> Complex<T>& operator/= (const Complex<X>& rhs) { this->std_type() /= rhs.std_type(); return *this; }
+
+    private:
+    T _re;
+    T _im;
+};
+
+//template <typename T> T ei_to_std( const T & x) {return x;}
+
+template <typename T>
+std::complex<T> ei_to_std( const Complex<T> & x) {return x.std_type();}
+
+// 26.2.6 operators
+template<class T> Complex<T> operator+(const Complex<T>& rhs) {return rhs;}
+template<class T> Complex<T> operator-(const Complex<T>& rhs) {return -ei_to_std(rhs);}
+
+template<class T> Complex<T> operator+(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) + ei_to_std(rhs);}
+template<class T> Complex<T> operator-(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) - ei_to_std(rhs);}
+template<class T> Complex<T> operator*(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) * ei_to_std(rhs);}
+template<class T> Complex<T> operator/(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) / ei_to_std(rhs);}
+template<class T> bool operator==(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) == ei_to_std(rhs);}
+template<class T> bool operator!=(const Complex<T>& lhs, const Complex<T>& rhs) { return ei_to_std(lhs) != ei_to_std(rhs);}
+
+template<class T> Complex<T> operator+(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) + ei_to_std(rhs); }
+template<class T> Complex<T> operator-(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) - ei_to_std(rhs); }
+template<class T> Complex<T> operator*(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) * ei_to_std(rhs); }
+template<class T> Complex<T> operator/(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) / ei_to_std(rhs); }
+template<class T> bool operator==(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) == ei_to_std(rhs); }
+template<class T> bool operator!=(const Complex<T>& lhs, const T& rhs) {return ei_to_std(lhs) != ei_to_std(rhs); }
+
+template<class T> Complex<T> operator+(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) + ei_to_std(rhs); }
+template<class T> Complex<T> operator-(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) - ei_to_std(rhs); }
+template<class T> Complex<T> operator*(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) * ei_to_std(rhs); }
+template<class T> Complex<T> operator/(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) / ei_to_std(rhs); }
+template<class T> bool operator==(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) == ei_to_std(rhs); }
+template<class T> bool operator!=(const T& lhs, const Complex<T>& rhs) {return ei_to_std(lhs) != ei_to_std(rhs); }
+
+template<class T, class charT, class traits>
+std::basic_istream<charT,traits>&
+  operator>> (std::basic_istream<charT,traits>& istr, Complex<T>& rhs)
+{
+    return istr >> rhs.std_type();
+}
+
+template<class T, class charT, class traits>
+std::basic_ostream<charT,traits>&
+operator<< (std::basic_ostream<charT,traits>& ostr, const Complex<T>& rhs)
+{
+    return ostr << rhs.std_type();
+}
+
+ // 26.2.7 values:
+ template<class T> T real(const Complex<T>&x) {return real(ei_to_std(x));}
+ template<class T> T abs(const Complex<T>&x) {return abs(ei_to_std(x));}
+ template<class T> T arg(const Complex<T>&x) {return arg(ei_to_std(x));}
+ template<class T> T norm(const Complex<T>&x) {return norm(ei_to_std(x));}
+
+ template<class T> Complex<T> conj(const Complex<T>&x) { return conj(ei_to_std(x));}
+ template<class T> Complex<T> polar(const T& x, const T&y) {return polar(ei_to_std(x),ei_to_std(y));} 
+ // 26.2.8 transcendentals:
+ template<class T> Complex<T> cos (const  Complex<T>&x){return cos(ei_to_std(x));}
+ template<class T> Complex<T> cosh (const  Complex<T>&x){return cosh(ei_to_std(x));}
+ template<class T> Complex<T> exp (const  Complex<T>&x){return exp(ei_to_std(x));}
+ template<class T> Complex<T> log (const  Complex<T>&x){return log(ei_to_std(x));}
+ template<class T> Complex<T> log10 (const  Complex<T>&x){return log10(ei_to_std(x));}
+
+ template<class T> Complex<T> pow(const Complex<T>&x, int p) {return pow(ei_to_std(x),p);}
+ template<class T> Complex<T> pow(const Complex<T>&x, const T&p) {return pow(ei_to_std(x),ei_to_std(p));}
+ template<class T> Complex<T> pow(const Complex<T>&x, const Complex<T>&p) {return pow(ei_to_std(x),ei_to_std(p));}
+ template<class T> Complex<T> pow(const T&x, const Complex<T>&p) {return pow(ei_to_std(x),ei_to_std(p));}
+
+ template<class T> Complex<T> sin (const  Complex<T>&x){return sin(ei_to_std(x));}
+ template<class T> Complex<T> sinh (const  Complex<T>&x){return sinh(ei_to_std(x));}
+ template<class T> Complex<T> sqrt (const  Complex<T>&x){return sqrt(ei_to_std(x));}
+ template<class T> Complex<T> tan (const  Complex<T>&x){return tan(ei_to_std(x));}
+ template<class T> Complex<T> tanh (const  Complex<T>&x){return tanh(ei_to_std(x));}
+
+  template<typename _Real> struct NumTraits<Complex<_Real> >
+  {
+    typedef _Real Real;
+    typedef Complex<_Real> FloatingPoint;
+    enum {
+      IsComplex = 1,
+      HasFloatingPoint = NumTraits<Real>::HasFloatingPoint,
+      ReadCost = 2,
+      AddCost = 2 * NumTraits<Real>::AddCost,
+      MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
+    };
+  };
+}
+#endif
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/unsupported/Eigen/FFT b/unsupported/Eigen/FFT
new file mode 100644
index 0000000..8f7a2fc
--- /dev/null
+++ b/unsupported/Eigen/FFT
@@ -0,0 +1,208 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. 
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef EIGEN_FFT_H
+#define EIGEN_FFT_H
+
+#include <complex>
+#include <vector>
+#include <map>
+#include <Eigen/Core>
+
+#ifdef EIGEN_FFTW_DEFAULT
+// FFTW: faster, GPL -- incompatible with Eigen in LGPL form, bigger code size
+#  include <fftw3.h>
+   namespace Eigen {
+#    include "src/FFT/ei_fftw_impl.h"
+     //template <typename T> typedef struct ei_fftw_impl  default_fft_impl; this does not work
+     template <typename T> struct default_fft_impl : public ei_fftw_impl<T> {};
+   }
+#elif defined EIGEN_MKL_DEFAULT
+// TODO 
+// intel Math Kernel Library: fastest, commercial -- may be incompatible with Eigen in GPL form
+   namespace Eigen {
+#    include "src/FFT/ei_imklfft_impl.h"
+     template <typename T> struct default_fft_impl : public ei_imklfft_impl {};
+   }
+#else
+// ei_kissfft_impl:  small, free, reasonably efficient default, derived from kissfft
+//
+  namespace Eigen {
+#   include "src/FFT/ei_kissfft_impl.h"
+     template <typename T> 
+       struct default_fft_impl : public ei_kissfft_impl<T> {};
+  }
+#endif
+
+namespace Eigen {
+
+template <typename _Scalar,
+         typename _Impl=default_fft_impl<_Scalar> >
+class FFT
+{
+  public:
+    typedef _Impl impl_type;
+    typedef typename impl_type::Scalar Scalar;
+    typedef typename impl_type::Complex Complex;
+
+    enum Flag {
+      Default=0, // goof proof
+      Unscaled=1,
+      HalfSpectrum=2,
+      // SomeOtherSpeedOptimization=4
+      Speedy=32767
+    };
+
+    FFT( const impl_type & impl=impl_type() , Flag flags=Default ) :m_impl(impl),m_flag(flags) { }
+
+    inline
+    bool HasFlag(Flag f) const { return (m_flag & (int)f) == f;}
+
+    inline
+    void SetFlag(Flag f) { m_flag |= (int)f;}
+
+    inline
+    void ClearFlag(Flag f) { m_flag &= (~(int)f);}
+
+    inline
+    void fwd( Complex * dst, const Scalar * src, int nfft)
+    {
+        m_impl.fwd(dst,src,nfft);
+        if ( HasFlag(HalfSpectrum) == false)
+          ReflectSpectrum(dst,nfft);
+    }
+
+    inline
+    void fwd( Complex * dst, const Complex * src, int nfft)
+    {
+        m_impl.fwd(dst,src,nfft);
+    }
+
+    template <typename _Input>
+    inline
+    void fwd( std::vector<Complex> & dst, const std::vector<_Input> & src) 
+    {
+      if ( NumTraits<_Input>::IsComplex == 0 && HasFlag(HalfSpectrum) )
+        dst.resize( (src.size()>>1)+1);
+      else
+        dst.resize(src.size());
+      fwd(&dst[0],&src[0],src.size());
+    }
+
+    template<typename InputDerived, typename ComplexDerived>
+    inline
+    void fwd( MatrixBase<ComplexDerived> & dst, const MatrixBase<InputDerived> & src)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(InputDerived)
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
+      EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,InputDerived) // size at compile-time
+      EIGEN_STATIC_ASSERT((ei_is_same_type<typename ComplexDerived::Scalar, Complex>::ret),
+            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+      EIGEN_STATIC_ASSERT(int(InputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
+            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
+
+      if ( NumTraits< typename InputDerived::Scalar >::IsComplex == 0 && HasFlag(HalfSpectrum) )
+        dst.derived().resize( (src.size()>>1)+1);
+      else
+        dst.derived().resize(src.size());
+      fwd( &dst[0],&src[0],src.size() );
+    }
+
+    inline
+    void inv( Complex * dst, const Complex * src, int nfft)
+    {
+        m_impl.inv( dst,src,nfft );
+        if ( HasFlag( Unscaled ) == false)
+          scale(dst,1./nfft,nfft);
+    }
+
+    inline
+    void inv( Scalar * dst, const Complex * src, int nfft)
+    {
+        m_impl.inv( dst,src,nfft );
+        if ( HasFlag( Unscaled ) == false)
+          scale(dst,1./nfft,nfft);
+    }
+
+    template<typename OutputDerived, typename ComplexDerived>
+    inline
+    void inv( MatrixBase<OutputDerived> & dst, const MatrixBase<ComplexDerived> & src)
+    {
+        EIGEN_STATIC_ASSERT_VECTOR_ONLY(OutputDerived)
+        EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
+        EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,OutputDerived) // size at compile-time
+        EIGEN_STATIC_ASSERT((ei_is_same_type<typename ComplexDerived::Scalar, Complex>::ret),
+                            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+        EIGEN_STATIC_ASSERT(int(OutputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
+                            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
+
+        int nfft = src.size();
+        int nout = HasFlag(HalfSpectrum) ? ((nfft>>1)+1) : nfft;
+        dst.derived().resize( nout );
+        inv( &dst[0],&src[0],src.size() );
+    }
+
+    template <typename _Output>
+    inline
+    void inv( std::vector<_Output> & dst, const std::vector<Complex> & src)
+    {
+      if ( NumTraits<_Output>::IsComplex == 0 && HasFlag(HalfSpectrum) )
+        dst.resize( 2*(src.size()-1) );
+      else
+        dst.resize( src.size() );
+      inv( &dst[0],&src[0],dst.size() );
+    }
+
+    // TODO: multi-dimensional FFTs
+    
+    // TODO: handle Eigen MatrixBase
+     // ---> i added fwd and inv specializations above + unit test, is this enough? (bjacob)
+
+    inline
+    impl_type & impl() {return m_impl;}
+  private:
+
+    template <typename _It,typename _Val>
+    inline
+    void scale(_It x,_Val s,int nx)
+    {
+      for (int k=0;k<nx;++k)
+        *x++ *= s;
+    }
+
+    inline
+    void ReflectSpectrum(Complex * freq,int nfft)
+    {
+      // create the implicit right-half spectrum (conjugate-mirror of the left-half)
+      int nhbins=(nfft>>1)+1;
+      for (int k=nhbins;k < nfft; ++k )
+        freq[k] = conj(freq[nfft-k]);
+    }
+
+    impl_type m_impl;
+    int m_flag;
+};
+}
+#endif
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
index d421973..b3983f8 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
@@ -46,13 +46,16 @@
     InputsAtCompileTime = Functor::InputsAtCompileTime,
     ValuesAtCompileTime = Functor::ValuesAtCompileTime
   };
-  
+
   typedef typename Functor::InputType InputType;
   typedef typename Functor::ValueType ValueType;
   typedef typename Functor::JacobianType JacobianType;
+  typedef typename JacobianType::Scalar Scalar;
 
-  typedef AutoDiffScalar<Matrix<double,InputsAtCompileTime,1> > ActiveScalar;
-  
+  typedef Matrix<Scalar,InputsAtCompileTime,1> DerivativeType;
+  typedef AutoDiffScalar<DerivativeType> ActiveScalar;
+
+
   typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;
   typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;
 
@@ -69,26 +72,20 @@
 
     ActiveInput ax = x.template cast<ActiveScalar>();
     ActiveValue av(jac.rows());
-    
+
     if(InputsAtCompileTime==Dynamic)
-    {
-      for (int j=0; j<jac.cols(); j++)
-        ax[j].derivatives().resize(this->inputs());
       for (int j=0; j<jac.rows(); j++)
         av[j].derivatives().resize(this->inputs());
-    }
-    
-    for (int j=0; j<jac.cols(); j++)
-      for (int i=0; i<jac.cols(); i++)
-        ax[i].derivatives().coeffRef(j) = i==j ? 1 : 0;
+
+    for (int i=0; i<jac.cols(); i++)
+      ax[i].derivatives() = DerivativeType::Unit(this->inputs(),i);
 
     Functor::operator()(ax, &av);
 
     for (int i=0; i<jac.rows(); i++)
     {
       (*v)[i] = av[i].value();
-      for (int j=0; j<jac.cols(); j++)
-        jac.coeffRef(i,j) = av[i].derivatives().coeff(j);
+      jac.row(i) = av[i].derivatives();
     }
   }
 protected:
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
index f82e5e7..2fb733a 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
@@ -27,15 +27,35 @@
 
 namespace Eigen {
 
+template<typename A, typename B>
+struct ei_make_coherent_impl {
+  static void run(A& a, B& b) {}
+};
+
+// resize a to match b is a.size()==0, and conversely.
+template<typename A, typename B>
+void ei_make_coherent(const A& a, const B&b)
+{
+  ei_make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
+}
+
 /** \class AutoDiffScalar
   * \brief A scalar type replacement with automatic differentation capability
   *
-  * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
+  * \param _DerType the vector type used to store/represent the derivatives. The base scalar type
+  *                 as well as the number of derivatives to compute are determined from this type.
+  *                 Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf
+  *                 if the number of derivatives is not known at compile time, and/or, the number
+  *                 of derivatives is large.
+  *                 Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a
+  *                 existing vector into an AutoDiffScalar.
+  *                 Finally, _DerType can also be any Eigen compatible expression.
   *
-  * This class represents a scalar value while tracking its respective derivatives.
+  * This class represents a scalar value while tracking its respective derivatives using Eigen's expression
+  * template mechanism.
   *
   * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, 
+  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
   *  - ei_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
   *  - ei_conj, ei_real, ei_imag, ei_abs2.
   *
@@ -44,34 +64,35 @@
   * while derivatives are computed right away.
   *
   */
-template<typename DerType>
+template<typename _DerType>
 class AutoDiffScalar
 {
   public:
+    typedef typename ei_cleantype<_DerType>::type DerType;
     typedef typename ei_traits<DerType>::Scalar Scalar;
-    
+
     inline AutoDiffScalar() {}
-    
+
     inline AutoDiffScalar(const Scalar& value)
       : m_value(value)
     {
       if(m_derivatives.size()>0)
         m_derivatives.setZero();
     }
-    
+
     inline AutoDiffScalar(const Scalar& value, const DerType& der)
       : m_value(value), m_derivatives(der)
     {}
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar(const AutoDiffScalar<OtherDerType>& other)
       : m_value(other.value()), m_derivatives(other.derivatives())
     {}
-    
+
     inline AutoDiffScalar(const AutoDiffScalar& other)
       : m_value(other.value()), m_derivatives(other.derivatives())
     {}
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar& operator=(const AutoDiffScalar<OtherDerType>& other)
     {
@@ -79,32 +100,49 @@
       m_derivatives = other.derivatives();
       return *this;
     }
-    
+
     inline AutoDiffScalar& operator=(const AutoDiffScalar& other)
     {
       m_value = other.value();
       m_derivatives = other.derivatives();
       return *this;
     }
-    
+
 //     inline operator const Scalar& () const { return m_value; }
 //     inline operator Scalar& () { return m_value; }
 
     inline const Scalar& value() const { return m_value; }
     inline Scalar& value() { return m_value; }
-    
+
     inline const DerType& derivatives() const { return m_derivatives; }
     inline DerType& derivatives() { return m_derivatives; }
-    
+
+    inline const AutoDiffScalar<DerType&> operator+(const Scalar& other) const
+    {
+      return AutoDiffScalar<DerType>(m_value + other, m_derivatives);
+    }
+
+    friend inline const AutoDiffScalar<DerType&> operator+(const Scalar& a, const AutoDiffScalar& b)
+    {
+      return AutoDiffScalar<DerType>(a + b.value(), b.derivatives());
+    }
+
+    inline AutoDiffScalar& operator+=(const Scalar& other)
+    {
+      value() += other;
+      return *this;
+    }
+
     template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> >
+    inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type>::Type >
     operator+(const AutoDiffScalar<OtherDerType>& other) const
     {
-      return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,OtherDerType> >(
+      ei_make_coherent(m_derivatives, other.derivatives());
+      return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,DerType,typename ei_cleantype<OtherDerType>::type>::Type >(
         m_value + other.value(),
         m_derivatives + other.derivatives());
     }
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar&
     operator+=(const AutoDiffScalar<OtherDerType>& other)
@@ -112,16 +150,17 @@
       (*this) = (*this) + other;
       return *this;
     }
-    
+
     template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> >
+    inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type>::Type >
     operator-(const AutoDiffScalar<OtherDerType>& other) const
     {
-      return AutoDiffScalar<CwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,OtherDerType> >(
+      ei_make_coherent(m_derivatives, other.derivatives());
+      return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>, DerType,typename ei_cleantype<OtherDerType>::type>::Type >(
         m_value - other.value(),
         m_derivatives - other.derivatives());
     }
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar&
     operator-=(const AutoDiffScalar<OtherDerType>& other)
@@ -129,104 +168,151 @@
       *this = *this - other;
       return *this;
     }
-    
+
     template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >
+    inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType>::Type >
     operator-() const
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType> >(
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, DerType>::Type >(
         -m_value,
         -m_derivatives);
     }
-    
-    inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
+
+    inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >
     operator*(const Scalar& other) const
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >(
         m_value * other,
         (m_derivatives * other));
     }
-    
-    friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
+
+    friend inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >
     operator*(const Scalar& other, const AutoDiffScalar& a)
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >(
         a.value() * other,
         a.derivatives() * other);
     }
-    
-    inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
+
+    inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >
     operator/(const Scalar& other) const
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >(
         m_value / other,
         (m_derivatives * (Scalar(1)/other)));
     }
-    
-    friend inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >
+
+    friend inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >
     operator/(const Scalar& other, const AutoDiffScalar& a)
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >(
         other / a.value(),
         a.derivatives() * (-Scalar(1)/other));
     }
-    
+
     template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
-        NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
-          NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
-          NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > > >
+    inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
+        typename MakeNestByValue<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,
+          typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type,
+          typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >::Type >::Type >
     operator/(const AutoDiffScalar<OtherDerType>& other) const
     {
-      return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
-        NestByValue<CwiseBinaryOp<ei_scalar_difference_op<Scalar>,
-          NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
-          NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > > > >(
+      ei_make_coherent(m_derivatives, other.derivatives());
+      return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>,
+        typename MakeNestByValue<typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,
+          typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type,
+          typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >::Type >::Type >(
         m_value / other.value(),
           ((m_derivatives * other.value()).nestByValue() - (m_value * other.derivatives()).nestByValue()).nestByValue()
         * (Scalar(1)/(other.value()*other.value())));
     }
-    
+
     template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
-        NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
-        NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > >
+    inline const AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,
+        typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type,
+        typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >
     operator*(const AutoDiffScalar<OtherDerType>& other) const
     {
-      return AutoDiffScalar<CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
-        NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >,
-        NestByValue<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, OtherDerType> > > >(
+      ei_make_coherent(m_derivatives, other.derivatives());
+      return AutoDiffScalar<typename MakeCwiseBinaryOp<ei_scalar_sum_op<Scalar>,
+        typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type>::Type,
+        typename MakeNestByValue<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, typename ei_cleantype<OtherDerType>::type>::Type>::Type >::Type >(
         m_value * other.value(),
         (m_derivatives * other.value()).nestByValue() + (m_value * other.derivatives()).nestByValue());
     }
-    
+
     inline AutoDiffScalar& operator*=(const Scalar& other)
     {
       *this = *this * other;
       return *this;
     }
-    
+
     template<typename OtherDerType>
     inline AutoDiffScalar& operator*=(const AutoDiffScalar<OtherDerType>& other)
     {
       *this = *this * other;
       return *this;
     }
-    
+
   protected:
     Scalar m_value;
     DerType m_derivatives;
-    
+
+};
+
+template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B>
+struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> {
+  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
+  static void run(A& a, B& b) {
+    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
+    {
+      a.resize(b.size());
+      a.setZero();
+    }
+  }
+};
+
+template<typename A, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
+struct ei_make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
+  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
+  static void run(A& a, B& b) {
+    if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
+    {
+      b.resize(a.size());
+      b.setZero();
+    }
+  }
+};
+
+template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols,
+         typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
+struct ei_make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,
+                             Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
+  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
+  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
+  static void run(A& a, B& b) {
+    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
+    {
+      a.resize(b.size());
+      a.setZero();
+    }
+    else if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
+    {
+      b.resize(a.size());
+      b.setZero();
+    }
+  }
 };
 
 }
 
 #define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \
   template<typename DerType> \
-  inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> > \
-  FUNC(const AutoDiffScalar<DerType>& x) { \
+  inline const Eigen::AutoDiffScalar<typename Eigen::MakeCwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType>::Type > \
+  FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \
+    using namespace Eigen; \
     typedef typename ei_traits<DerType>::Scalar Scalar; \
-    typedef AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> > ReturnType; \
+    typedef AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type > ReturnType; \
     CODE; \
   }
 
@@ -234,34 +320,35 @@
 {
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs,
     return ReturnType(std::abs(x.value()), x.derivatives() * (sign(x.value())));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt,
     Scalar sqrtx = std::sqrt(x.value());
     return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos,
     return ReturnType(std::cos(x.value()), x.derivatives() * (-std::sin(x.value())));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin,
     return ReturnType(std::sin(x.value()),x.derivatives() * std::cos(x.value()));)
-  
+
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp,
     Scalar expx = std::exp(x.value());
     return ReturnType(expx,x.derivatives() * expx);)
 
   EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(ei_log,
     return ReturnType(std::log(x.value),x.derivatives() * (Scalar(1).x.value()));)
-  
+
   template<typename DerType>
-  inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> >
-  pow(const AutoDiffScalar<DerType>& x, typename ei_traits<DerType>::Scalar y)
+  inline const Eigen::AutoDiffScalar<typename Eigen::MakeCwiseUnaryOp<Eigen::ei_scalar_multiple_op<typename Eigen::ei_traits<DerType>::Scalar>, DerType>::Type >
+  pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::ei_traits<DerType>::Scalar y)
   {
+    using namespace Eigen;
     typedef typename ei_traits<DerType>::Scalar Scalar;
-    return AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType> >(
+    return AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, DerType>::Type >(
       std::pow(x.value(),y),
       x.derivatives() * (y * std::pow(x.value(),y-1)));
   }
-  
+
 }
 
 namespace Eigen {
@@ -297,7 +384,7 @@
   return ReturnType(ei_log(x.value),x.derivatives() * (Scalar(1).x.value()));)
 
 template<typename DerType>
-inline const AutoDiffScalar<CwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType> >
+inline const AutoDiffScalar<typename MakeCwiseUnaryOp<ei_scalar_multiple_op<typename ei_traits<DerType>::Scalar>, DerType>::Type >
 ei_pow(const AutoDiffScalar<DerType>& x, typename ei_traits<DerType>::Scalar y)
 { return std::pow(x,y);}
 
diff --git a/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h b/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
index 69ea914..03c82b7 100644
--- a/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
+++ b/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
@@ -35,7 +35,7 @@
   * This class represents a scalar value while tracking its respective derivatives.
   *
   * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos, 
+  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
   *  - ei_abs, ei_sqrt, ei_pow, ei_exp, ei_log, ei_sin, ei_cos,
   *  - ei_conj, ei_real, ei_imag, ei_abs2.
   *
@@ -48,130 +48,150 @@
 class AutoDiffVector
 {
   public:
-    typedef typename ei_traits<ValueType>::Scalar Scalar;
-    
+    //typedef typename ei_traits<ValueType>::Scalar Scalar;
+    typedef typename ei_traits<ValueType>::Scalar BaseScalar;
+    typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
+    typedef ActiveScalar Scalar;
+    typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
+
     inline AutoDiffVector() {}
-    
+
     inline AutoDiffVector(const ValueType& values)
       : m_values(values)
     {
       m_jacobian.setZero();
     }
-    
+
+
+    CoeffType operator[] (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
+    const CoeffType operator[] (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
+
+    CoeffType operator() (int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
+    const CoeffType operator() (int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
+
+    CoeffType coeffRef(int i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
+    const CoeffType coeffRef(int i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
+
+    int size() const { return m_values.size(); }
+
+    // FIXME here we could return an expression of the sum
+    Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
+
+
     inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
       : m_values(values), m_jacobian(jac)
     {}
-    
+
     template<typename OtherValueType, typename OtherJacobianType>
     inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
       : m_values(other.values()), m_jacobian(other.jacobian())
     {}
-    
+
     inline AutoDiffVector(const AutoDiffVector& other)
       : m_values(other.values()), m_jacobian(other.jacobian())
     {}
-    
+
     template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffScalar& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
+    inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
     {
       m_values = other.values();
       m_jacobian = other.jacobian();
       return *this;
     }
-    
+
     inline AutoDiffVector& operator=(const AutoDiffVector& other)
     {
       m_values = other.values();
       m_jacobian = other.jacobian();
       return *this;
     }
-    
+
     inline const ValueType& values() const { return m_values; }
     inline ValueType& values() { return m_values; }
-    
+
     inline const JacobianType& jacobian() const { return m_jacobian; }
     inline JacobianType& jacobian() { return m_jacobian; }
-    
+
     template<typename OtherValueType,typename OtherJacobianType>
     inline const AutoDiffVector<
-      CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> >
-      CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> >
-    operator+(const AutoDiffScalar<OtherDerType>& other) const
+      typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
+      typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
+    operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
     {
       return AutoDiffVector<
-      CwiseBinaryOp<ei_scalar_sum_op<Scalar>,ValueType,OtherValueType> >
-      CwiseBinaryOp<ei_scalar_sum_op<Scalar>,JacobianType,OtherJacobianType> >(
+      typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
+      typename MakeCwiseBinaryOp<ei_scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
         m_values + other.values(),
         m_jacobian + other.jacobian());
     }
-    
+
     template<typename OtherValueType, typename OtherJacobianType>
     inline AutoDiffVector&
-    operator+=(const AutoDiffVector<OtherValueType,OtherDerType>& other)
+    operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
     {
       m_values += other.values();
       m_jacobian += other.jacobian();
       return *this;
     }
-    
+
     template<typename OtherValueType,typename OtherJacobianType>
     inline const AutoDiffVector<
-      CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> >
-      CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> >
-    operator-(const AutoDiffScalar<OtherDerType>& other) const
+      typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
+      typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
+    operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
     {
       return AutoDiffVector<
-      CwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType> >
-      CwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType> >(
-        m_values - other.values(),
-        m_jacobian - other.jacobian());
+        typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
+        typename MakeCwiseBinaryOp<ei_scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
+          m_values - other.values(),
+          m_jacobian - other.jacobian());
     }
-    
+
     template<typename OtherValueType, typename OtherJacobianType>
     inline AutoDiffVector&
-    operator-=(const AutoDiffVector<OtherValueType,OtherDerType>& other)
+    operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
     {
       m_values -= other.values();
       m_jacobian -= other.jacobian();
       return *this;
     }
-    
+
     inline const AutoDiffVector<
-      CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>
-      CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> >
+      typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
+      typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >
     operator-() const
     {
       return AutoDiffVector<
-      CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>
-      CwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType> >(
-        -m_values,
-        -m_jacobian);
+        typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, ValueType>::Type,
+        typename MakeCwiseUnaryOp<ei_scalar_opposite_op<Scalar>, JacobianType>::Type >(
+          -m_values,
+          -m_jacobian);
     }
-    
+
     inline const AutoDiffVector<
-      CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
-      CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >
-    operator*(const Scalar& other) const
+      typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
+      typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type>
+    operator*(const BaseScalar& other) const
     {
       return AutoDiffVector<
-        CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
-        CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >(
+        typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
+        typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
           m_values * other,
-          (m_jacobian * other));
+          m_jacobian * other);
     }
-    
+
     friend inline const AutoDiffVector<
-      CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
-      CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >
+      typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
+      typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >
     operator*(const Scalar& other, const AutoDiffVector& v)
     {
       return AutoDiffVector<
-        CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>
-        CwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType> >(
+        typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, ValueType>::Type,
+        typename MakeCwiseUnaryOp<ei_scalar_multiple_op<Scalar>, JacobianType>::Type >(
           v.values() * other,
           v.jacobian() * other);
     }
-    
+
 //     template<typename OtherValueType,typename OtherJacobianType>
 //     inline const AutoDiffVector<
 //       CwiseBinaryOp<ei_scalar_multiple_op<Scalar>, ValueType, OtherValueType>
@@ -188,25 +208,25 @@
 //             m_values.cwise() * other.values(),
 //             (m_jacobian * other.values()).nestByValue() + (m_values * other.jacobian()).nestByValue());
 //     }
-    
+
     inline AutoDiffVector& operator*=(const Scalar& other)
     {
       m_values *= other;
       m_jacobian *= other;
       return *this;
     }
-    
+
     template<typename OtherValueType,typename OtherJacobianType>
     inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
     {
       *this = *this * other;
       return *this;
     }
-    
+
   protected:
     ValueType m_values;
     JacobianType m_jacobian;
-    
+
 };
 
 }
diff --git a/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/unsupported/Eigen/src/FFT/ei_fftw_impl.h
new file mode 100644
index 0000000..a66b739
--- /dev/null
+++ b/unsupported/Eigen/src/FFT/ei_fftw_impl.h
@@ -0,0 +1,213 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. 
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+
+  // FFTW uses non-const arguments
+  // so we must use ugly const_cast calls for all the args it uses
+  //
+  // This should be safe as long as 
+  // 1. we use FFTW_ESTIMATE for all our planning
+  //       see the FFTW docs section 4.3.2 "Planner Flags"
+  // 2. fftw_complex is compatible with std::complex
+  //    This assumes std::complex<T> layout is array of size 2 with real,imag
+  template <typename T> 
+  inline 
+  T * ei_fftw_cast(const T* p) 
+  { 
+      return const_cast<T*>( p); 
+  }
+
+  inline 
+  fftw_complex * ei_fftw_cast( const std::complex<double> * p) 
+  {
+      return const_cast<fftw_complex*>( reinterpret_cast<const fftw_complex*>(p) ); 
+  }
+
+  inline 
+  fftwf_complex * ei_fftw_cast( const std::complex<float> * p) 
+  { 
+      return const_cast<fftwf_complex*>( reinterpret_cast<const fftwf_complex*>(p) ); 
+  }
+
+  inline 
+  fftwl_complex * ei_fftw_cast( const std::complex<long double> * p) 
+  { 
+      return const_cast<fftwl_complex*>( reinterpret_cast<const fftwl_complex*>(p) ); 
+  }
+
+  template <typename T> 
+  struct ei_fftw_plan {};
+
+  template <> 
+  struct ei_fftw_plan<float>
+  {
+      typedef float scalar_type;
+      typedef fftwf_complex complex_type;
+      fftwf_plan m_plan;
+      ei_fftw_plan() :m_plan(NULL) {}
+      ~ei_fftw_plan() {if (m_plan) fftwf_destroy_plan(m_plan);}
+
+      inline
+      void fwd(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE);
+          fftwf_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void inv(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE);
+          fftwf_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void fwd(complex_type * dst,scalar_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwf_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftwf_execute_dft_r2c( m_plan,src,dst);
+      }
+      inline
+      void inv(scalar_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL)
+              m_plan = fftwf_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftwf_execute_dft_c2r( m_plan, src,dst);
+      }
+  };
+  template <> 
+  struct ei_fftw_plan<double>
+  {
+      typedef double scalar_type;
+      typedef fftw_complex complex_type;
+      fftw_plan m_plan;
+      ei_fftw_plan() :m_plan(NULL) {}
+      ~ei_fftw_plan() {if (m_plan) fftw_destroy_plan(m_plan);}
+
+      inline
+      void fwd(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE);
+          fftw_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void inv(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE);
+          fftw_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void fwd(complex_type * dst,scalar_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftw_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftw_execute_dft_r2c( m_plan,src,dst);
+      }
+      inline
+      void inv(scalar_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL)
+              m_plan = fftw_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftw_execute_dft_c2r( m_plan, src,dst);
+      }
+  };
+  template <> 
+  struct ei_fftw_plan<long double>
+  {
+      typedef long double scalar_type;
+      typedef fftwl_complex complex_type;
+      fftwl_plan m_plan;
+      ei_fftw_plan() :m_plan(NULL) {}
+      ~ei_fftw_plan() {if (m_plan) fftwl_destroy_plan(m_plan);}
+
+      inline
+      void fwd(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE);
+          fftwl_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void inv(complex_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE);
+          fftwl_execute_dft( m_plan, src,dst);
+      }
+      inline
+      void fwd(complex_type * dst,scalar_type * src,int nfft) {
+          if (m_plan==NULL) m_plan = fftwl_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftwl_execute_dft_r2c( m_plan,src,dst);
+      }
+      inline
+      void inv(scalar_type * dst,complex_type * src,int nfft) {
+          if (m_plan==NULL)
+              m_plan = fftwl_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE);
+          fftwl_execute_dft_c2r( m_plan, src,dst);
+      }
+  };
+
+  template <typename _Scalar>
+  struct ei_fftw_impl
+  {
+      typedef _Scalar Scalar;
+      typedef std::complex<Scalar> Complex;
+
+      inline
+      void clear() 
+      {
+        m_plans.clear();
+      }
+
+      // complex-to-complex forward FFT
+      inline
+      void fwd( Complex * dst,const Complex *src,int nfft)
+      {
+        get_plan(nfft,false,dst,src).fwd(ei_fftw_cast(dst), ei_fftw_cast(src),nfft );
+      }
+
+      // real-to-complex forward FFT
+      inline
+      void fwd( Complex * dst,const Scalar * src,int nfft) 
+      {
+          get_plan(nfft,false,dst,src).fwd(ei_fftw_cast(dst), ei_fftw_cast(src) ,nfft);
+      }
+
+      // inverse complex-to-complex
+      inline
+      void inv(Complex * dst,const Complex  *src,int nfft)
+      {
+        get_plan(nfft,true,dst,src).inv(ei_fftw_cast(dst), ei_fftw_cast(src),nfft );
+      }
+
+      // half-complex to scalar
+      inline
+      void inv( Scalar * dst,const Complex * src,int nfft) 
+      {
+        get_plan(nfft,true,dst,src).inv(ei_fftw_cast(dst), ei_fftw_cast(src),nfft );
+      }
+
+  protected:
+      typedef ei_fftw_plan<Scalar> PlanData;
+      typedef std::map<int,PlanData> PlanMap;
+
+      PlanMap m_plans;
+
+      inline
+      PlanData & get_plan(int nfft,bool inverse,void * dst,const void * src)
+      {
+          bool inplace = (dst==src);
+          bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0;
+          int key = (nfft<<3 ) | (inverse<<2) | (inplace<<1) | aligned;
+          return m_plans[key];
+      }
+  };
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
new file mode 100644
index 0000000..5c958d1
--- /dev/null
+++ b/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
@@ -0,0 +1,410 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+
+
+  // This FFT implementation was derived from kissfft http:sourceforge.net/projects/kissfft
+  // Copyright 2003-2009 Mark Borgerding
+
+template <typename _Scalar>
+struct ei_kiss_cpx_fft
+{
+  typedef _Scalar Scalar;
+  typedef std::complex<Scalar> Complex;
+  std::vector<Complex> m_twiddles;
+  std::vector<int> m_stageRadix;
+  std::vector<int> m_stageRemainder;
+  std::vector<Complex> m_scratchBuf;
+  bool m_inverse;
+
+  inline
+    void make_twiddles(int nfft,bool inverse)
+    {
+      m_inverse = inverse;
+      m_twiddles.resize(nfft);
+      Scalar phinc =  (inverse?2:-2)* acos( (Scalar) -1)  / nfft;
+      for (int i=0;i<nfft;++i)
+        m_twiddles[i] = exp( Complex(0,i*phinc) );
+    }
+
+  void factorize(int nfft)
+  {
+    //start factoring out 4's, then 2's, then 3,5,7,9,...
+    int n= nfft;
+    int p=4;
+    do {
+      while (n % p) {
+        switch (p) {
+          case 4: p = 2; break;
+          case 2: p = 3; break;
+          default: p += 2; break;
+        }
+        if (p*p>n)
+          p=n;// impossible to have a factor > sqrt(n)
+      }
+      n /= p;
+      m_stageRadix.push_back(p);
+      m_stageRemainder.push_back(n);
+      if ( p > 5 )
+        m_scratchBuf.resize(p); // scratchbuf will be needed in bfly_generic
+    }while(n>1);
+  }
+
+  template <typename _Src>
+    inline
+    void work( int stage,Complex * xout, const _Src * xin, size_t fstride,size_t in_stride)
+    {
+      int p = m_stageRadix[stage];
+      int m = m_stageRemainder[stage];
+      Complex * Fout_beg = xout;
+      Complex * Fout_end = xout + p*m;
+
+      if (m>1) {
+        do{
+          // recursive call:
+          // DFT of size m*p performed by doing
+          // p instances of smaller DFTs of size m, 
+          // each one takes a decimated version of the input
+          work(stage+1, xout , xin, fstride*p,in_stride);
+          xin += fstride*in_stride;
+        }while( (xout += m) != Fout_end );
+      }else{
+        do{
+          *xout = *xin;
+          xin += fstride*in_stride;
+        }while(++xout != Fout_end );
+      }
+      xout=Fout_beg;
+
+      // recombine the p smaller DFTs 
+      switch (p) {
+        case 2: bfly2(xout,fstride,m); break;
+        case 3: bfly3(xout,fstride,m); break;
+        case 4: bfly4(xout,fstride,m); break;
+        case 5: bfly5(xout,fstride,m); break;
+        default: bfly_generic(xout,fstride,m,p); break;
+      }
+    }
+
+  inline
+    void bfly2( Complex * Fout, const size_t fstride, int m)
+    {
+      for (int k=0;k<m;++k) {
+        Complex t = Fout[m+k] * m_twiddles[k*fstride];
+        Fout[m+k] = Fout[k] - t;
+        Fout[k] += t;
+      }
+    }
+
+  inline
+    void bfly4( Complex * Fout, const size_t fstride, const size_t m)
+    {
+      Complex scratch[6];
+      int negative_if_inverse = m_inverse * -2 +1;
+      for (size_t k=0;k<m;++k) {
+        scratch[0] = Fout[k+m] * m_twiddles[k*fstride];
+        scratch[1] = Fout[k+2*m] * m_twiddles[k*fstride*2];
+        scratch[2] = Fout[k+3*m] * m_twiddles[k*fstride*3];
+        scratch[5] = Fout[k] - scratch[1];
+
+        Fout[k] += scratch[1];
+        scratch[3] = scratch[0] + scratch[2];
+        scratch[4] = scratch[0] - scratch[2];
+        scratch[4] = Complex( scratch[4].imag()*negative_if_inverse , -scratch[4].real()* negative_if_inverse );
+
+        Fout[k+2*m]  = Fout[k] - scratch[3];
+        Fout[k] += scratch[3];
+        Fout[k+m] = scratch[5] + scratch[4];
+        Fout[k+3*m] = scratch[5] - scratch[4];
+      }
+    }
+
+  inline
+    void bfly3( Complex * Fout, const size_t fstride, const size_t m)
+    {
+      size_t k=m;
+      const size_t m2 = 2*m;
+      Complex *tw1,*tw2;
+      Complex scratch[5];
+      Complex epi3;
+      epi3 = m_twiddles[fstride*m];
+
+      tw1=tw2=&m_twiddles[0];
+
+      do{
+        scratch[1]=Fout[m] * *tw1;
+        scratch[2]=Fout[m2] * *tw2;
+
+        scratch[3]=scratch[1]+scratch[2];
+        scratch[0]=scratch[1]-scratch[2];
+        tw1 += fstride;
+        tw2 += fstride*2;
+        Fout[m] = Complex( Fout->real() - .5*scratch[3].real() , Fout->imag() - .5*scratch[3].imag() );
+        scratch[0] *= epi3.imag();
+        *Fout += scratch[3];
+        Fout[m2] = Complex(  Fout[m].real() + scratch[0].imag() , Fout[m].imag() - scratch[0].real() );
+        Fout[m] += Complex( -scratch[0].imag(),scratch[0].real() );
+        ++Fout;
+      }while(--k);
+    }
+
+  inline
+    void bfly5( Complex * Fout, const size_t fstride, const size_t m)
+    {
+      Complex *Fout0,*Fout1,*Fout2,*Fout3,*Fout4;
+      size_t u;
+      Complex scratch[13];
+      Complex * twiddles = &m_twiddles[0];
+      Complex *tw;
+      Complex ya,yb;
+      ya = twiddles[fstride*m];
+      yb = twiddles[fstride*2*m];
+
+      Fout0=Fout;
+      Fout1=Fout0+m;
+      Fout2=Fout0+2*m;
+      Fout3=Fout0+3*m;
+      Fout4=Fout0+4*m;
+
+      tw=twiddles;
+      for ( u=0; u<m; ++u ) {
+        scratch[0] = *Fout0;
+
+        scratch[1]  = *Fout1 * tw[u*fstride];
+        scratch[2]  = *Fout2 * tw[2*u*fstride];
+        scratch[3]  = *Fout3 * tw[3*u*fstride];
+        scratch[4]  = *Fout4 * tw[4*u*fstride];
+
+        scratch[7] = scratch[1] + scratch[4];
+        scratch[10] = scratch[1] - scratch[4];
+        scratch[8] = scratch[2] + scratch[3];
+        scratch[9] = scratch[2] - scratch[3];
+
+        *Fout0 +=  scratch[7];
+        *Fout0 +=  scratch[8];
+
+        scratch[5] = scratch[0] + Complex(
+            (scratch[7].real()*ya.real() ) + (scratch[8].real() *yb.real() ),
+            (scratch[7].imag()*ya.real()) + (scratch[8].imag()*yb.real())
+            );
+
+        scratch[6] = Complex(
+            (scratch[10].imag()*ya.imag()) + (scratch[9].imag()*yb.imag()),
+            -(scratch[10].real()*ya.imag()) - (scratch[9].real()*yb.imag())
+            );
+
+        *Fout1 = scratch[5] - scratch[6];
+        *Fout4 = scratch[5] + scratch[6];
+
+        scratch[11] = scratch[0] +
+          Complex(
+              (scratch[7].real()*yb.real()) + (scratch[8].real()*ya.real()),
+              (scratch[7].imag()*yb.real()) + (scratch[8].imag()*ya.real())
+              );
+
+        scratch[12] = Complex(
+            -(scratch[10].imag()*yb.imag()) + (scratch[9].imag()*ya.imag()),
+            (scratch[10].real()*yb.imag()) - (scratch[9].real()*ya.imag())
+            );
+
+        *Fout2=scratch[11]+scratch[12];
+        *Fout3=scratch[11]-scratch[12];
+
+        ++Fout0;++Fout1;++Fout2;++Fout3;++Fout4;
+      }
+    }
+
+  /* perform the butterfly for one stage of a mixed radix FFT */
+  inline
+    void bfly_generic(
+        Complex * Fout,
+        const size_t fstride,
+        int m,
+        int p
+        )
+    {
+      int u,k,q1,q;
+      Complex * twiddles = &m_twiddles[0];
+      Complex t;
+      int Norig = m_twiddles.size();
+      Complex * scratchbuf = &m_scratchBuf[0];
+
+      for ( u=0; u<m; ++u ) {
+        k=u;
+        for ( q1=0 ; q1<p ; ++q1 ) {
+          scratchbuf[q1] = Fout[ k  ];
+          k += m;
+        }
+
+        k=u;
+        for ( q1=0 ; q1<p ; ++q1 ) {
+          int twidx=0;
+          Fout[ k ] = scratchbuf[0];
+          for (q=1;q<p;++q ) {
+            twidx += fstride * k;
+            if (twidx>=Norig) twidx-=Norig;
+            t=scratchbuf[q] * twiddles[twidx];
+            Fout[ k ] += t;
+          }
+          k += m;
+        }
+      }
+    }
+};
+
+template <typename _Scalar>
+struct ei_kissfft_impl
+{
+  typedef _Scalar Scalar;
+  typedef std::complex<Scalar> Complex;
+
+  void clear() 
+  {
+    m_plans.clear();
+    m_realTwiddles.clear();
+  }
+
+  inline
+    void fwd( Complex * dst,const Complex *src,int nfft)
+    {
+      get_plan(nfft,false).work(0, dst, src, 1,1);
+    }
+
+  // real-to-complex forward FFT
+  // perform two FFTs of src even and src odd
+  // then twiddle to recombine them into the half-spectrum format
+  // then fill in the conjugate symmetric half
+  inline
+    void fwd( Complex * dst,const Scalar * src,int nfft) 
+    {
+      if ( nfft&3  ) {
+        // use generic mode for odd
+        m_tmpBuf1.resize(nfft);
+        get_plan(nfft,false).work(0, &m_tmpBuf1[0], src, 1,1);
+        std::copy(m_tmpBuf1.begin(),m_tmpBuf1.begin()+(nfft>>1)+1,dst );
+      }else{
+        int ncfft = nfft>>1;
+        int ncfft2 = nfft>>2;
+        Complex * rtw = real_twiddles(ncfft2);
+
+        // use optimized mode for even real
+        fwd( dst, reinterpret_cast<const Complex*> (src), ncfft);
+        Complex dc = dst[0].real() +  dst[0].imag();
+        Complex nyquist = dst[0].real() -  dst[0].imag();
+        int k;
+        for ( k=1;k <= ncfft2 ; ++k ) {
+          Complex fpk = dst[k];
+          Complex fpnk = conj(dst[ncfft-k]);
+          Complex f1k = fpk + fpnk;
+          Complex f2k = fpk - fpnk;
+          Complex tw= f2k * rtw[k-1];
+          dst[k] =  (f1k + tw) * Scalar(.5);
+          dst[ncfft-k] =  conj(f1k -tw)*Scalar(.5);
+        }
+        dst[0] = dc;
+        dst[ncfft] = nyquist;
+      }
+    }
+
+  // inverse complex-to-complex
+  inline
+    void inv(Complex * dst,const Complex  *src,int nfft)
+    {
+      get_plan(nfft,true).work(0, dst, src, 1,1);
+    }
+
+  // half-complex to scalar
+  inline
+    void inv( Scalar * dst,const Complex * src,int nfft) 
+    {
+      if (nfft&3) {
+        m_tmpBuf1.resize(nfft);
+        m_tmpBuf2.resize(nfft);
+        std::copy(src,src+(nfft>>1)+1,m_tmpBuf1.begin() );
+        for (int k=1;k<(nfft>>1)+1;++k)
+          m_tmpBuf1[nfft-k] = conj(m_tmpBuf1[k]);
+        inv(&m_tmpBuf2[0],&m_tmpBuf1[0],nfft);
+        for (int k=0;k<nfft;++k)
+          dst[k] = m_tmpBuf2[k].real();
+      }else{
+        // optimized version for multiple of 4
+        int ncfft = nfft>>1;
+        int ncfft2 = nfft>>2;
+        Complex * rtw = real_twiddles(ncfft2);
+        m_tmpBuf1.resize(ncfft);
+        m_tmpBuf1[0] = Complex( src[0].real() + src[ncfft].real(), src[0].real() - src[ncfft].real() );
+        for (int k = 1; k <= ncfft / 2; ++k) {
+          Complex fk = src[k];
+          Complex fnkc = conj(src[ncfft-k]);
+          Complex fek = fk + fnkc;
+          Complex tmp = fk - fnkc;
+          Complex fok = tmp * conj(rtw[k-1]);
+          m_tmpBuf1[k] = fek + fok;
+          m_tmpBuf1[ncfft-k] = conj(fek - fok);
+        }
+        get_plan(ncfft,true).work(0, reinterpret_cast<Complex*>(dst), &m_tmpBuf1[0], 1,1);
+      }
+    }
+
+  protected:
+  typedef ei_kiss_cpx_fft<Scalar> PlanData;
+  typedef std::map<int,PlanData> PlanMap;
+
+  PlanMap m_plans;
+  std::map<int, std::vector<Complex> > m_realTwiddles;
+  std::vector<Complex> m_tmpBuf1;
+  std::vector<Complex> m_tmpBuf2;
+
+  inline
+    int PlanKey(int nfft,bool isinverse) const { return (nfft<<1) | isinverse; }
+
+  inline
+    PlanData & get_plan(int nfft,bool inverse)
+    {
+      // TODO look for PlanKey(nfft, ! inverse) and conjugate the twiddles
+      PlanData & pd = m_plans[ PlanKey(nfft,inverse) ];
+      if ( pd.m_twiddles.size() == 0 ) {
+        pd.make_twiddles(nfft,inverse);
+        pd.factorize(nfft);
+      }
+      return pd;
+    }
+
+  inline
+    Complex * real_twiddles(int ncfft2)
+    {
+      std::vector<Complex> & twidref = m_realTwiddles[ncfft2];// creates new if not there
+      if ( (int)twidref.size() != ncfft2 ) {
+        twidref.resize(ncfft2);
+        int ncfft= ncfft2<<1;
+        Scalar pi =  acos( Scalar(-1) );
+        for (int k=1;k<=ncfft2;++k) 
+          twidref[k-1] = exp( Complex(0,-pi * ((double) (k) / ncfft + .5) ) );
+      }
+      return &twidref[0];
+    }
+};
+
+/* vim: set filetype=cpp et sw=2 ts=2 ai: */
+
diff --git a/unsupported/doc/examples/FFT.cpp b/unsupported/doc/examples/FFT.cpp
new file mode 100644
index 0000000..55e2958
--- /dev/null
+++ b/unsupported/doc/examples/FFT.cpp
@@ -0,0 +1,117 @@
+//  To use the simple FFT implementation
+//  g++ -o demofft -I.. -Wall -O3 FFT.cpp 
+
+//  To use the FFTW implementation
+//  g++ -o demofft -I.. -DUSE_FFTW -Wall -O3 FFT.cpp -lfftw3 -lfftw3f -lfftw3l
+
+#ifdef USE_FFTW
+#include <fftw3.h>
+#endif
+
+#include <vector>
+#include <complex>
+#include <algorithm>
+#include <iterator>
+#include <Eigen/Core>
+#include <unsupported/Eigen/FFT>
+
+using namespace std;
+using namespace Eigen;
+
+template <typename T>
+T mag2(T a)
+{
+    return a*a;
+}
+template <typename T>
+T mag2(std::complex<T> a)
+{
+    return norm(a);
+}
+
+template <typename T>
+T mag2(const std::vector<T> & vec)
+{
+    T out=0;
+    for (size_t k=0;k<vec.size();++k)
+        out += mag2(vec[k]);
+    return out;
+}
+
+template <typename T>
+T mag2(const std::vector<std::complex<T> > & vec)
+{
+    T out=0;
+    for (size_t k=0;k<vec.size();++k)
+        out += mag2(vec[k]);
+    return out;
+}
+
+template <typename T>
+vector<T> operator-(const vector<T> & a,const vector<T> & b )
+{
+    vector<T> c(a);
+    for (size_t k=0;k<b.size();++k) 
+        c[k] -= b[k];
+    return c;
+}
+
+template <typename T>
+void RandomFill(std::vector<T> & vec)
+{
+    for (size_t k=0;k<vec.size();++k)
+        vec[k] = T( rand() )/T(RAND_MAX) - .5;
+}
+
+template <typename T>
+void RandomFill(std::vector<std::complex<T> > & vec)
+{
+    for (size_t k=0;k<vec.size();++k)
+        vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - .5, T( rand() )/T(RAND_MAX) - .5);
+}
+
+template <typename T_time,typename T_freq>
+void fwd_inv(size_t nfft)
+{
+    typedef typename NumTraits<T_freq>::Real Scalar;
+    vector<T_time> timebuf(nfft);
+    RandomFill(timebuf);
+
+    vector<T_freq> freqbuf;
+    static FFT<Scalar> fft;
+    fft.fwd(freqbuf,timebuf);
+
+    vector<T_time> timebuf2;
+    fft.inv(timebuf2,freqbuf);
+
+    long double rmse = mag2(timebuf - timebuf2) / mag2(timebuf);
+    cout << "roundtrip rmse: " << rmse << endl;
+}
+
+template <typename T_scalar>
+void two_demos(int nfft)
+{
+    cout << "     scalar ";
+    fwd_inv<T_scalar,std::complex<T_scalar> >(nfft);
+    cout << "    complex ";
+    fwd_inv<std::complex<T_scalar>,std::complex<T_scalar> >(nfft);
+}
+
+void demo_all_types(int nfft)
+{
+    cout << "nfft=" << nfft << endl;
+    cout << "   float" << endl;
+    two_demos<float>(nfft);
+    cout << "   double" << endl;
+    two_demos<double>(nfft);
+    cout << "   long double" << endl;
+    two_demos<long double>(nfft);
+}
+
+int main()
+{
+    demo_all_types( 2*3*4*5*7 );
+    demo_all_types( 2*9*16*25 );
+    demo_all_types( 1024 );
+    return 0;
+}
diff --git a/unsupported/test/CMakeLists.txt b/unsupported/test/CMakeLists.txt
index 6c02111..bf08722 100644
--- a/unsupported/test/CMakeLists.txt
+++ b/unsupported/test/CMakeLists.txt
@@ -21,3 +21,11 @@
 ei_add_test(BVH)
 #ei_add_test(matrixExponential)
 ei_add_test(alignedvector3)
+ei_add_test(FFT)
+
+find_package(FFTW)
+if(FFTW_FOUND)
+  ei_add_test(FFTW  "-DEIGEN_FFTW_DEFAULT " "-lfftw3 -lfftw3f -lfftw3l" )
+endif(FFTW_FOUND)
+
+ei_add_test(Complex)
diff --git a/unsupported/test/Complex.cpp b/unsupported/test/Complex.cpp
new file mode 100644
index 0000000..bedeb9f
--- /dev/null
+++ b/unsupported/test/Complex.cpp
@@ -0,0 +1,77 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+#ifdef EIGEN_TEST_FUNC
+#  include "main.h"
+#else 
+#  include <iostream>
+#  define CALL_SUBTEST(x) x
+#  define VERIFY(x) x
+#  define test_Complex main
+#endif
+
+#include <unsupported/Eigen/Complex>
+#include <vector>
+
+using namespace std;
+using namespace Eigen;
+
+template <typename T>
+void take_std( std::complex<T> * dst, int n )
+{
+    cout << dst[n-1] << endl;
+}
+
+
+template <typename T>
+void syntax()
+{
+    // this works fine
+    Matrix< Complex<T>, 9, 1>  a;
+    std::complex<T> * pa = &a[0];
+    Complex<T> * pa2 = &a[0];
+    take_std( pa,9);
+
+    // this does not work, but I wish it would
+    // take_std(&a[0];)
+    // this does
+    take_std( (std::complex<T> *)&a[0],9);
+
+    // this does not work, but it would be really nice
+    //vector< Complex<T> > a; 
+    // (on my gcc 4.4.1 )
+    // std::vector assumes operator& returns a POD pointer
+
+    // this works fine
+    Complex<T> b[9];
+    std::complex<T> * pb = &b[0]; // this works fine
+
+    take_std( pb,9);
+}
+
+void test_Complex()
+{
+  CALL_SUBTEST( syntax<float>() );
+  CALL_SUBTEST( syntax<double>() );
+  CALL_SUBTEST( syntax<long double>() );
+} 
diff --git a/unsupported/test/FFT.cpp b/unsupported/test/FFT.cpp
new file mode 100644
index 0000000..ad0d426
--- /dev/null
+++ b/unsupported/test/FFT.cpp
@@ -0,0 +1,235 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#include "main.h"
+#include <unsupported/Eigen/FFT>
+
+using namespace std;
+
+float norm(float x) {return x*x;}
+double norm(double x) {return x*x;}
+long double norm(long double x) {return x*x;}
+
+template < typename T>
+complex<long double>  promote(complex<T> x) { return complex<long double>(x.real(),x.imag()); }
+
+complex<long double>  promote(float x) { return complex<long double>( x); }
+complex<long double>  promote(double x) { return complex<long double>( x); }
+complex<long double>  promote(long double x) { return complex<long double>( x); }
+    
+
+    template <typename VectorType1,typename VectorType2>
+    long double fft_rmse( const VectorType1 & fftbuf,const VectorType2 & timebuf)
+    {
+        long double totalpower=0;
+        long double difpower=0;
+        cerr <<"idx\ttruth\t\tvalue\t|dif|=\n";
+        for (size_t k0=0;k0<size_t(fftbuf.size());++k0) {
+            complex<long double> acc = 0;
+            long double phinc = -2.*k0* M_PIl / timebuf.size();
+            for (size_t k1=0;k1<size_t(timebuf.size());++k1) {
+                acc +=  promote( timebuf[k1] ) * exp( complex<long double>(0,k1*phinc) );
+            }
+            totalpower += norm(acc);
+            complex<long double> x = promote(fftbuf[k0]); 
+            complex<long double> dif = acc - x;
+            difpower += norm(dif);
+            cerr << k0 << "\t" << acc << "\t" <<  x << "\t" << sqrt(norm(dif)) << endl;
+        }
+        cerr << "rmse:" << sqrt(difpower/totalpower) << endl;
+        return sqrt(difpower/totalpower);
+    }
+
+    template <typename VectorType1,typename VectorType2>
+    long double dif_rmse( const VectorType1& buf1,const VectorType2& buf2)
+    {
+        long double totalpower=0;
+        long double difpower=0;
+        size_t n = min( buf1.size(),buf2.size() );
+        for (size_t k=0;k<n;++k) {
+            totalpower += (norm( buf1[k] ) + norm(buf2[k]) )/2.;
+            difpower += norm(buf1[k] - buf2[k]);
+        }
+        return sqrt(difpower/totalpower);
+    }
+
+enum { StdVectorContainer, EigenVectorContainer };
+
+template<int Container, typename Scalar> struct VectorType;
+
+template<typename Scalar> struct VectorType<StdVectorContainer,Scalar>
+{
+  typedef vector<Scalar> type;
+};
+
+template<typename Scalar> struct VectorType<EigenVectorContainer,Scalar>
+{
+  typedef Matrix<Scalar,Dynamic,1> type;
+};
+
+template <int Container, typename T>
+void test_scalar_generic(int nfft)
+{
+    typedef typename FFT<T>::Complex Complex;
+    typedef typename FFT<T>::Scalar Scalar;
+    typedef typename VectorType<Container,Scalar>::type ScalarVector;
+    typedef typename VectorType<Container,Complex>::type ComplexVector;
+
+    FFT<T> fft;
+    ScalarVector inbuf(nfft);
+    ComplexVector outbuf;
+    for (int k=0;k<nfft;++k)
+        inbuf[k]= (T)(rand()/(double)RAND_MAX - .5);
+
+    // make sure it DOESN'T give the right full spectrum answer
+    // if we've asked for half-spectrum
+    fft.SetFlag(fft.HalfSpectrum );
+    fft.fwd( outbuf,inbuf);
+    VERIFY(outbuf.size() == (nfft>>1)+1);
+    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
+
+    fft.ClearFlag(fft.HalfSpectrum );
+    fft.fwd( outbuf,inbuf);
+    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
+
+    ScalarVector buf3;
+    fft.inv( buf3 , outbuf);
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+
+    // verify that the Unscaled flag takes effect
+    ComplexVector buf4;
+    fft.SetFlag(fft.Unscaled);
+    fft.inv( buf4 , outbuf);
+    for (int k=0;k<nfft;++k)
+        buf4[k] *= T(1./nfft);
+    VERIFY( dif_rmse(inbuf,buf4) < test_precision<T>()  );// gross check
+
+    // verify that ClearFlag works
+    fft.ClearFlag(fft.Unscaled);
+    fft.inv( buf3 , outbuf);
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+}
+
+template <typename T>
+void test_scalar(int nfft)
+{
+  test_scalar_generic<StdVectorContainer,T>(nfft);
+  test_scalar_generic<EigenVectorContainer,T>(nfft);
+}
+
+template <int Container, typename T>
+void test_complex_generic(int nfft)
+{
+    typedef typename FFT<T>::Complex Complex;
+    typedef typename VectorType<Container,Complex>::type ComplexVector;
+
+    FFT<T> fft;
+
+    ComplexVector inbuf(nfft);
+    ComplexVector outbuf;
+    ComplexVector buf3;
+    for (int k=0;k<nfft;++k)
+        inbuf[k]= Complex( (T)(rand()/(double)RAND_MAX - .5), (T)(rand()/(double)RAND_MAX - .5) );
+    fft.fwd( outbuf , inbuf);
+
+    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
+
+    fft.inv( buf3 , outbuf);
+
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+
+    // verify that the Unscaled flag takes effect
+    ComplexVector buf4;
+    fft.SetFlag(fft.Unscaled);
+    fft.inv( buf4 , outbuf);
+    for (int k=0;k<nfft;++k)
+        buf4[k] *= T(1./nfft);
+    VERIFY( dif_rmse(inbuf,buf4) < test_precision<T>()  );// gross check
+
+    // verify that ClearFlag works
+    fft.ClearFlag(fft.Unscaled);
+    fft.inv( buf3 , outbuf);
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+}
+
+template <typename T>
+void test_complex(int nfft)
+{
+  test_complex_generic<StdVectorContainer,T>(nfft);
+  test_complex_generic<EigenVectorContainer,T>(nfft);
+}
+
+void test_FFT()
+{
+
+  CALL_SUBTEST( test_complex<float>(32) );
+  CALL_SUBTEST( test_complex<double>(32) );
+  CALL_SUBTEST( test_complex<long double>(32) );
+  
+  CALL_SUBTEST( test_complex<float>(256) );
+  CALL_SUBTEST( test_complex<double>(256) );
+  CALL_SUBTEST( test_complex<long double>(256) );
+  
+  CALL_SUBTEST( test_complex<float>(3*8) );
+  CALL_SUBTEST( test_complex<double>(3*8) );
+  CALL_SUBTEST( test_complex<long double>(3*8) );
+  
+  CALL_SUBTEST( test_complex<float>(5*32) );
+  CALL_SUBTEST( test_complex<double>(5*32) );
+  CALL_SUBTEST( test_complex<long double>(5*32) );
+  
+  CALL_SUBTEST( test_complex<float>(2*3*4) );
+  CALL_SUBTEST( test_complex<double>(2*3*4) );
+  CALL_SUBTEST( test_complex<long double>(2*3*4) );
+  
+  CALL_SUBTEST( test_complex<float>(2*3*4*5) );
+  CALL_SUBTEST( test_complex<double>(2*3*4*5) );
+  CALL_SUBTEST( test_complex<long double>(2*3*4*5) );
+  
+  CALL_SUBTEST( test_complex<float>(2*3*4*5*7) );
+  CALL_SUBTEST( test_complex<double>(2*3*4*5*7) );
+  CALL_SUBTEST( test_complex<long double>(2*3*4*5*7) );
+
+
+
+  CALL_SUBTEST( test_scalar<float>(32) );
+  CALL_SUBTEST( test_scalar<double>(32) );
+  CALL_SUBTEST( test_scalar<long double>(32) );
+  
+  CALL_SUBTEST( test_scalar<float>(45) );
+  CALL_SUBTEST( test_scalar<double>(45) );
+  CALL_SUBTEST( test_scalar<long double>(45) );
+  
+  CALL_SUBTEST( test_scalar<float>(50) );
+  CALL_SUBTEST( test_scalar<double>(50) );
+  CALL_SUBTEST( test_scalar<long double>(50) );
+  
+  CALL_SUBTEST( test_scalar<float>(256) );
+  CALL_SUBTEST( test_scalar<double>(256) );
+  CALL_SUBTEST( test_scalar<long double>(256) );
+  
+  CALL_SUBTEST( test_scalar<float>(2*3*4*5*7) );
+  CALL_SUBTEST( test_scalar<double>(2*3*4*5*7) );
+  CALL_SUBTEST( test_scalar<long double>(2*3*4*5*7) );
+}
diff --git a/unsupported/test/FFTW.cpp b/unsupported/test/FFTW.cpp
new file mode 100644
index 0000000..cf7be75
--- /dev/null
+++ b/unsupported/test/FFTW.cpp
@@ -0,0 +1,136 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra. Eigen itself is part of the KDE project.
+//
+// Copyright (C) 2009 Mark Borgerding mark a borgerding net
+//
+// Eigen is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 3 of the License, or (at your option) any later version.
+//
+// Alternatively, you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of
+// the License, or (at your option) any later version.
+//
+// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License and a copy of the GNU General Public License along with
+// Eigen. If not, see <http://www.gnu.org/licenses/>.
+
+#include "main.h"
+#include <fftw3.h>
+#include <unsupported/Eigen/FFT>
+
+using namespace std;
+
+float norm(float x) {return x*x;}
+double norm(double x) {return x*x;}
+long double norm(long double x) {return x*x;}
+
+template < typename T>
+complex<long double>  promote(complex<T> x) { return complex<long double>(x.real(),x.imag()); }
+
+complex<long double>  promote(float x) { return complex<long double>( x); }
+complex<long double>  promote(double x) { return complex<long double>( x); }
+complex<long double>  promote(long double x) { return complex<long double>( x); }
+    
+
+    template <typename T1,typename T2>
+    long double fft_rmse( const vector<T1> & fftbuf,const vector<T2> & timebuf)
+    {
+        long double totalpower=0;
+        long double difpower=0;
+        cerr <<"idx\ttruth\t\tvalue\t|dif|=\n";
+        for (size_t k0=0;k0<fftbuf.size();++k0) {
+            complex<long double> acc = 0;
+            long double phinc = -2.*k0* M_PIl / timebuf.size();
+            for (size_t k1=0;k1<timebuf.size();++k1) {
+                acc +=  promote( timebuf[k1] ) * exp( complex<long double>(0,k1*phinc) );
+            }
+            totalpower += norm(acc);
+            complex<long double> x = promote(fftbuf[k0]); 
+            complex<long double> dif = acc - x;
+            difpower += norm(dif);
+            cerr << k0 << "\t" << acc << "\t" <<  x << "\t" << sqrt(norm(dif)) << endl;
+        }
+        cerr << "rmse:" << sqrt(difpower/totalpower) << endl;
+        return sqrt(difpower/totalpower);
+    }
+
+    template <typename T1,typename T2>
+    long double dif_rmse( const vector<T1> buf1,const vector<T2> buf2)
+    {
+        long double totalpower=0;
+        long double difpower=0;
+        size_t n = min( buf1.size(),buf2.size() );
+        for (size_t k=0;k<n;++k) {
+            totalpower += (norm( buf1[k] ) + norm(buf2[k]) )/2.;
+            difpower += norm(buf1[k] - buf2[k]);
+        }
+        return sqrt(difpower/totalpower);
+    }
+
+template <class T>
+void test_scalar(int nfft)
+{
+    typedef typename Eigen::FFT<T>::Complex Complex;
+    typedef typename Eigen::FFT<T>::Scalar Scalar;
+
+    FFT<T> fft;
+    vector<Scalar> inbuf(nfft);
+    vector<Complex> outbuf;
+    for (int k=0;k<nfft;++k)
+        inbuf[k]= (T)(rand()/(double)RAND_MAX - .5);
+    fft.fwd( outbuf,inbuf);
+    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
+
+    vector<Scalar> buf3;
+    fft.inv( buf3 , outbuf);
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+}
+
+template <class T>
+void test_complex(int nfft)
+{
+    typedef typename Eigen::FFT<T>::Complex Complex;
+
+    FFT<T> fft;
+
+    vector<Complex> inbuf(nfft);
+    vector<Complex> outbuf;
+    vector<Complex> buf3;
+    for (int k=0;k<nfft;++k)
+        inbuf[k]= Complex( (T)(rand()/(double)RAND_MAX - .5), (T)(rand()/(double)RAND_MAX - .5) );
+    fft.fwd( outbuf , inbuf);
+
+    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
+
+    fft.inv( buf3 , outbuf);
+
+    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
+}
+
+void test_FFTW()
+{
+
+  CALL_SUBTEST( test_complex<float>(32) ); CALL_SUBTEST( test_complex<double>(32) ); CALL_SUBTEST( test_complex<long double>(32) );
+  CALL_SUBTEST( test_complex<float>(256) ); CALL_SUBTEST( test_complex<double>(256) ); CALL_SUBTEST( test_complex<long double>(256) );
+  CALL_SUBTEST( test_complex<float>(3*8) ); CALL_SUBTEST( test_complex<double>(3*8) ); CALL_SUBTEST( test_complex<long double>(3*8) );
+  CALL_SUBTEST( test_complex<float>(5*32) ); CALL_SUBTEST( test_complex<double>(5*32) ); CALL_SUBTEST( test_complex<long double>(5*32) );
+  CALL_SUBTEST( test_complex<float>(2*3*4) ); CALL_SUBTEST( test_complex<double>(2*3*4) ); CALL_SUBTEST( test_complex<long double>(2*3*4) );
+  CALL_SUBTEST( test_complex<float>(2*3*4*5) ); CALL_SUBTEST( test_complex<double>(2*3*4*5) ); CALL_SUBTEST( test_complex<long double>(2*3*4*5) );
+  CALL_SUBTEST( test_complex<float>(2*3*4*5*7) ); CALL_SUBTEST( test_complex<double>(2*3*4*5*7) ); CALL_SUBTEST( test_complex<long double>(2*3*4*5*7) );
+
+
+
+  CALL_SUBTEST( test_scalar<float>(32) ); CALL_SUBTEST( test_scalar<double>(32) ); CALL_SUBTEST( test_scalar<long double>(32) );
+  CALL_SUBTEST( test_scalar<float>(45) ); CALL_SUBTEST( test_scalar<double>(45) ); CALL_SUBTEST( test_scalar<long double>(45) );
+  CALL_SUBTEST( test_scalar<float>(50) ); CALL_SUBTEST( test_scalar<double>(50) ); CALL_SUBTEST( test_scalar<long double>(50) );
+  CALL_SUBTEST( test_scalar<float>(256) ); CALL_SUBTEST( test_scalar<double>(256) ); CALL_SUBTEST( test_scalar<long double>(256) );
+  CALL_SUBTEST( test_scalar<float>(2*3*4*5*7) ); CALL_SUBTEST( test_scalar<double>(2*3*4*5*7) ); CALL_SUBTEST( test_scalar<long double>(2*3*4*5*7) );
+}
diff --git a/unsupported/test/autodiff.cpp b/unsupported/test/autodiff.cpp
index b116489..a96927b 100644
--- a/unsupported/test/autodiff.cpp
+++ b/unsupported/test/autodiff.cpp
@@ -46,12 +46,12 @@
   typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
   typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
   typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-  
+
   int m_inputs, m_values;
-  
+
   TestFunc1() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
   TestFunc1(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-  
+
   int inputs() const { return m_inputs; }
   int values() const { return m_values; }
 
@@ -142,7 +142,7 @@
   std::cerr << foo<AutoDiffScalar<Vector2f> >(ax,ay).value() << " <> "
             << foo<AutoDiffScalar<Vector2f> >(ax,ay).derivatives().transpose() << "\n\n";
 }
-  
+
 void test_autodiff_jacobian()
 {
   for(int i = 0; i < g_repeat; i++) {