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<div class="title"><a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 support modes </div> </div>
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<div class="textblock"><p>This page documents the Eigen2 support modes, a powerful tool to help migrating your project from <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 to <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3. Don't miss our page on <a class="el" href="Eigen2ToEigen3.html">API changes</a> between <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 and <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3.</p>
<h1><a class="anchor" id="EIGEN2_SUPPORT_Macro"></a>
The quick way: define EIGEN2_SUPPORT</h1>
<p>By defining EIGEN2_SUPPORT before including any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 header, you get back a large part of the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API, while keeping the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API and ABI unchanged.</p>
<p>This defaults to the <a class="el" href="Eigen2SupportModes.html#Stage30">stage 30</a> described below.</p>
<p>The rest of this page describes an optional, more powerful <em>staged</em> migration path.</p>
<h1><a class="anchor" id="StagedMigrationPathOverview"></a>
Overview of the staged migration path</h1>
<p>The primary reason why EIGEN2_SUPPORT alone may not be enough to migrate a large project from <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 to <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 is that some of the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API is inherently incompatible with the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API. This happens when the same identifier is used in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 and in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 with different meanings. To help migrate projects that rely on such API, we provide a staged migration path allowing to perform the migration <em>incrementally</em>.</p>
<p>It goes as follows: </p>
<ul>
<li>Step 0: start with a project using <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2. </li>
<li>Step 1: build your project against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 with <a class="el" href="Eigen2SupportModes.html#Stage10">Eigen 2 support stage 10</a>. This mode enables maximum compatibility with the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API, with just a few exceptions. </li>
<li>Step 2: build your project against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 with <a class="el" href="Eigen2SupportModes.html#Stage20">Eigen 2 support stage 20</a>. This mode forces you to add eigen2_ prefixes to the Eigen2 identifiers that conflict with <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API. </li>
<li>Step 3: build your project against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 with <a class="el" href="Eigen2SupportModes.html#Stage30">Eigen 2 support stage 30</a>. This mode enables the full <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API. </li>
<li>Step 4: build your project against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 with <a class="el" href="Eigen2SupportModes.html#Stage40">Eigen 2 support stage 40</a>. This mode enables the full <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 strictness on matters, such as const-correctness, where <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 was looser. </li>
<li>Step 5: build your project against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 without any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 support mode.</li>
</ul>
<h1><a class="anchor" id="Stage10"></a>
Stage 10: define EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API</h1>
<p>Enable this mode by defining the EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API preprocessor macro before including any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 header.</p>
<p>This mode maximizes support for the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API. As a result, it does not offer the full <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API. Also, it doesn't offer quite 100% of the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API.</p>
<p>The part of the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API that is not present in this mode, is <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3's Geometry module. Indeed, this mode completely replaces it by a copy of <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2's Geometry module.</p>
<p>The parts of the API that are still not 100% <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 compatible in this mode are: </p>
<ul>
<li>Dot products over complex numbers. <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2's dot product was linear in the first variable. <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3's dot product is linear in the second variable. In other words, the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 code<div class="fragment"><div class="line">x.dot(y) </div>
</div><!-- fragment --> is equivalent to the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 code<div class="fragment"><div class="line">y.dot(x) </div>
</div><!-- fragment --> In yet other words, dot products are complex-conjugated in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 compared to <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2. The switch to the new convention was commanded by common usage, especially with the notation <img class="formulaInl" alt="$ x^Ty $" src="form_166.png"/> for dot products of column-vectors. </li>
<li>The <a class="el" href="structEigen_1_1Sparse.html">Sparse</a> module. </li>
<li>Certain fine details of linear algebraic decompositions. For example, <a class="el" href="classEigen_1_1LDLT.html" title="Robust Cholesky decomposition of a matrix with pivoting. ">LDLT</a> decomposition is now pivoting in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 whereas it wasn't in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2, so code that was relying on its underlying matrix structure will break. </li>
<li>Usage of <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> types in STL containers, <a class="el" href="Eigen2ToEigen3.html">as explained on this page</a>.</li>
</ul>
<h1><a class="anchor" id="Stage20"></a>
Stage 20: define EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS</h1>
<p>Enable this mode by defining the EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API preprocessor macro before including any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 header.</p>
<p>This mode removes the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API that is directly conflicting with <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API. Instead, these bits of <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API remain available with eigen2_ prefixes. The main examples of such API are: </p>
<ul>
<li>the whole Geometry module. For example, replace <code><a class="el" href="classEigen_1_1Quaternion.html" title="The quaternion class used to represent 3D orientations and rotations. ">Quaternion</a></code> by <code>eigen2_Quaternion</code>, replace <code>Transform3f</code> by <code>eigen2_Transform3f</code>, etc. </li>
<li>the lu() method to obtain a LU decomposition. Replace by eigen2_lu().</li>
</ul>
<p>There is also one more eigen2_-prefixed identifier that you should know about, even though its use is not checked at compile time by this mode: the dot() method. As was discussed above, over complex numbers, its meaning is different between <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 and <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3. You can use eigen2_dot() to get the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 behavior.</p>
<h1><a class="anchor" id="Stage30"></a>
Stage 30: define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API</h1>
<p>Enable this mode by defining the EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API preprocessor macro before including any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 header. Also, this mode is what you get by default when you just define EIGEN2_SUPPORT.</p>
<p>This mode gives you the full unaltered <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 API, while still keeping as much support as possible for the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 API.</p>
<p>The eigen2_-prefixed identifiers are still available, but at this stage you should now replace them by <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 identifiers. Have a look at our page on <a class="el" href="Eigen2ToEigen3.html">API changes</a> between <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 and <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3.</p>
<h1><a class="anchor" id="Stage40"></a>
Stage 40: define EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS</h1>
<p>Enable this mode by defining the EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS preprocessor macro before including any <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 header.</p>
<p>This mode tightens the last bits of strictness, especially const-correctness, that had to be loosened to support what <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 allowed. For example, this code compiled in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2: </p>
<div class="fragment"><div class="line"><span class="keyword">const</span> <span class="keywordtype">float</span> array[4];</div>
<div class="line">x = Map<Vector4f>(array);</div>
</div><!-- fragment --><p> That allowed to circumvent constness. This is no longer allowed in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3. If you have to map const data in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3, map it as a const-qualified type. However, rather than explictly constructing <a class="el" href="classEigen_1_1Map.html" title="A matrix or vector expression mapping an existing array of data. ">Map</a> objects, we strongly encourage you to use the static <a class="el" href="classEigen_1_1Map.html" title="A matrix or vector expression mapping an existing array of data. ">Map</a> methods instead, as they take care of all of this for you: </p>
<div class="fragment"><div class="line"><span class="keyword">const</span> <span class="keywordtype">float</span> array[4];</div>
<div class="line">x = Vector4f::Map(array);</div>
</div><!-- fragment --><p> This lets <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> do the right thing for you and works equally well in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 and in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3.</p>
<h1><a class="anchor" id="FinallyDropAllEigen2Support"></a>
Finally drop all Eigen 2 support</h1>
<p>Stage 40 is the first where it's "comfortable" to stay for a little longer period, since it preserves 100% <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 compatibility. However, we still encourage you to complete your migration as quickly as possible. While we do run the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 test suite against <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3's stage 10 support mode, we can't guarantee the same level of support and quality assurance for <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 support as we do for <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 itself, especially not in the long term. <a class="el" href="Eigen2ToEigen3.html">This page</a> describes a large part of the changes that you may need to perform.</p>
<h1><a class="anchor" id="ABICompatibility"></a>
What about ABI compatibility?</h1>
<p>It goes as follows: </p>
<ul>
<li>Stage 10 already is ABI compatible with <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 for the basic (<a class="el" href="classEigen_1_1Matrix.html" title="The matrix class, also used for vectors and row-vectors. ">Matrix</a>, <a class="el" href="classEigen_1_1Array.html" title="General-purpose arrays with easy API for coefficient-wise operations. ">Array</a>, <a class="el" href="classEigen_1_1SparseMatrix.html" title="A versatible sparse matrix representation. ">SparseMatrix</a>...) types. However, since this stage uses a copy of <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2's Geometry module instead of <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3's own Geometry module, the ABI in the Geometry module is not <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 compatible. </li>
<li>Stage 20 removes the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3-incompatible <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 2 Geometry module (it remains available with eigen2_ prefix). So at this stage, all the identifiers that exist in <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 have the <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 ABI (and API). </li>
<li>Stage 30 introduces the remaining <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 identifiers. So at this stage, you have the full <a class="el" href="namespaceEigen.html" title="Namespace containing all symbols from the Eigen library. ">Eigen</a> 3 ABI. </li>
<li>Stage 40 is no different than Stage 30 in these matters. </li>
</ul>
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