diff --git a/CMakeLists.txt b/CMakeLists.txt index 715961f..9ea52f0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -24,7 +24,13 @@ set(SOURCES ) # 头文件目录 -include_directories(src) +include_directories( + include + third_party + third_party/kdl_parser/include + third_party/orocos_kdl/install_wasm/include + third_party/eigen3 +) # 创建可执行文件 add_executable(smart_wasm ${SOURCES}) @@ -47,4 +53,4 @@ set_target_properties(smart_wasm PROPERTIES SUFFIX ".js" OUTPUT_NAME "smart_math" RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/public/wasm" -) \ No newline at end of file +) diff --git a/README.md b/README.md index 7c14f89..a560506 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ ```text . |-- src/ C++ 业务实现 -|-- inc/ 公共头文件 +|-- include/ 公共头文件和业务接口定义 |-- scripts/ 构建、调试、回归测试脚本 |-- tests/ | |-- testdata/ 正式回归测试数据 @@ -25,9 +25,12 @@ |-- docs/ | |-- notes/ 功能说明和算法笔记 | `-- build-logs/ 历史编译记录和调试日志 +|-- third_party/ +| |-- eigen3/ 第三方 Eigen 依赖 +| |-- kdl_parser/ vendored URDF/KDL parser 源码 +| |-- nlohmann/ JSON 头文件库 +| `-- orocos_kdl/ 第三方 KDL 依赖及安装产物 |-- public/wasm/ WASM 构建输出 -|-- Eigen3/ 第三方 Eigen 依赖 -|-- KDL/ 第三方 KDL 依赖及安装产物 |-- package.json npm 入口 |-- CMakeLists.txt CMake 入口 `-- Makefile Make 入口 @@ -44,6 +47,8 @@ npm run build-serve ## 📁 目录约定 - 根目录只保留项目入口文件和核心目录，避免测试样例、日志、草稿散落在顶层。 +- `include/` 只放本项目对外和模块间共享的头文件。 +- `third_party/` 统一收纳所有外部依赖和 vendored 源码，避免和业务代码混放。 - `tests/testdata/` 放可重复执行的标准化测试数据。 - `tests/fixtures/legacy/` 放历史调试输入输出，便于追溯，但默认不作为正式回归入口。 - `docs/notes/` 放业务说明和算法记录。 diff --git a/inc/FourBarMechanism/CrankRockingBlockMechanism_Forward.h b/include/FourBarMechanism/CrankRockingBlockMechanism_Forward.h similarity index 96% rename from inc/FourBarMechanism/CrankRockingBlockMechanism_Forward.h rename to include/FourBarMechanism/CrankRockingBlockMechanism_Forward.h index 79f182c..059bf80 100644 --- a/inc/FourBarMechanism/CrankRockingBlockMechanism_Forward.h +++ b/include/FourBarMechanism/CrankRockingBlockMechanism_Forward.h @@ -1,7 +1,7 @@ #ifndef CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H #define CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include #include #include @@ -90,4 +90,4 @@ private: std::string formatDouble(double value, int precision = 3) const; }; -#endif // CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H \ No newline at end of file +#endif // CRANK_ROCKING_BLOCK_MECHANISM_FORWARD_H diff --git a/inc/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h b/include/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h similarity index 92% rename from inc/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h rename to include/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h index 21de15e..cef4e14 100644 --- a/inc/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h +++ b/include/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h @@ -1,7 +1,7 @@ #ifndef CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H #define CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include #include #include @@ -51,4 +51,4 @@ private: std::pair getACRange() const; }; -#endif // CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H \ No newline at end of file +#endif // CRANK_ROCKING_BLOCK_MECHANISM_INVERSE_H diff --git a/inc/FourBarMechanism/CrankSliderMechanism.h b/include/FourBarMechanism/CrankSliderMechanism.h similarity index 97% rename from inc/FourBarMechanism/CrankSliderMechanism.h rename to include/FourBarMechanism/CrankSliderMechanism.h index 9f3b253..907ce92 100644 --- a/inc/FourBarMechanism/CrankSliderMechanism.h +++ b/include/FourBarMechanism/CrankSliderMechanism.h @@ -8,7 +8,7 @@ #include #include #include -#include "SharedGeometry.h" // 包含共享的几何类 +#include "SharedGeometry/SharedGeometry.h" // 包含共享的几何类 // 定义常数 #ifndef M_PI #define M_PI 3.14159265358979323846 @@ -198,4 +198,4 @@ void deleteCrankSliderMechanism(CrankSliderMechanism *mechanism); using CrankSliderMechanismPtr = std::shared_ptr; CrankSliderMechanismPtr createCrankSliderMechanismSmart(); -#endif // MECHANISM_SIMULATION_H \ No newline at end of file +#endif // MECHANISM_SIMULATION_H diff --git a/inc/FourBarMechanism/FourBarMechanism.h b/include/FourBarMechanism/FourBarMechanism.h similarity index 94% rename from inc/FourBarMechanism/FourBarMechanism.h rename to include/FourBarMechanism/FourBarMechanism.h index 0171563..dce5b01 100644 --- a/inc/FourBarMechanism/FourBarMechanism.h +++ b/include/FourBarMechanism/FourBarMechanism.h @@ -1,14 +1,14 @@ // FourBarMechanism.h #ifndef FOUR_BAR_MECHANISM_H #define FOUR_BAR_MECHANISM_H -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include #include #include #include #include #include -#include "SharedGeometry.h" +#include "SharedGeometry/SharedGeometry.h" // 前向声明 struct MechanismParameters; @@ -91,4 +91,4 @@ void deleteFourBarMechanism(FourBarMechanism *mechanism); using FourBarMechanismPtr = std::shared_ptr; FourBarMechanismPtr createFourBarMechanismSmart(); -#endif // FOUR_BAR_MECHANISM_H \ No newline at end of file +#endif // FOUR_BAR_MECHANISM_H diff --git a/inc/FourBarMechanism/SliderCrankMechanism.h b/include/FourBarMechanism/SliderCrankMechanism.h similarity index 95% rename from inc/FourBarMechanism/SliderCrankMechanism.h rename to include/FourBarMechanism/SliderCrankMechanism.h index 4cf740c..48b6435 100644 --- a/inc/FourBarMechanism/SliderCrankMechanism.h +++ b/include/FourBarMechanism/SliderCrankMechanism.h @@ -1,12 +1,12 @@ // SliderCrankMechanism.h #ifndef SLIDER_CRANK_MECHANISM_H #define SLIDER_CRANK_MECHANISM_H -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include #include #include #include -#include "SharedGeometry.h" +#include "SharedGeometry/SharedGeometry.h" // 解模式枚举 enum class SolutionMode { @@ -98,4 +98,4 @@ void deleteSliderCrankMechanism(SliderCrankMechanism *mechanism); using SliderCrankMechanismPtr = std::shared_ptr; SliderCrankMechanismPtr createSliderCrankMechanismSmart(); -#endif // SLIDER_CRANK_MECHANISM_H \ No newline at end of file +#endif // SLIDER_CRANK_MECHANISM_H diff --git a/inc/KinematicsWebAPI.h b/include/KinematicsWebAPI.h similarity index 100% rename from inc/KinematicsWebAPI.h rename to include/KinematicsWebAPI.h diff --git a/inc/QuadrupedRobotSimulation/BaseClass.h b/include/QuadrupedRobotSimulation/BaseClass.h similarity index 98% rename from inc/QuadrupedRobotSimulation/BaseClass.h rename to include/QuadrupedRobotSimulation/BaseClass.h index afd65ec..77ec207 100644 --- a/inc/QuadrupedRobotSimulation/BaseClass.h +++ b/include/QuadrupedRobotSimulation/BaseClass.h @@ -16,10 +16,10 @@ #include #include #include -#include "../inc/nlohmann/json.hpp" -#include "OPERATION.h" -#include "SharedGeometry.h" // 包含共享的几何类 -#include "RobotConfig.hpp" +#include +#include "QuadrupedRobotSimulation/OPERATION.h" +#include "SharedGeometry/SharedGeometry.h" +#include "QuadrupedRobotSimulation/RobotConfig.hpp" using json = nlohmann::json; @@ -703,4 +703,4 @@ private: // 实用函数 Point2D ArrayToPoint(const std::vector &array); -#endif // BASE_CLASS_H \ No newline at end of file +#endif // BASE_CLASS_H diff --git a/inc/QuadrupedRobotSimulation/CompleteJsonExporter.h b/include/QuadrupedRobotSimulation/CompleteJsonExporter.h similarity index 92% rename from inc/QuadrupedRobotSimulation/CompleteJsonExporter.h rename to include/QuadrupedRobotSimulation/CompleteJsonExporter.h index d46f622..5f64e33 100644 --- a/inc/QuadrupedRobotSimulation/CompleteJsonExporter.h +++ b/include/QuadrupedRobotSimulation/CompleteJsonExporter.h @@ -2,8 +2,8 @@ #ifndef COMPLETE_JSON_EXPORTER_H #define COMPLETE_JSON_EXPORTER_H -#include "BaseClass.h" -#include "KinematicsSimulation.h" +#include "QuadrupedRobotSimulation/BaseClass.h" +#include "QuadrupedRobotSimulation/KinematicsSimulation.h" #include #include #include @@ -48,4 +48,4 @@ private: static std::string DoubleToString(double value, int precision = 6); }; -#endif // COMPLETE_JSON_EXPORTER_H \ No newline at end of file +#endif // COMPLETE_JSON_EXPORTER_H diff --git a/inc/QuadrupedRobotSimulation/KinematicsHelper.h b/include/QuadrupedRobotSimulation/KinematicsHelper.h similarity index 94% rename from inc/QuadrupedRobotSimulation/KinematicsHelper.h rename to include/QuadrupedRobotSimulation/KinematicsHelper.h index fcb1c02..d833f90 100644 --- a/inc/QuadrupedRobotSimulation/KinematicsHelper.h +++ b/include/QuadrupedRobotSimulation/KinematicsHelper.h @@ -2,10 +2,10 @@ #ifndef KINEMATICS_HELPER_H #define KINEMATICS_HELPER_H -#include "BaseClass.h" -#include "KinematicsSimulation.h" -#include "KinematicsReverse.h" -#include "CompleteJsonExporter.h" +#include "QuadrupedRobotSimulation/BaseClass.h" +#include "QuadrupedRobotSimulation/KinematicsSimulation.h" +#include "QuadrupedRobotSimulation/KinematicsReverse.h" +#include "QuadrupedRobotSimulation/CompleteJsonExporter.h" #include #include #include @@ -141,4 +141,4 @@ private: static RobotGaitRequest LoadAndValidateJson(const std::string &jsonInput); }; -#endif // KINEMATICS_HELPER_H \ No newline at end of file +#endif // KINEMATICS_HELPER_H diff --git a/inc/QuadrupedRobotSimulation/KinematicsReverse.h b/include/QuadrupedRobotSimulation/KinematicsReverse.h similarity index 98% rename from inc/QuadrupedRobotSimulation/KinematicsReverse.h rename to include/QuadrupedRobotSimulation/KinematicsReverse.h index 36a3295..2ab58ce 100644 --- a/inc/QuadrupedRobotSimulation/KinematicsReverse.h +++ b/include/QuadrupedRobotSimulation/KinematicsReverse.h @@ -12,9 +12,9 @@ #include #include "utils.h" -#include "BaseClass.h" -#include "OPERATION.h" -#include "SharedGeometry.h" +#include "QuadrupedRobotSimulation/BaseClass.h" +#include "QuadrupedRobotSimulation/OPERATION.h" +#include "SharedGeometry/SharedGeometry.h" class ReverseKinematicsCalculator { @@ -216,4 +216,4 @@ private: std::vector RotateVector(double angle, const std::vector &vector); }; -#endif // KINEMATICS_REVERSE_H \ No newline at end of file +#endif // KINEMATICS_REVERSE_H diff --git a/inc/QuadrupedRobotSimulation/KinematicsSimulation.h b/include/QuadrupedRobotSimulation/KinematicsSimulation.h similarity index 99% rename from inc/QuadrupedRobotSimulation/KinematicsSimulation.h rename to include/QuadrupedRobotSimulation/KinematicsSimulation.h index a49f23f..1484a1a 100644 --- a/inc/QuadrupedRobotSimulation/KinematicsSimulation.h +++ b/include/QuadrupedRobotSimulation/KinematicsSimulation.h @@ -2,7 +2,7 @@ #ifndef KINEMATICS_SIMULATION_H #define KINEMATICS_SIMULATION_H -#include "BaseClass.h" +#include "QuadrupedRobotSimulation/BaseClass.h" #include #include #include @@ -198,4 +198,4 @@ private: std::vector ShiftArray(const std::vector &array, int shiftFrames); }; -#endif // KINEMATICS_SIMULATION_H \ No newline at end of file +#endif // KINEMATICS_SIMULATION_H diff --git a/inc/QuadrupedRobotSimulation/OPERATION.h b/include/QuadrupedRobotSimulation/OPERATION.h similarity index 99% rename from inc/QuadrupedRobotSimulation/OPERATION.h rename to include/QuadrupedRobotSimulation/OPERATION.h index 34df16f..f980d7a 100644 --- a/inc/QuadrupedRobotSimulation/OPERATION.h +++ b/include/QuadrupedRobotSimulation/OPERATION.h @@ -5,7 +5,7 @@ #include #include #include -#include "../inc/nlohmann/json.hpp" +#include using json = nlohmann::json; // 毫米转米函数 @@ -344,4 +344,4 @@ public: } }; -#endif // OPERATION_H \ No newline at end of file +#endif // OPERATION_H diff --git a/inc/QuadrupedRobotSimulation/RobotConfig.hpp b/include/QuadrupedRobotSimulation/RobotConfig.hpp similarity index 100% rename from inc/QuadrupedRobotSimulation/RobotConfig.hpp rename to include/QuadrupedRobotSimulation/RobotConfig.hpp diff --git a/inc/QuadrupedRobotSimulation/graph_utils.hpp b/include/QuadrupedRobotSimulation/graph_utils.hpp similarity index 100% rename from inc/QuadrupedRobotSimulation/graph_utils.hpp rename to include/QuadrupedRobotSimulation/graph_utils.hpp diff --git a/inc/Robot.h b/include/Robot.h similarity index 100% rename from inc/Robot.h rename to include/Robot.h diff --git a/inc/RobotManager.h b/include/RobotManager.h similarity index 100% rename from inc/RobotManager.h rename to include/RobotManager.h diff --git a/inc/SharedGeometry/SharedGeometry.h b/include/SharedGeometry/SharedGeometry.h similarity index 96% rename from inc/SharedGeometry/SharedGeometry.h rename to include/SharedGeometry/SharedGeometry.h index e9ca75d..359c397 100644 --- a/inc/SharedGeometry/SharedGeometry.h +++ b/include/SharedGeometry/SharedGeometry.h @@ -7,7 +7,7 @@ #include #include #include -#include "OPERATION.h" +#include "QuadrupedRobotSimulation/OPERATION.h" // 2D向量类 class Vector2D { @@ -94,4 +94,4 @@ public: double x2, double y2); }; -#endif // SHARED_GEOMETRY_H \ No newline at end of file +#endif // SHARED_GEOMETRY_H diff --git a/inc/URDFStrings.h b/include/URDFStrings.h similarity index 100% rename from inc/URDFStrings.h rename to include/URDFStrings.h diff --git a/src/function_metadata.h b/include/function_metadata.h similarity index 100% rename from src/function_metadata.h rename to include/function_metadata.h diff --git a/src/math_utils.h b/include/math_utils.h similarity index 100% rename from src/math_utils.h rename to include/math_utils.h diff --git a/src/smart_json_wrapper.h b/include/smart_json_wrapper.h similarity index 100% rename from src/smart_json_wrapper.h rename to include/smart_json_wrapper.h diff --git a/inc/spc_core.h b/include/spc_core.h similarity index 100% rename from inc/spc_core.h rename to include/spc_core.h diff --git a/inc/utils.h b/include/utils.h similarity index 100% rename from inc/utils.h rename to include/utils.h diff --git a/scripts/build.ps1 b/scripts/build.ps1 index cf130dc..84dc8c6 100644 --- a/scripts/build.ps1 +++ b/scripts/build.ps1 @@ -94,27 +94,24 @@ $compileResult = emcc ` src/utils.cpp ` src/math_utils.cpp ` src/smart_json_wrapper.cpp ` - src/kdl_parser/src/kdl_parser.cpp ` - src/kdl_parser/src/joint.cpp ` - src/kdl_parser/src/link.cpp ` - src/kdl_parser/src/model.cpp ` - src/kdl_parser/src/pose.cpp ` - src/kdl_parser/src/tinystr.cpp ` - src/kdl_parser/src/tinyxml.cpp ` - src/kdl_parser/src/tinyxml2.cpp ` - src/kdl_parser/src/tinyxmlerror.cpp ` - src/kdl_parser/src/tinyxmlparser.cpp ` - src/kdl_parser/src/twist.cpp ` - src/kdl_parser/src/world.cpp ` - -I./inc ` - -I./inc/QuadrupedRobotSimulation ` - -I./inc/FourBarMechanism ` - -I./inc/SharedGeometry ` - -I./src/kdl_parser/include ` - -I./KDL/install_wasm/include ` - -I./Eigen3 ` - -I./Eigen3/eigen3 ` - -L./KDL/install_wasm/lib ` + third_party/kdl_parser/src/kdl_parser.cpp ` + third_party/kdl_parser/src/joint.cpp ` + third_party/kdl_parser/src/link.cpp ` + third_party/kdl_parser/src/model.cpp ` + third_party/kdl_parser/src/pose.cpp ` + third_party/kdl_parser/src/tinystr.cpp ` + third_party/kdl_parser/src/tinyxml.cpp ` + third_party/kdl_parser/src/tinyxml2.cpp ` + third_party/kdl_parser/src/tinyxmlerror.cpp ` + third_party/kdl_parser/src/tinyxmlparser.cpp ` + third_party/kdl_parser/src/twist.cpp ` + third_party/kdl_parser/src/world.cpp ` + -I./include ` + -I./third_party ` + -I./third_party/kdl_parser/include ` + -I./third_party/orocos_kdl/install_wasm/include ` + -I./third_party/eigen3 ` + -L./third_party/orocos_kdl/install_wasm/lib ` -lorocos-kdl ` -std=c++17 ` -s WASM=1 ` diff --git a/scripts/rebuild_with_fixes.ps1 b/scripts/rebuild_with_fixes.ps1 index c1196ab..bf39b87 100644 --- a/scripts/rebuild_with_fixes.ps1 +++ b/scripts/rebuild_with_fixes.ps1 @@ -3,8 +3,42 @@ Write-Host "=== 重新构建 WASM 模块 ===" -ForegroundColor Cyan # 设置环境 -$EmsdkPath = "E:\emsdk" -if (-not (Test-Path $EmsdkPath)) { +$emsdkCandidates = @() + +if ($env:EMSDK) { + $emsdkCandidates += $env:EMSDK +} + +$emsdkCandidates += "E:\emsdk" +$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk") +$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk") + +$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue +if ($emccCommand -and $emccCommand.Source) { + $emccSourceDir = Split-Path $emccCommand.Source -Parent + if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) { + $emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent) + } +} + +$EmsdkPath = $null +foreach ($candidate in $emsdkCandidates | Select-Object -Unique) { + if (-not [string]::IsNullOrWhiteSpace($candidate)) { + try { + if (Test-Path $candidate) { + $resolvedCandidate = [System.IO.Path]::GetFullPath($candidate) + if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) { + $EmsdkPath = $resolvedCandidate + break + } + } + } catch { + continue + } + } +} + +if (-not $EmsdkPath) { Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red exit 1 } @@ -18,7 +52,7 @@ Write-Host "[ ] 编译 WASM 模块（包含完整的运行时方法）..." -Fore # 完整的编译命令 $compileCmd = @' -emcc src/math_utils.cpp src/smart_json_wrapper.cpp src/main.cpp -I./src -std=c++17 -s WASM=1 -s EXPORTED_FUNCTIONS='["_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_main"]' -s EXPORTED_RUNTIME_METHODS='["ccall","cwrap","UTF8ToString","stringToUTF8","lengthBytesUTF8","allocateUTF8","allocate","ALLOC_NORMAL","getValue","setValue"]' -s MODULARIZE=1 -s EXPORT_NAME="createSmartMathModule" -s ALLOW_MEMORY_GROWTH=1 -s ASSERTIONS=1 -O3 -o public/wasm/smart_math.js +emcc src/math_utils.cpp src/smart_json_wrapper.cpp src/main.cpp -I./include -I./third_party -I./third_party/kdl_parser/include -I./third_party/orocos_kdl/install_wasm/include -I./third_party/eigen3 -std=c++17 -s WASM=1 -s EXPORTED_FUNCTIONS='["_smart_process_json","_smart_get_function_list","_smart_get_function_info","_smart_test_match","_smart_get_version","_smart_free_string","_main"]' -s EXPORTED_RUNTIME_METHODS='["ccall","cwrap","UTF8ToString","stringToUTF8","lengthBytesUTF8","allocateUTF8","allocate","ALLOC_NORMAL","getValue","setValue"]' -s MODULARIZE=1 -s EXPORT_NAME="createSmartMathModule" -s ALLOW_MEMORY_GROWTH=1 -s ASSERTIONS=1 -O3 -o public/wasm/smart_math.js '@ Write-Host "执行命令: $compileCmd" -ForegroundColor Gray diff --git a/scripts/test_compile.ps1 b/scripts/test_compile.ps1 index 57465e9..98eeded 100644 --- a/scripts/test_compile.ps1 +++ b/scripts/test_compile.ps1 @@ -3,17 +3,60 @@ Write-Host "=== 测试编译 ===" -ForegroundColor Cyan # 设置环境 -$EmsdkPath = "E:\emsdk" -if (-not (Test-Path $EmsdkPath)) { +$emsdkCandidates = @() + +if ($env:EMSDK) { + $emsdkCandidates += $env:EMSDK +} + +$emsdkCandidates += "E:\emsdk" +$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "..\emsdk") +$emsdkCandidates += (Join-Path (Split-Path $PSScriptRoot -Parent) "emsdk") + +$emccCommand = Get-Command emcc -ErrorAction SilentlyContinue +if ($emccCommand -and $emccCommand.Source) { + $emccSourceDir = Split-Path $emccCommand.Source -Parent + if (Test-Path (Join-Path $emccSourceDir "emcc.ps1")) { + $emsdkCandidates += (Split-Path (Split-Path $emccSourceDir -Parent) -Parent) + } +} + +$EmsdkPath = $null +foreach ($candidate in $emsdkCandidates | Select-Object -Unique) { + if (-not [string]::IsNullOrWhiteSpace($candidate)) { + try { + if (Test-Path $candidate) { + $resolvedCandidate = [System.IO.Path]::GetFullPath($candidate) + if (Test-Path (Join-Path $resolvedCandidate "upstream\emscripten\emcc.ps1")) { + $EmsdkPath = $resolvedCandidate + break + } + } + } catch { + continue + } + } +} + +if (-not $EmsdkPath) { Write-Host "[错误] 未找到 Emscripten" -ForegroundColor Red exit 1 } $env:PATH = "$EmsdkPath\upstream\emscripten;$env:PATH" +# 公共包含目录 +$includeArgs = @( + '-I./include', + '-I./third_party', + '-I./third_party/kdl_parser/include', + '-I./third_party/orocos_kdl/install_wasm/include', + '-I./third_party/eigen3' +) + # 测试 1: 编译 math_utils.cpp Write-Host "[ ] 测试编译 math_utils.cpp..." -ForegroundColor Cyan -emcc src/math_utils.cpp -I./src -s WASM=1 -c -o test_math.o 2>&1 +emcc src/math_utils.cpp @includeArgs -s WASM=1 -c -o test_math.o 2>&1 if ($LASTEXITCODE -eq 0) { Write-Host "[✓] math_utils.cpp 编译成功" -ForegroundColor Green } else { @@ -22,7 +65,7 @@ if ($LASTEXITCODE -eq 0) { # 测试 2: 编译 smart_json_wrapper.cpp Write-Host "[ ] 测试编译 smart_json_wrapper.cpp..." -ForegroundColor Cyan -emcc src/smart_json_wrapper.cpp -I./src -s WASM=1 -c -o test_wrapper.o 2>&1 +emcc src/smart_json_wrapper.cpp @includeArgs -s WASM=1 -c -o test_wrapper.o 2>&1 if ($LASTEXITCODE -eq 0) { Write-Host "[✓] smart_json_wrapper.cpp 编译成功" -ForegroundColor Green } else { @@ -31,7 +74,7 @@ if ($LASTEXITCODE -eq 0) { # 测试 3: 编译 main.cpp Write-Host "[ ] 测试编译 main.cpp..." -ForegroundColor Cyan -emcc src/main.cpp -I./src -s WASM=1 -c -o test_main.o 2>&1 +emcc src/main.cpp @includeArgs -s WASM=1 -c -o test_main.o 2>&1 if ($LASTEXITCODE -eq 0) { Write-Host "[✓] main.cpp 编译成功" -ForegroundColor Green } else { diff --git a/src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp b/src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp index 1ed851c..ce245c4 100644 --- a/src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp +++ b/src/FourBarMechanism/CrankRockingBlockMechanism_Forward.cpp @@ -1,4 +1,4 @@ -#include "CrankRockingBlockMechanism_Forward.h" +#include "FourBarMechanism/CrankRockingBlockMechanism_Forward.h" #include #include #include @@ -477,4 +477,4 @@ string CrankRockingBlockMechanism_Forward::formatDouble(double value, int precis char buffer[32]; snprintf(buffer, sizeof(buffer), "%.*f", precision, value); return string(buffer); -} \ No newline at end of file +} diff --git a/src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp b/src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp index f671a5b..7ce6375 100644 --- a/src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp +++ b/src/FourBarMechanism/CrankRockingBlockMechanism_Inverse.cpp @@ -1,4 +1,4 @@ -#include "CrankRockingBlockMechanism_Inverse.h" +#include "FourBarMechanism/CrankRockingBlockMechanism_Inverse.h" #include #include #include @@ -258,4 +258,4 @@ string CrankRockingBlockMechanism_Inverse::getStatusText() trajectoryPoints.size()); return string(buffer); -} \ No newline at end of file +} diff --git a/src/FourBarMechanism/CrankSliderMechanism.cpp b/src/FourBarMechanism/CrankSliderMechanism.cpp index 5b01162..76292ca 100644 --- a/src/FourBarMechanism/CrankSliderMechanism.cpp +++ b/src/FourBarMechanism/CrankSliderMechanism.cpp @@ -1,5 +1,5 @@ // mechanism_simulation.cpp -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include #include #include @@ -471,4 +471,4 @@ void deleteCrankSliderMechanism(CrankSliderMechanism *mechanism) CrankSliderMechanismPtr createCrankSliderMechanismSmart() { return std::make_shared(); -} \ No newline at end of file +} diff --git a/src/FourBarMechanism/FourBarMechanism.cpp b/src/FourBarMechanism/FourBarMechanism.cpp index 6a42305..b5c6c36 100644 --- a/src/FourBarMechanism/FourBarMechanism.cpp +++ b/src/FourBarMechanism/FourBarMechanism.cpp @@ -1,5 +1,5 @@ // FourBarMechanism.cpp -#include "FourBarMechanism.h" +#include "FourBarMechanism/FourBarMechanism.h" #include #include #include @@ -326,4 +326,4 @@ void deleteFourBarMechanism(FourBarMechanism *mechanism) FourBarMechanismPtr createFourBarMechanismSmart() { return std::make_shared(); -} \ No newline at end of file +} diff --git a/src/FourBarMechanism/SliderCrankMechanism.cpp b/src/FourBarMechanism/SliderCrankMechanism.cpp index 97c8678..0622ddb 100644 --- a/src/FourBarMechanism/SliderCrankMechanism.cpp +++ b/src/FourBarMechanism/SliderCrankMechanism.cpp @@ -1,5 +1,5 @@ // SliderCrankMechanism.cpp -#include "SliderCrankMechanism.h" +#include "FourBarMechanism/SliderCrankMechanism.h" #include #include #include @@ -371,4 +371,4 @@ void deleteSliderCrankMechanism(SliderCrankMechanism *mechanism) SliderCrankMechanismPtr createSliderCrankMechanismSmart() { return std::make_shared(); -} \ No newline at end of file +} diff --git a/src/KinematicsWebAPI.cpp b/src/KinematicsWebAPI.cpp index 1ea20fc..d0b4cfd 100644 --- a/src/KinematicsWebAPI.cpp +++ b/src/KinematicsWebAPI.cpp @@ -1,7 +1,7 @@  -#include "KinematicsHelper.h" +#include "QuadrupedRobotSimulation/KinematicsHelper.h" #include "KinematicsWebAPI.h" -#include "CrankSliderMechanism.h" +#include "FourBarMechanism/CrankSliderMechanism.h" #include "URDFStrings.h" #include diff --git a/src/QuadrupedRobotSimulation/BaseClass.cpp b/src/QuadrupedRobotSimulation/BaseClass.cpp index 9369bdb..bee0eb7 100644 --- a/src/QuadrupedRobotSimulation/BaseClass.cpp +++ b/src/QuadrupedRobotSimulation/BaseClass.cpp @@ -1,5 +1,5 @@ // BaseClass.cpp - 修复type_error::create错误 -#include "BaseClass.h" +#include "QuadrupedRobotSimulation/BaseClass.h" // 为nlohmann/json添加std::optional支持 namespace nlohmann diff --git a/src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp b/src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp index 8d77efd..23aa3b8 100644 --- a/src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp +++ b/src/QuadrupedRobotSimulation/CompleteJsonExporter.cpp @@ -1,7 +1,7 @@ // CompleteJsonExporter.cpp -#include "CompleteJsonExporter.h" -#include "BaseClass.h" -#include "KinematicsSimulation.h" +#include "QuadrupedRobotSimulation/CompleteJsonExporter.h" +#include "QuadrupedRobotSimulation/BaseClass.h" +#include "QuadrupedRobotSimulation/KinematicsSimulation.h" #include #include #include @@ -711,4 +711,4 @@ std::string CompleteJsonExporter::DoubleToString(double value, int precision) std::ostringstream oss; oss << std::fixed << std::setprecision(precision) << value; return oss.str(); -} \ No newline at end of file +} diff --git a/src/QuadrupedRobotSimulation/KinematicsHelper.cpp b/src/QuadrupedRobotSimulation/KinematicsHelper.cpp index 1e6d8b8..0f61b0a 100644 --- a/src/QuadrupedRobotSimulation/KinematicsHelper.cpp +++ b/src/QuadrupedRobotSimulation/KinematicsHelper.cpp @@ -1,6 +1,6 @@ // KinematicsHelper.cpp -#include "KinematicsHelper.h" -#include "RobotConfig.hpp" +#include "QuadrupedRobotSimulation/KinematicsHelper.h" +#include "QuadrupedRobotSimulation/RobotConfig.hpp" #include #include #include @@ -317,4 +317,4 @@ RobotGaitRequest KinematicsHelper::LoadAndValidateJson(const std::string &jsonIn std::cerr << "Error parsing JSON: " << e.what() << std::endl; return CreateDefaultRequest(); } -} \ No newline at end of file +} diff --git a/src/QuadrupedRobotSimulation/KinematicsReverse.cpp b/src/QuadrupedRobotSimulation/KinematicsReverse.cpp index 38af2ee..758efcb 100644 --- a/src/QuadrupedRobotSimulation/KinematicsReverse.cpp +++ b/src/QuadrupedRobotSimulation/KinematicsReverse.cpp @@ -1,7 +1,7 @@ // KinematicsReverse.cpp -#include "KinematicsReverse.h" -#include "graph_utils.hpp" -#include "RobotConfig.hpp" +#include "QuadrupedRobotSimulation/KinematicsReverse.h" +#include "QuadrupedRobotSimulation/graph_utils.hpp" +#include "QuadrupedRobotSimulation/RobotConfig.hpp" #include #include @@ -1285,4 +1285,4 @@ void ReverseKinematicsCalculator::debugPrintFinalJson(const std::vector #include #include @@ -1356,4 +1356,4 @@ std::vector QuadrupedRobotSimulation::ShiftArray(const std::vector #include #include @@ -208,4 +208,4 @@ C_ObjStates PoseCalculator::CalculatePoseAndQuaternion_C_ObjStates(const std::st c_ObjStates.qw = ToString(qw); return c_ObjStates; -} \ No newline at end of file +} diff --git a/tests/test_smart_json.cpp b/tests/test_smart_json.cpp index 53222ea..4b0affb 100644 --- a/tests/test_smart_json.cpp +++ b/tests/test_smart_json.cpp @@ -1,4 +1,4 @@ -#include "../src/smart_json_wrapper.h" +#include "../include/smart_json_wrapper.h" #include #include @@ -185,4 +185,4 @@ int main() } return 0; -} \ No newline at end of file +} diff --git a/Eigen3/.gitignore b/third_party/eigen3/.gitignore similarity index 100% rename from Eigen3/.gitignore rename to third_party/eigen3/.gitignore diff --git a/Eigen3/.hgeol b/third_party/eigen3/.hgeol similarity index 100% rename from Eigen3/.hgeol rename to third_party/eigen3/.hgeol diff --git a/Eigen3/CMakeLists.txt b/third_party/eigen3/CMakeLists.txt similarity index 100% rename from Eigen3/CMakeLists.txt rename to third_party/eigen3/CMakeLists.txt diff --git a/Eigen3/COPYING.BSD b/third_party/eigen3/COPYING.BSD similarity index 100% rename from Eigen3/COPYING.BSD rename to third_party/eigen3/COPYING.BSD diff --git a/Eigen3/COPYING.GPL b/third_party/eigen3/COPYING.GPL similarity index 100% rename from Eigen3/COPYING.GPL rename to third_party/eigen3/COPYING.GPL diff --git a/Eigen3/COPYING.LGPL b/third_party/eigen3/COPYING.LGPL similarity index 100% rename from Eigen3/COPYING.LGPL rename to third_party/eigen3/COPYING.LGPL diff --git a/Eigen3/COPYING.MINPACK b/third_party/eigen3/COPYING.MINPACK similarity index 100% rename from Eigen3/COPYING.MINPACK rename to third_party/eigen3/COPYING.MINPACK diff --git a/Eigen3/COPYING.MPL2 b/third_party/eigen3/COPYING.MPL2 similarity index 100% rename from Eigen3/COPYING.MPL2 rename to third_party/eigen3/COPYING.MPL2 diff --git a/Eigen3/COPYING.README b/third_party/eigen3/COPYING.README similarity index 100% rename from Eigen3/COPYING.README rename to third_party/eigen3/COPYING.README diff --git a/Eigen3/CTestConfig.cmake b/third_party/eigen3/CTestConfig.cmake similarity index 100% rename from Eigen3/CTestConfig.cmake rename to third_party/eigen3/CTestConfig.cmake diff --git a/Eigen3/CTestCustom.cmake.in b/third_party/eigen3/CTestCustom.cmake.in similarity index 100% rename from Eigen3/CTestCustom.cmake.in rename to third_party/eigen3/CTestCustom.cmake.in diff --git a/Eigen3/Eigen/CMakeLists.txt b/third_party/eigen3/Eigen/CMakeLists.txt similarity index 100% rename from Eigen3/Eigen/CMakeLists.txt rename to third_party/eigen3/Eigen/CMakeLists.txt diff --git a/Eigen3/Eigen/Cholesky b/third_party/eigen3/Eigen/Cholesky similarity index 100% rename from Eigen3/Eigen/Cholesky rename to third_party/eigen3/Eigen/Cholesky diff --git a/Eigen3/Eigen/CholmodSupport b/third_party/eigen3/Eigen/CholmodSupport similarity index 100% rename from Eigen3/Eigen/CholmodSupport rename to third_party/eigen3/Eigen/CholmodSupport diff --git a/Eigen3/Eigen/Dense b/third_party/eigen3/Eigen/Dense similarity index 100% rename from Eigen3/Eigen/Dense rename to third_party/eigen3/Eigen/Dense diff --git a/Eigen3/Eigen/Eigen b/third_party/eigen3/Eigen/Eigen similarity index 100% rename from Eigen3/Eigen/Eigen rename to third_party/eigen3/Eigen/Eigen diff --git a/Eigen3/Eigen/Eigenvalues b/third_party/eigen3/Eigen/Eigenvalues similarity index 100% rename from Eigen3/Eigen/Eigenvalues rename to third_party/eigen3/Eigen/Eigenvalues diff --git a/Eigen3/Eigen/Geometry b/third_party/eigen3/Eigen/Geometry similarity index 100% rename from Eigen3/Eigen/Geometry rename to third_party/eigen3/Eigen/Geometry diff --git a/Eigen3/Eigen/Householder b/third_party/eigen3/Eigen/Householder similarity index 100% rename from Eigen3/Eigen/Householder rename to third_party/eigen3/Eigen/Householder diff --git a/Eigen3/Eigen/IterativeLinearSolvers b/third_party/eigen3/Eigen/IterativeLinearSolvers similarity index 100% rename from Eigen3/Eigen/IterativeLinearSolvers rename to third_party/eigen3/Eigen/IterativeLinearSolvers diff --git a/Eigen3/Eigen/Jacobi b/third_party/eigen3/Eigen/Jacobi similarity index 100% rename from Eigen3/Eigen/Jacobi rename to third_party/eigen3/Eigen/Jacobi diff --git a/Eigen3/Eigen/LU b/third_party/eigen3/Eigen/LU similarity index 100% rename from Eigen3/Eigen/LU rename to third_party/eigen3/Eigen/LU diff --git a/Eigen3/Eigen/MetisSupport b/third_party/eigen3/Eigen/MetisSupport similarity index 100% rename from Eigen3/Eigen/MetisSupport rename to third_party/eigen3/Eigen/MetisSupport diff --git a/Eigen3/Eigen/OrderingMethods b/third_party/eigen3/Eigen/OrderingMethods similarity index 100% rename from Eigen3/Eigen/OrderingMethods rename to third_party/eigen3/Eigen/OrderingMethods diff --git a/Eigen3/Eigen/PaStiXSupport b/third_party/eigen3/Eigen/PaStiXSupport similarity index 100% rename from Eigen3/Eigen/PaStiXSupport rename to third_party/eigen3/Eigen/PaStiXSupport diff --git a/Eigen3/Eigen/PardisoSupport b/third_party/eigen3/Eigen/PardisoSupport similarity index 100% rename from Eigen3/Eigen/PardisoSupport rename to third_party/eigen3/Eigen/PardisoSupport diff --git a/Eigen3/Eigen/QR b/third_party/eigen3/Eigen/QR similarity index 100% rename from Eigen3/Eigen/QR rename to third_party/eigen3/Eigen/QR diff --git a/Eigen3/Eigen/QtAlignedMalloc b/third_party/eigen3/Eigen/QtAlignedMalloc similarity index 100% rename from Eigen3/Eigen/QtAlignedMalloc rename to third_party/eigen3/Eigen/QtAlignedMalloc diff --git a/Eigen3/Eigen/SPQRSupport b/third_party/eigen3/Eigen/SPQRSupport similarity index 100% rename from Eigen3/Eigen/SPQRSupport rename to third_party/eigen3/Eigen/SPQRSupport diff --git a/Eigen3/Eigen/SVD b/third_party/eigen3/Eigen/SVD similarity index 100% rename from Eigen3/Eigen/SVD rename to third_party/eigen3/Eigen/SVD diff --git a/Eigen3/Eigen/Sparse b/third_party/eigen3/Eigen/Sparse similarity index 100% rename from Eigen3/Eigen/Sparse rename to third_party/eigen3/Eigen/Sparse diff --git a/Eigen3/Eigen/SparseCholesky b/third_party/eigen3/Eigen/SparseCholesky similarity index 100% rename from Eigen3/Eigen/SparseCholesky rename to third_party/eigen3/Eigen/SparseCholesky diff --git a/Eigen3/Eigen/SparseCore b/third_party/eigen3/Eigen/SparseCore similarity index 100% rename from Eigen3/Eigen/SparseCore rename to third_party/eigen3/Eigen/SparseCore diff --git a/Eigen3/Eigen/SparseLU b/third_party/eigen3/Eigen/SparseLU similarity index 100% rename from Eigen3/Eigen/SparseLU rename to third_party/eigen3/Eigen/SparseLU diff --git a/Eigen3/Eigen/SparseQR b/third_party/eigen3/Eigen/SparseQR similarity index 100% rename from Eigen3/Eigen/SparseQR rename to third_party/eigen3/Eigen/SparseQR diff --git a/Eigen3/Eigen/StdDeque b/third_party/eigen3/Eigen/StdDeque similarity index 100% rename from Eigen3/Eigen/StdDeque rename to third_party/eigen3/Eigen/StdDeque diff --git a/Eigen3/Eigen/StdList b/third_party/eigen3/Eigen/StdList similarity index 100% rename from Eigen3/Eigen/StdList rename to third_party/eigen3/Eigen/StdList diff --git a/Eigen3/Eigen/StdVector b/third_party/eigen3/Eigen/StdVector similarity index 100% rename from Eigen3/Eigen/StdVector rename to third_party/eigen3/Eigen/StdVector diff --git a/Eigen3/Eigen/SuperLUSupport b/third_party/eigen3/Eigen/SuperLUSupport similarity index 100% rename from Eigen3/Eigen/SuperLUSupport rename to third_party/eigen3/Eigen/SuperLUSupport diff --git a/Eigen3/Eigen/UmfPackSupport b/third_party/eigen3/Eigen/UmfPackSupport similarity index 100% rename from Eigen3/Eigen/UmfPackSupport rename to third_party/eigen3/Eigen/UmfPackSupport diff --git a/Eigen3/Eigen/src/Cholesky/LDLT.h b/third_party/eigen3/Eigen/src/Cholesky/LDLT.h similarity index 100% rename from Eigen3/Eigen/src/Cholesky/LDLT.h rename to third_party/eigen3/Eigen/src/Cholesky/LDLT.h diff --git a/Eigen3/Eigen/src/Cholesky/LLT.h b/third_party/eigen3/Eigen/src/Cholesky/LLT.h similarity index 100% rename from Eigen3/Eigen/src/Cholesky/LLT.h rename to third_party/eigen3/Eigen/src/Cholesky/LLT.h diff --git a/Eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h b/third_party/eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h rename to third_party/eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h diff --git a/Eigen3/Eigen/src/CholmodSupport/CholmodSupport.h b/third_party/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h similarity index 100% rename from Eigen3/Eigen/src/CholmodSupport/CholmodSupport.h rename to third_party/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h diff --git a/Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/third_party/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h rename to third_party/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h diff --git a/Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h b/third_party/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/ComplexSchur.h rename to third_party/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h diff --git a/Eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h b/third_party/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h rename to third_party/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h diff --git a/Eigen3/Eigen/src/Eigenvalues/EigenSolver.h b/third_party/eigen3/Eigen/src/Eigenvalues/EigenSolver.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/EigenSolver.h rename to third_party/eigen3/Eigen/src/Eigenvalues/EigenSolver.h diff --git a/Eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/third_party/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h rename to third_party/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h diff --git a/Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/third_party/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h rename to third_party/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h diff --git a/Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/third_party/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h rename to third_party/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h diff --git a/Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/third_party/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h rename to third_party/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h diff --git a/Eigen3/Eigen/src/Eigenvalues/RealQZ.h b/third_party/eigen3/Eigen/src/Eigenvalues/RealQZ.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/RealQZ.h rename to third_party/eigen3/Eigen/src/Eigenvalues/RealQZ.h diff --git a/Eigen3/Eigen/src/Eigenvalues/RealSchur.h b/third_party/eigen3/Eigen/src/Eigenvalues/RealSchur.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/RealSchur.h rename to third_party/eigen3/Eigen/src/Eigenvalues/RealSchur.h diff --git a/Eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h b/third_party/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h rename to third_party/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h diff --git a/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/third_party/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h rename to third_party/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h diff --git a/Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h b/third_party/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h rename to third_party/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h diff --git a/Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h b/third_party/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h similarity index 100% rename from Eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h rename to third_party/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h diff --git a/Eigen3/Eigen/src/Geometry/AlignedBox.h b/third_party/eigen3/Eigen/src/Geometry/AlignedBox.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/AlignedBox.h rename to third_party/eigen3/Eigen/src/Geometry/AlignedBox.h diff --git a/Eigen3/Eigen/src/Geometry/AngleAxis.h b/third_party/eigen3/Eigen/src/Geometry/AngleAxis.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/AngleAxis.h rename to third_party/eigen3/Eigen/src/Geometry/AngleAxis.h diff --git a/Eigen3/Eigen/src/Geometry/EulerAngles.h b/third_party/eigen3/Eigen/src/Geometry/EulerAngles.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/EulerAngles.h rename to third_party/eigen3/Eigen/src/Geometry/EulerAngles.h diff --git a/Eigen3/Eigen/src/Geometry/Homogeneous.h b/third_party/eigen3/Eigen/src/Geometry/Homogeneous.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Homogeneous.h rename to third_party/eigen3/Eigen/src/Geometry/Homogeneous.h diff --git a/Eigen3/Eigen/src/Geometry/Hyperplane.h b/third_party/eigen3/Eigen/src/Geometry/Hyperplane.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Hyperplane.h rename to third_party/eigen3/Eigen/src/Geometry/Hyperplane.h diff --git a/Eigen3/Eigen/src/Geometry/OrthoMethods.h b/third_party/eigen3/Eigen/src/Geometry/OrthoMethods.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/OrthoMethods.h rename to third_party/eigen3/Eigen/src/Geometry/OrthoMethods.h diff --git a/Eigen3/Eigen/src/Geometry/ParametrizedLine.h b/third_party/eigen3/Eigen/src/Geometry/ParametrizedLine.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/ParametrizedLine.h rename to third_party/eigen3/Eigen/src/Geometry/ParametrizedLine.h diff --git a/Eigen3/Eigen/src/Geometry/Quaternion.h b/third_party/eigen3/Eigen/src/Geometry/Quaternion.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Quaternion.h rename to third_party/eigen3/Eigen/src/Geometry/Quaternion.h diff --git a/Eigen3/Eigen/src/Geometry/Rotation2D.h b/third_party/eigen3/Eigen/src/Geometry/Rotation2D.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Rotation2D.h rename to third_party/eigen3/Eigen/src/Geometry/Rotation2D.h diff --git a/Eigen3/Eigen/src/Geometry/RotationBase.h b/third_party/eigen3/Eigen/src/Geometry/RotationBase.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/RotationBase.h rename to third_party/eigen3/Eigen/src/Geometry/RotationBase.h diff --git a/Eigen3/Eigen/src/Geometry/Scaling.h b/third_party/eigen3/Eigen/src/Geometry/Scaling.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Scaling.h rename to third_party/eigen3/Eigen/src/Geometry/Scaling.h diff --git a/Eigen3/Eigen/src/Geometry/Transform.h b/third_party/eigen3/Eigen/src/Geometry/Transform.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Transform.h rename to third_party/eigen3/Eigen/src/Geometry/Transform.h diff --git a/Eigen3/Eigen/src/Geometry/Translation.h b/third_party/eigen3/Eigen/src/Geometry/Translation.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Translation.h rename to third_party/eigen3/Eigen/src/Geometry/Translation.h diff --git a/Eigen3/Eigen/src/Geometry/Umeyama.h b/third_party/eigen3/Eigen/src/Geometry/Umeyama.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/Umeyama.h rename to third_party/eigen3/Eigen/src/Geometry/Umeyama.h diff --git a/Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h b/third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h similarity index 100% rename from Eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h rename to third_party/eigen3/Eigen/src/Geometry/arch/Geometry_SSE.h diff --git a/Eigen3/Eigen/src/Householder/BlockHouseholder.h b/third_party/eigen3/Eigen/src/Householder/BlockHouseholder.h similarity index 100% rename from Eigen3/Eigen/src/Householder/BlockHouseholder.h rename to third_party/eigen3/Eigen/src/Householder/BlockHouseholder.h diff --git a/Eigen3/Eigen/src/Householder/Householder.h b/third_party/eigen3/Eigen/src/Householder/Householder.h similarity index 100% rename from Eigen3/Eigen/src/Householder/Householder.h rename to third_party/eigen3/Eigen/src/Householder/Householder.h diff --git a/Eigen3/Eigen/src/Householder/HouseholderSequence.h b/third_party/eigen3/Eigen/src/Householder/HouseholderSequence.h similarity index 100% rename from Eigen3/Eigen/src/Householder/HouseholderSequence.h rename to third_party/eigen3/Eigen/src/Householder/HouseholderSequence.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h diff --git a/Eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h b/third_party/eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h similarity index 100% rename from Eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h rename to third_party/eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h diff --git a/Eigen3/Eigen/src/Jacobi/Jacobi.h b/third_party/eigen3/Eigen/src/Jacobi/Jacobi.h similarity index 100% rename from Eigen3/Eigen/src/Jacobi/Jacobi.h rename to third_party/eigen3/Eigen/src/Jacobi/Jacobi.h diff --git a/Eigen3/Eigen/src/LU/Determinant.h b/third_party/eigen3/Eigen/src/LU/Determinant.h similarity index 100% rename from Eigen3/Eigen/src/LU/Determinant.h rename to third_party/eigen3/Eigen/src/LU/Determinant.h diff --git a/Eigen3/Eigen/src/LU/FullPivLU.h b/third_party/eigen3/Eigen/src/LU/FullPivLU.h similarity index 100% rename from Eigen3/Eigen/src/LU/FullPivLU.h rename to third_party/eigen3/Eigen/src/LU/FullPivLU.h diff --git a/Eigen3/Eigen/src/LU/InverseImpl.h b/third_party/eigen3/Eigen/src/LU/InverseImpl.h similarity index 100% rename from Eigen3/Eigen/src/LU/InverseImpl.h rename to third_party/eigen3/Eigen/src/LU/InverseImpl.h diff --git a/Eigen3/Eigen/src/LU/PartialPivLU.h b/third_party/eigen3/Eigen/src/LU/PartialPivLU.h similarity index 100% rename from Eigen3/Eigen/src/LU/PartialPivLU.h rename to third_party/eigen3/Eigen/src/LU/PartialPivLU.h diff --git a/Eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h b/third_party/eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h rename to third_party/eigen3/Eigen/src/LU/PartialPivLU_LAPACKE.h diff --git a/Eigen3/Eigen/src/LU/arch/Inverse_SSE.h b/third_party/eigen3/Eigen/src/LU/arch/Inverse_SSE.h similarity index 100% rename from Eigen3/Eigen/src/LU/arch/Inverse_SSE.h rename to third_party/eigen3/Eigen/src/LU/arch/Inverse_SSE.h diff --git a/Eigen3/Eigen/src/MetisSupport/MetisSupport.h b/third_party/eigen3/Eigen/src/MetisSupport/MetisSupport.h similarity index 100% rename from Eigen3/Eigen/src/MetisSupport/MetisSupport.h rename to third_party/eigen3/Eigen/src/MetisSupport/MetisSupport.h diff --git a/Eigen3/Eigen/src/OrderingMethods/Amd.h b/third_party/eigen3/Eigen/src/OrderingMethods/Amd.h similarity index 100% rename from Eigen3/Eigen/src/OrderingMethods/Amd.h rename to third_party/eigen3/Eigen/src/OrderingMethods/Amd.h diff --git a/Eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h b/third_party/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h similarity index 100% rename from Eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h rename to third_party/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h diff --git a/Eigen3/Eigen/src/OrderingMethods/Ordering.h b/third_party/eigen3/Eigen/src/OrderingMethods/Ordering.h similarity index 100% rename from Eigen3/Eigen/src/OrderingMethods/Ordering.h rename to third_party/eigen3/Eigen/src/OrderingMethods/Ordering.h diff --git a/Eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h b/third_party/eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h similarity index 100% rename from Eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h rename to third_party/eigen3/Eigen/src/PaStiXSupport/PaStiXSupport.h diff --git a/Eigen3/Eigen/src/PardisoSupport/PardisoSupport.h b/third_party/eigen3/Eigen/src/PardisoSupport/PardisoSupport.h similarity index 100% rename from Eigen3/Eigen/src/PardisoSupport/PardisoSupport.h rename to third_party/eigen3/Eigen/src/PardisoSupport/PardisoSupport.h diff --git a/Eigen3/Eigen/src/QR/ColPivHouseholderQR.h b/third_party/eigen3/Eigen/src/QR/ColPivHouseholderQR.h similarity index 100% rename from Eigen3/Eigen/src/QR/ColPivHouseholderQR.h rename to third_party/eigen3/Eigen/src/QR/ColPivHouseholderQR.h diff --git a/Eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h b/third_party/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h rename to third_party/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h diff --git a/Eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/third_party/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h similarity index 100% rename from Eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h rename to third_party/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h diff --git a/Eigen3/Eigen/src/QR/FullPivHouseholderQR.h b/third_party/eigen3/Eigen/src/QR/FullPivHouseholderQR.h similarity index 100% rename from Eigen3/Eigen/src/QR/FullPivHouseholderQR.h rename to third_party/eigen3/Eigen/src/QR/FullPivHouseholderQR.h diff --git a/Eigen3/Eigen/src/QR/HouseholderQR.h b/third_party/eigen3/Eigen/src/QR/HouseholderQR.h similarity index 100% rename from Eigen3/Eigen/src/QR/HouseholderQR.h rename to third_party/eigen3/Eigen/src/QR/HouseholderQR.h diff --git a/Eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h b/third_party/eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h rename to third_party/eigen3/Eigen/src/QR/HouseholderQR_LAPACKE.h diff --git a/Eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/third_party/eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h similarity index 100% rename from Eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h rename to third_party/eigen3/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h diff --git a/Eigen3/Eigen/src/SVD/BDCSVD.h b/third_party/eigen3/Eigen/src/SVD/BDCSVD.h similarity index 100% rename from Eigen3/Eigen/src/SVD/BDCSVD.h rename to third_party/eigen3/Eigen/src/SVD/BDCSVD.h diff --git a/Eigen3/Eigen/src/SVD/JacobiSVD.h b/third_party/eigen3/Eigen/src/SVD/JacobiSVD.h similarity index 100% rename from Eigen3/Eigen/src/SVD/JacobiSVD.h rename to third_party/eigen3/Eigen/src/SVD/JacobiSVD.h diff --git a/Eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h b/third_party/eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h similarity index 100% rename from Eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h rename to third_party/eigen3/Eigen/src/SVD/JacobiSVD_LAPACKE.h diff --git a/Eigen3/Eigen/src/SVD/SVDBase.h b/third_party/eigen3/Eigen/src/SVD/SVDBase.h similarity index 100% rename from Eigen3/Eigen/src/SVD/SVDBase.h rename to third_party/eigen3/Eigen/src/SVD/SVDBase.h diff --git a/Eigen3/Eigen/src/SVD/UpperBidiagonalization.h b/third_party/eigen3/Eigen/src/SVD/UpperBidiagonalization.h similarity index 100% rename from Eigen3/Eigen/src/SVD/UpperBidiagonalization.h rename to third_party/eigen3/Eigen/src/SVD/UpperBidiagonalization.h diff --git a/Eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h b/third_party/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h similarity index 100% rename from Eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h rename to third_party/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h diff --git a/Eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h b/third_party/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h similarity index 100% rename from Eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h rename to third_party/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h diff --git a/Eigen3/Eigen/src/SparseCore/AmbiVector.h b/third_party/eigen3/Eigen/src/SparseCore/AmbiVector.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/AmbiVector.h rename to third_party/eigen3/Eigen/src/SparseCore/AmbiVector.h diff --git a/Eigen3/Eigen/src/SparseCore/CompressedStorage.h b/third_party/eigen3/Eigen/src/SparseCore/CompressedStorage.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/CompressedStorage.h rename to third_party/eigen3/Eigen/src/SparseCore/CompressedStorage.h diff --git a/Eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/third_party/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h rename to third_party/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h diff --git a/Eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h b/third_party/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h rename to third_party/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseAssign.h b/third_party/eigen3/Eigen/src/SparseCore/SparseAssign.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseAssign.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseAssign.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseBlock.h b/third_party/eigen3/Eigen/src/SparseCore/SparseBlock.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseBlock.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseBlock.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseColEtree.h b/third_party/eigen3/Eigen/src/SparseCore/SparseColEtree.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseColEtree.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseColEtree.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseCompressedBase.h b/third_party/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseCompressedBase.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/third_party/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/third_party/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseDenseProduct.h b/third_party/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseDenseProduct.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h b/third_party/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseDot.h b/third_party/eigen3/Eigen/src/SparseCore/SparseDot.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseDot.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseDot.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseFuzzy.h b/third_party/eigen3/Eigen/src/SparseCore/SparseFuzzy.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseFuzzy.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseFuzzy.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseMap.h b/third_party/eigen3/Eigen/src/SparseCore/SparseMap.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseMap.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseMap.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseMatrix.h b/third_party/eigen3/Eigen/src/SparseCore/SparseMatrix.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseMatrix.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseMatrix.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseMatrixBase.h b/third_party/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseMatrixBase.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h diff --git a/Eigen3/Eigen/src/SparseCore/SparsePermutation.h 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a/Eigen3/doc/snippets/HouseholderQR_solve.cpp b/third_party/eigen3/doc/snippets/HouseholderQR_solve.cpp similarity index 100% rename from Eigen3/doc/snippets/HouseholderQR_solve.cpp rename to third_party/eigen3/doc/snippets/HouseholderQR_solve.cpp diff --git a/Eigen3/doc/snippets/HouseholderSequence_HouseholderSequence.cpp b/third_party/eigen3/doc/snippets/HouseholderSequence_HouseholderSequence.cpp similarity index 100% rename from Eigen3/doc/snippets/HouseholderSequence_HouseholderSequence.cpp rename to third_party/eigen3/doc/snippets/HouseholderSequence_HouseholderSequence.cpp diff --git a/Eigen3/doc/snippets/IOFormat.cpp b/third_party/eigen3/doc/snippets/IOFormat.cpp similarity index 100% rename from Eigen3/doc/snippets/IOFormat.cpp rename to third_party/eigen3/doc/snippets/IOFormat.cpp diff --git a/Eigen3/doc/snippets/JacobiSVD_basic.cpp b/third_party/eigen3/doc/snippets/JacobiSVD_basic.cpp similarity index 100% rename from Eigen3/doc/snippets/JacobiSVD_basic.cpp rename to 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diff --git a/Eigen3/doc/snippets/LeastSquaresNormalEquations.cpp b/third_party/eigen3/doc/snippets/LeastSquaresNormalEquations.cpp similarity index 100% rename from Eigen3/doc/snippets/LeastSquaresNormalEquations.cpp rename to third_party/eigen3/doc/snippets/LeastSquaresNormalEquations.cpp diff --git a/Eigen3/doc/snippets/LeastSquaresQR.cpp b/third_party/eigen3/doc/snippets/LeastSquaresQR.cpp similarity index 100% rename from Eigen3/doc/snippets/LeastSquaresQR.cpp rename to third_party/eigen3/doc/snippets/LeastSquaresQR.cpp diff --git a/Eigen3/doc/snippets/Map_general_stride.cpp b/third_party/eigen3/doc/snippets/Map_general_stride.cpp similarity index 100% rename from Eigen3/doc/snippets/Map_general_stride.cpp rename to third_party/eigen3/doc/snippets/Map_general_stride.cpp diff --git a/Eigen3/doc/snippets/Map_inner_stride.cpp b/third_party/eigen3/doc/snippets/Map_inner_stride.cpp similarity index 100% rename from Eigen3/doc/snippets/Map_inner_stride.cpp rename to 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a/Eigen3/doc/snippets/MatrixBase_block_int_int_int_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_block_int_int_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_block_int_int_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_block_int_int_int_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_bottomLeftCorner_int_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_bottomRightCorner_int_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_bottomRows_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_bottomRows_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_bottomRows_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_bottomRows_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cast.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cast.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cast.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cast.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_col.cpp b/third_party/eigen3/doc/snippets/MatrixBase_col.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_col.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_col.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_colwise.cpp b/third_party/eigen3/doc/snippets/MatrixBase_colwise.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_colwise.cpp rename to 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a/Eigen3/doc/snippets/MatrixBase_cwiseAbs2.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseAbs2.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseAbs2.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseAbs2.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cwiseEqual.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseEqual.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseEqual.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseEqual.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cwiseInverse.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseInverse.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseInverse.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseInverse.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cwiseMax.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseMax.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseMax.cpp rename to 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similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseQuotient.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseQuotient.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cwiseSign.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseSign.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseSign.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseSign.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_cwiseSqrt.cpp b/third_party/eigen3/doc/snippets/MatrixBase_cwiseSqrt.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_cwiseSqrt.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_cwiseSqrt.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_diagonal.cpp b/third_party/eigen3/doc/snippets/MatrixBase_diagonal.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_diagonal.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_diagonal.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_diagonal_int.cpp 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b/third_party/eigen3/doc/snippets/MatrixBase_segment_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_segment_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_segment_int_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_select.cpp b/third_party/eigen3/doc/snippets/MatrixBase_select.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_select.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_select.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_selfadjointView.cpp b/third_party/eigen3/doc/snippets/MatrixBase_selfadjointView.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_selfadjointView.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_selfadjointView.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_set.cpp b/third_party/eigen3/doc/snippets/MatrixBase_set.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_set.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_set.cpp 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a/Eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp b/third_party/eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_template_int_int_topLeftCorner_int_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp b/third_party/eigen3/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_template_int_int_topRightCorner.cpp rename to 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Eigen3/failtest/transpose_on_const_type_actually_const.cpp rename to third_party/eigen3/failtest/transpose_on_const_type_actually_const.cpp diff --git a/Eigen3/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp b/third_party/eigen3/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp similarity index 100% rename from Eigen3/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp rename to third_party/eigen3/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp diff --git a/Eigen3/failtest/triangularview_on_const_type_actually_const.cpp b/third_party/eigen3/failtest/triangularview_on_const_type_actually_const.cpp similarity index 100% rename from Eigen3/failtest/triangularview_on_const_type_actually_const.cpp rename to third_party/eigen3/failtest/triangularview_on_const_type_actually_const.cpp diff --git a/Eigen3/lapack/CMakeLists.txt b/third_party/eigen3/lapack/CMakeLists.txt similarity index 100% rename from Eigen3/lapack/CMakeLists.txt rename to 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diff --git a/Eigen3/test/array_for_matrix.cpp b/third_party/eigen3/test/array_for_matrix.cpp similarity index 100% rename from Eigen3/test/array_for_matrix.cpp rename to third_party/eigen3/test/array_for_matrix.cpp diff --git a/Eigen3/test/array_of_string.cpp b/third_party/eigen3/test/array_of_string.cpp similarity index 100% rename from Eigen3/test/array_of_string.cpp rename to third_party/eigen3/test/array_of_string.cpp diff --git a/Eigen3/test/array_replicate.cpp b/third_party/eigen3/test/array_replicate.cpp similarity index 100% rename from Eigen3/test/array_replicate.cpp rename to third_party/eigen3/test/array_replicate.cpp diff --git a/Eigen3/test/array_reverse.cpp b/third_party/eigen3/test/array_reverse.cpp similarity index 100% rename from Eigen3/test/array_reverse.cpp rename to third_party/eigen3/test/array_reverse.cpp diff --git a/Eigen3/test/bandmatrix.cpp b/third_party/eigen3/test/bandmatrix.cpp similarity index 100% rename from Eigen3/test/bandmatrix.cpp rename to 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a/Eigen3/test/bug1213.cpp b/third_party/eigen3/test/bug1213.cpp similarity index 100% rename from Eigen3/test/bug1213.cpp rename to third_party/eigen3/test/bug1213.cpp diff --git a/Eigen3/test/bug1213.h b/third_party/eigen3/test/bug1213.h similarity index 100% rename from Eigen3/test/bug1213.h rename to third_party/eigen3/test/bug1213.h diff --git a/Eigen3/test/bug1213_main.cpp b/third_party/eigen3/test/bug1213_main.cpp similarity index 100% rename from Eigen3/test/bug1213_main.cpp rename to third_party/eigen3/test/bug1213_main.cpp diff --git a/Eigen3/test/cholesky.cpp b/third_party/eigen3/test/cholesky.cpp similarity index 100% rename from Eigen3/test/cholesky.cpp rename to third_party/eigen3/test/cholesky.cpp diff --git a/Eigen3/test/cholmod_support.cpp b/third_party/eigen3/test/cholmod_support.cpp similarity index 100% rename from Eigen3/test/cholmod_support.cpp rename to third_party/eigen3/test/cholmod_support.cpp diff --git a/Eigen3/test/commainitializer.cpp 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b/third_party/eigen3/test/determinant.cpp similarity index 100% rename from Eigen3/test/determinant.cpp rename to third_party/eigen3/test/determinant.cpp diff --git a/Eigen3/test/diagonal.cpp b/third_party/eigen3/test/diagonal.cpp similarity index 100% rename from Eigen3/test/diagonal.cpp rename to third_party/eigen3/test/diagonal.cpp diff --git a/Eigen3/test/diagonalmatrices.cpp b/third_party/eigen3/test/diagonalmatrices.cpp similarity index 100% rename from Eigen3/test/diagonalmatrices.cpp rename to third_party/eigen3/test/diagonalmatrices.cpp diff --git a/Eigen3/test/dontalign.cpp b/third_party/eigen3/test/dontalign.cpp similarity index 100% rename from Eigen3/test/dontalign.cpp rename to third_party/eigen3/test/dontalign.cpp diff --git a/Eigen3/test/dynalloc.cpp b/third_party/eigen3/test/dynalloc.cpp similarity index 100% rename from Eigen3/test/dynalloc.cpp rename to third_party/eigen3/test/dynalloc.cpp diff --git a/Eigen3/test/eigen2support.cpp b/third_party/eigen3/test/eigen2support.cpp similarity index 100% rename from Eigen3/test/eigen2support.cpp rename to third_party/eigen3/test/eigen2support.cpp diff --git a/Eigen3/test/eigensolver_complex.cpp b/third_party/eigen3/test/eigensolver_complex.cpp similarity index 100% rename from Eigen3/test/eigensolver_complex.cpp rename to third_party/eigen3/test/eigensolver_complex.cpp diff --git a/Eigen3/test/eigensolver_generalized_real.cpp b/third_party/eigen3/test/eigensolver_generalized_real.cpp similarity index 100% rename from Eigen3/test/eigensolver_generalized_real.cpp rename to third_party/eigen3/test/eigensolver_generalized_real.cpp diff --git a/Eigen3/test/eigensolver_generic.cpp b/third_party/eigen3/test/eigensolver_generic.cpp similarity index 100% rename from Eigen3/test/eigensolver_generic.cpp rename to third_party/eigen3/test/eigensolver_generic.cpp diff --git a/Eigen3/test/eigensolver_selfadjoint.cpp b/third_party/eigen3/test/eigensolver_selfadjoint.cpp similarity index 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b/third_party/eigen3/test/geo_orthomethods.cpp similarity index 100% rename from Eigen3/test/geo_orthomethods.cpp rename to third_party/eigen3/test/geo_orthomethods.cpp diff --git a/Eigen3/test/geo_parametrizedline.cpp b/third_party/eigen3/test/geo_parametrizedline.cpp similarity index 100% rename from Eigen3/test/geo_parametrizedline.cpp rename to third_party/eigen3/test/geo_parametrizedline.cpp diff --git a/Eigen3/test/geo_quaternion.cpp b/third_party/eigen3/test/geo_quaternion.cpp similarity index 100% rename from Eigen3/test/geo_quaternion.cpp rename to third_party/eigen3/test/geo_quaternion.cpp diff --git a/Eigen3/test/geo_transformations.cpp b/third_party/eigen3/test/geo_transformations.cpp similarity index 100% rename from Eigen3/test/geo_transformations.cpp rename to third_party/eigen3/test/geo_transformations.cpp diff --git a/Eigen3/test/half_float.cpp b/third_party/eigen3/test/half_float.cpp similarity index 100% rename from Eigen3/test/half_float.cpp rename to 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b/third_party/eigen3/test/mapstride.cpp similarity index 100% rename from Eigen3/test/mapstride.cpp rename to third_party/eigen3/test/mapstride.cpp diff --git a/Eigen3/test/meta.cpp b/third_party/eigen3/test/meta.cpp similarity index 100% rename from Eigen3/test/meta.cpp rename to third_party/eigen3/test/meta.cpp diff --git a/Eigen3/test/metis_support.cpp b/third_party/eigen3/test/metis_support.cpp similarity index 100% rename from Eigen3/test/metis_support.cpp rename to third_party/eigen3/test/metis_support.cpp diff --git a/Eigen3/test/miscmatrices.cpp b/third_party/eigen3/test/miscmatrices.cpp similarity index 100% rename from Eigen3/test/miscmatrices.cpp rename to third_party/eigen3/test/miscmatrices.cpp diff --git a/Eigen3/test/mixingtypes.cpp b/third_party/eigen3/test/mixingtypes.cpp similarity index 100% rename from Eigen3/test/mixingtypes.cpp rename to third_party/eigen3/test/mixingtypes.cpp diff --git a/Eigen3/test/mpl2only.cpp b/third_party/eigen3/test/mpl2only.cpp similarity 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third_party/eigen3/test/packetmath.cpp diff --git a/Eigen3/test/pardiso_support.cpp b/third_party/eigen3/test/pardiso_support.cpp similarity index 100% rename from Eigen3/test/pardiso_support.cpp rename to third_party/eigen3/test/pardiso_support.cpp diff --git a/Eigen3/test/pastix_support.cpp b/third_party/eigen3/test/pastix_support.cpp similarity index 100% rename from Eigen3/test/pastix_support.cpp rename to third_party/eigen3/test/pastix_support.cpp diff --git a/Eigen3/test/permutationmatrices.cpp b/third_party/eigen3/test/permutationmatrices.cpp similarity index 100% rename from Eigen3/test/permutationmatrices.cpp rename to third_party/eigen3/test/permutationmatrices.cpp diff --git a/Eigen3/test/prec_inverse_4x4.cpp b/third_party/eigen3/test/prec_inverse_4x4.cpp similarity index 100% rename from Eigen3/test/prec_inverse_4x4.cpp rename to third_party/eigen3/test/prec_inverse_4x4.cpp diff --git a/Eigen3/test/product.h b/third_party/eigen3/test/product.h similarity index 100% rename from Eigen3/test/product.h rename to third_party/eigen3/test/product.h diff --git a/Eigen3/test/product_extra.cpp b/third_party/eigen3/test/product_extra.cpp similarity index 100% rename from Eigen3/test/product_extra.cpp rename to third_party/eigen3/test/product_extra.cpp diff --git a/Eigen3/test/product_large.cpp b/third_party/eigen3/test/product_large.cpp similarity index 100% rename from Eigen3/test/product_large.cpp rename to third_party/eigen3/test/product_large.cpp diff --git a/Eigen3/test/product_mmtr.cpp b/third_party/eigen3/test/product_mmtr.cpp similarity index 100% rename from Eigen3/test/product_mmtr.cpp rename to third_party/eigen3/test/product_mmtr.cpp diff --git a/Eigen3/test/product_notemporary.cpp b/third_party/eigen3/test/product_notemporary.cpp similarity index 100% rename from Eigen3/test/product_notemporary.cpp rename to third_party/eigen3/test/product_notemporary.cpp diff --git a/Eigen3/test/product_selfadjoint.cpp b/third_party/eigen3/test/product_selfadjoint.cpp similarity index 100% rename from Eigen3/test/product_selfadjoint.cpp rename to third_party/eigen3/test/product_selfadjoint.cpp diff --git a/Eigen3/test/product_small.cpp b/third_party/eigen3/test/product_small.cpp similarity index 100% rename from Eigen3/test/product_small.cpp rename to third_party/eigen3/test/product_small.cpp diff --git a/Eigen3/test/product_symm.cpp b/third_party/eigen3/test/product_symm.cpp similarity index 100% rename from Eigen3/test/product_symm.cpp rename to third_party/eigen3/test/product_symm.cpp diff --git a/Eigen3/test/product_syrk.cpp b/third_party/eigen3/test/product_syrk.cpp similarity index 100% rename from Eigen3/test/product_syrk.cpp rename to third_party/eigen3/test/product_syrk.cpp diff --git a/Eigen3/test/product_trmm.cpp b/third_party/eigen3/test/product_trmm.cpp similarity index 100% rename from Eigen3/test/product_trmm.cpp rename to third_party/eigen3/test/product_trmm.cpp diff --git a/Eigen3/test/product_trmv.cpp b/third_party/eigen3/test/product_trmv.cpp similarity index 100% rename from Eigen3/test/product_trmv.cpp rename to third_party/eigen3/test/product_trmv.cpp diff --git a/Eigen3/test/product_trsolve.cpp b/third_party/eigen3/test/product_trsolve.cpp similarity index 100% rename from Eigen3/test/product_trsolve.cpp rename to third_party/eigen3/test/product_trsolve.cpp diff --git a/Eigen3/test/qr.cpp b/third_party/eigen3/test/qr.cpp similarity index 100% rename from Eigen3/test/qr.cpp rename to third_party/eigen3/test/qr.cpp diff --git a/Eigen3/test/qr_colpivoting.cpp b/third_party/eigen3/test/qr_colpivoting.cpp similarity index 100% rename from Eigen3/test/qr_colpivoting.cpp rename to third_party/eigen3/test/qr_colpivoting.cpp diff --git a/Eigen3/test/qr_fullpivoting.cpp b/third_party/eigen3/test/qr_fullpivoting.cpp similarity index 100% rename from Eigen3/test/qr_fullpivoting.cpp rename to third_party/eigen3/test/qr_fullpivoting.cpp diff --git a/Eigen3/test/qtvector.cpp b/third_party/eigen3/test/qtvector.cpp similarity index 100% rename from Eigen3/test/qtvector.cpp rename to third_party/eigen3/test/qtvector.cpp diff --git a/Eigen3/test/rand.cpp b/third_party/eigen3/test/rand.cpp similarity index 100% rename from Eigen3/test/rand.cpp rename to third_party/eigen3/test/rand.cpp diff --git a/Eigen3/test/real_qz.cpp b/third_party/eigen3/test/real_qz.cpp similarity index 100% rename from Eigen3/test/real_qz.cpp rename to third_party/eigen3/test/real_qz.cpp diff --git a/Eigen3/test/redux.cpp b/third_party/eigen3/test/redux.cpp similarity index 100% rename from Eigen3/test/redux.cpp rename to third_party/eigen3/test/redux.cpp diff --git a/Eigen3/test/ref.cpp b/third_party/eigen3/test/ref.cpp similarity index 100% rename from Eigen3/test/ref.cpp rename to third_party/eigen3/test/ref.cpp diff --git a/Eigen3/test/resize.cpp b/third_party/eigen3/test/resize.cpp similarity index 100% rename from Eigen3/test/resize.cpp rename to third_party/eigen3/test/resize.cpp diff --git a/Eigen3/test/rvalue_types.cpp b/third_party/eigen3/test/rvalue_types.cpp similarity index 100% rename from Eigen3/test/rvalue_types.cpp rename to third_party/eigen3/test/rvalue_types.cpp diff --git a/Eigen3/test/schur_complex.cpp b/third_party/eigen3/test/schur_complex.cpp similarity index 100% rename from Eigen3/test/schur_complex.cpp rename to third_party/eigen3/test/schur_complex.cpp diff --git a/Eigen3/test/schur_real.cpp b/third_party/eigen3/test/schur_real.cpp similarity index 100% rename from Eigen3/test/schur_real.cpp rename to third_party/eigen3/test/schur_real.cpp diff --git a/Eigen3/test/selfadjoint.cpp b/third_party/eigen3/test/selfadjoint.cpp similarity index 100% rename from Eigen3/test/selfadjoint.cpp rename to third_party/eigen3/test/selfadjoint.cpp diff --git a/Eigen3/test/simplicial_cholesky.cpp b/third_party/eigen3/test/simplicial_cholesky.cpp similarity index 100% rename from Eigen3/test/simplicial_cholesky.cpp rename to third_party/eigen3/test/simplicial_cholesky.cpp diff --git a/Eigen3/test/sizeof.cpp b/third_party/eigen3/test/sizeof.cpp similarity index 100% rename from Eigen3/test/sizeof.cpp rename to third_party/eigen3/test/sizeof.cpp diff --git a/Eigen3/test/sizeoverflow.cpp b/third_party/eigen3/test/sizeoverflow.cpp similarity index 100% rename from Eigen3/test/sizeoverflow.cpp rename to third_party/eigen3/test/sizeoverflow.cpp diff --git a/Eigen3/test/smallvectors.cpp b/third_party/eigen3/test/smallvectors.cpp similarity index 100% rename from Eigen3/test/smallvectors.cpp rename to third_party/eigen3/test/smallvectors.cpp diff --git a/Eigen3/test/sparse.h b/third_party/eigen3/test/sparse.h similarity index 100% rename from Eigen3/test/sparse.h rename to third_party/eigen3/test/sparse.h diff --git a/Eigen3/test/sparseLM.cpp b/third_party/eigen3/test/sparseLM.cpp similarity index 100% rename from Eigen3/test/sparseLM.cpp rename to third_party/eigen3/test/sparseLM.cpp diff --git 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diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/DGMRES.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/DGMRES.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/DGMRES.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/DGMRES.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/GMRES.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/GMRES.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/GMRES.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/IterationController.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/IterationController.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/IterationController.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/IterationController.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/MINRES.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/MINRES.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/MINRES.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/MINRES.h diff --git a/Eigen3/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/Scaling.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/IterativeSolvers/Scaling.h rename to third_party/eigen3/unsupported/Eigen/src/IterativeSolvers/Scaling.h diff --git a/Eigen3/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h b/third_party/eigen3/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h rename to third_party/eigen3/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h diff --git a/Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h b/third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h rename to third_party/eigen3/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h diff --git a/Eigen3/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/StemFunction.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MatrixFunctions/StemFunction.h rename to third_party/eigen3/unsupported/Eigen/src/MatrixFunctions/StemFunction.h diff --git a/Eigen3/unsupported/Eigen/src/MoreVectorization/MathFunctions.h b/third_party/eigen3/unsupported/Eigen/src/MoreVectorization/MathFunctions.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/MoreVectorization/MathFunctions.h rename to third_party/eigen3/unsupported/Eigen/src/MoreVectorization/MathFunctions.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/chkder.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/chkder.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/chkder.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/chkder.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/covar.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/covar.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/covar.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/covar.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/dogleg.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/dogleg.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/dogleg.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/dogleg.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/lmpar.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/lmpar.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/lmpar.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/lmpar.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/r1updt.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1updt.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/r1updt.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1updt.h diff --git a/Eigen3/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h b/third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h rename to third_party/eigen3/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h diff --git a/Eigen3/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/third_party/eigen3/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h rename to third_party/eigen3/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h diff --git a/Eigen3/unsupported/Eigen/src/Polynomials/Companion.h b/third_party/eigen3/unsupported/Eigen/src/Polynomials/Companion.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Polynomials/Companion.h rename to third_party/eigen3/unsupported/Eigen/src/Polynomials/Companion.h diff --git a/Eigen3/unsupported/Eigen/src/Polynomials/PolynomialSolver.h b/third_party/eigen3/unsupported/Eigen/src/Polynomials/PolynomialSolver.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Polynomials/PolynomialSolver.h rename to third_party/eigen3/unsupported/Eigen/src/Polynomials/PolynomialSolver.h diff --git a/Eigen3/unsupported/Eigen/src/Polynomials/PolynomialUtils.h b/third_party/eigen3/unsupported/Eigen/src/Polynomials/PolynomialUtils.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Polynomials/PolynomialUtils.h rename to third_party/eigen3/unsupported/Eigen/src/Polynomials/PolynomialUtils.h diff --git a/Eigen3/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h b/third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h rename to third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h diff --git a/Eigen3/unsupported/Eigen/src/Skyline/SkylineMatrix.h b/third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineMatrix.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Skyline/SkylineMatrix.h rename to third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineMatrix.h diff --git a/Eigen3/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h b/third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h similarity 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third_party/eigen3/unsupported/Eigen/src/Skyline/SkylineUtil.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/MarketIO.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/MarketIO.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/MarketIO.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/MarketIO.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h diff --git a/Eigen3/unsupported/Eigen/src/SparseExtra/RandomSetter.h b/third_party/eigen3/unsupported/Eigen/src/SparseExtra/RandomSetter.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SparseExtra/RandomSetter.h rename to third_party/eigen3/unsupported/Eigen/src/SparseExtra/RandomSetter.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h diff --git a/Eigen3/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h b/third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h rename to third_party/eigen3/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h diff --git a/Eigen3/unsupported/Eigen/src/Splines/Spline.h b/third_party/eigen3/unsupported/Eigen/src/Splines/Spline.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Splines/Spline.h rename to third_party/eigen3/unsupported/Eigen/src/Splines/Spline.h diff --git a/Eigen3/unsupported/Eigen/src/Splines/SplineFitting.h b/third_party/eigen3/unsupported/Eigen/src/Splines/SplineFitting.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/Splines/SplineFitting.h rename to 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Eigen3/unsupported/test/cxx11_tensor_reduction_sycl.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_reduction_sycl.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_ref.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_ref.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_ref.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_ref.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_reverse.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_reverse.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_reverse.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_reverse.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_roundings.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_roundings.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_roundings.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_roundings.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_scan.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_scan.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_scan.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_scan.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_scan_cuda.cu b/third_party/eigen3/unsupported/test/cxx11_tensor_scan_cuda.cu similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_scan_cuda.cu rename to third_party/eigen3/unsupported/test/cxx11_tensor_scan_cuda.cu diff --git a/Eigen3/unsupported/test/cxx11_tensor_shuffling.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_shuffling.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_shuffling.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_shuffling.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_simple.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_simple.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_simple.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_simple.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_striding.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_striding.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_striding.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_striding.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_sugar.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_sugar.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_sugar.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_sugar.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_sycl.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_sycl.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_sycl.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_sycl.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_symmetry.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_symmetry.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_symmetry.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_symmetry.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_thread_pool.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_thread_pool.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_thread_pool.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_thread_pool.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_uint128.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_uint128.cpp similarity index 100% rename from Eigen3/unsupported/test/cxx11_tensor_uint128.cpp rename to third_party/eigen3/unsupported/test/cxx11_tensor_uint128.cpp diff --git a/Eigen3/unsupported/test/cxx11_tensor_volume_patch.cpp b/third_party/eigen3/unsupported/test/cxx11_tensor_volume_patch.cpp similarity index 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Eigen3/unsupported/test/kronecker_product.cpp rename to third_party/eigen3/unsupported/test/kronecker_product.cpp diff --git a/Eigen3/unsupported/test/levenberg_marquardt.cpp b/third_party/eigen3/unsupported/test/levenberg_marquardt.cpp similarity index 100% rename from Eigen3/unsupported/test/levenberg_marquardt.cpp rename to third_party/eigen3/unsupported/test/levenberg_marquardt.cpp diff --git a/Eigen3/unsupported/test/matrix_exponential.cpp b/third_party/eigen3/unsupported/test/matrix_exponential.cpp similarity index 100% rename from Eigen3/unsupported/test/matrix_exponential.cpp rename to third_party/eigen3/unsupported/test/matrix_exponential.cpp diff --git a/Eigen3/unsupported/test/matrix_function.cpp b/third_party/eigen3/unsupported/test/matrix_function.cpp similarity index 100% rename from Eigen3/unsupported/test/matrix_function.cpp rename to third_party/eigen3/unsupported/test/matrix_function.cpp diff --git a/Eigen3/unsupported/test/matrix_functions.h b/third_party/eigen3/unsupported/test/matrix_functions.h similarity index 100% rename from Eigen3/unsupported/test/matrix_functions.h rename to third_party/eigen3/unsupported/test/matrix_functions.h diff --git a/Eigen3/unsupported/test/matrix_power.cpp b/third_party/eigen3/unsupported/test/matrix_power.cpp similarity index 100% rename from Eigen3/unsupported/test/matrix_power.cpp rename to third_party/eigen3/unsupported/test/matrix_power.cpp diff --git a/Eigen3/unsupported/test/matrix_square_root.cpp b/third_party/eigen3/unsupported/test/matrix_square_root.cpp similarity index 100% rename from Eigen3/unsupported/test/matrix_square_root.cpp rename to third_party/eigen3/unsupported/test/matrix_square_root.cpp diff --git a/Eigen3/unsupported/test/minres.cpp b/third_party/eigen3/unsupported/test/minres.cpp similarity index 100% rename from Eigen3/unsupported/test/minres.cpp rename to third_party/eigen3/unsupported/test/minres.cpp diff --git a/Eigen3/unsupported/test/mpreal/mpreal.h b/third_party/eigen3/unsupported/test/mpreal/mpreal.h similarity index 100% rename from Eigen3/unsupported/test/mpreal/mpreal.h rename to third_party/eigen3/unsupported/test/mpreal/mpreal.h diff --git a/Eigen3/unsupported/test/mpreal_support.cpp b/third_party/eigen3/unsupported/test/mpreal_support.cpp similarity index 100% rename from Eigen3/unsupported/test/mpreal_support.cpp rename to third_party/eigen3/unsupported/test/mpreal_support.cpp diff --git a/Eigen3/unsupported/test/openglsupport.cpp b/third_party/eigen3/unsupported/test/openglsupport.cpp similarity index 100% rename from Eigen3/unsupported/test/openglsupport.cpp rename to third_party/eigen3/unsupported/test/openglsupport.cpp diff --git a/Eigen3/unsupported/test/polynomialsolver.cpp b/third_party/eigen3/unsupported/test/polynomialsolver.cpp similarity index 100% rename from Eigen3/unsupported/test/polynomialsolver.cpp rename to third_party/eigen3/unsupported/test/polynomialsolver.cpp diff --git a/Eigen3/unsupported/test/polynomialutils.cpp b/third_party/eigen3/unsupported/test/polynomialutils.cpp similarity index 100% rename from Eigen3/unsupported/test/polynomialutils.cpp rename to third_party/eigen3/unsupported/test/polynomialutils.cpp diff --git a/Eigen3/unsupported/test/sparse_extra.cpp b/third_party/eigen3/unsupported/test/sparse_extra.cpp similarity index 100% rename from Eigen3/unsupported/test/sparse_extra.cpp rename to third_party/eigen3/unsupported/test/sparse_extra.cpp diff --git a/Eigen3/unsupported/test/special_functions.cpp b/third_party/eigen3/unsupported/test/special_functions.cpp similarity index 100% rename from Eigen3/unsupported/test/special_functions.cpp rename to third_party/eigen3/unsupported/test/special_functions.cpp diff --git a/Eigen3/unsupported/test/splines.cpp b/third_party/eigen3/unsupported/test/splines.cpp similarity index 100% rename from Eigen3/unsupported/test/splines.cpp rename to third_party/eigen3/unsupported/test/splines.cpp diff --git a/src/kdl_parser/include/kdl_parser/kdl_parser.hpp b/third_party/kdl_parser/include/kdl_parser/kdl_parser.hpp similarity index 100% rename from src/kdl_parser/include/kdl_parser/kdl_parser.hpp rename to third_party/kdl_parser/include/kdl_parser/kdl_parser.hpp diff --git a/src/kdl_parser/include/kdl_parser/visibility_control.hpp b/third_party/kdl_parser/include/kdl_parser/visibility_control.hpp similarity index 100% rename from src/kdl_parser/include/kdl_parser/visibility_control.hpp rename to third_party/kdl_parser/include/kdl_parser/visibility_control.hpp diff --git a/src/kdl_parser/include/tinystr.h b/third_party/kdl_parser/include/tinystr.h similarity index 100% rename from src/kdl_parser/include/tinystr.h rename to third_party/kdl_parser/include/tinystr.h diff --git a/src/kdl_parser/include/tinyxml.h b/third_party/kdl_parser/include/tinyxml.h similarity index 100% rename from src/kdl_parser/include/tinyxml.h rename to third_party/kdl_parser/include/tinyxml.h diff --git a/src/kdl_parser/include/tinyxml2.h b/third_party/kdl_parser/include/tinyxml2.h similarity index 100% rename from src/kdl_parser/include/tinyxml2.h rename to third_party/kdl_parser/include/tinyxml2.h diff --git a/src/kdl_parser/include/urdf_exception/exception.h b/third_party/kdl_parser/include/urdf_exception/exception.h similarity index 100% rename from src/kdl_parser/include/urdf_exception/exception.h rename to third_party/kdl_parser/include/urdf_exception/exception.h diff --git a/src/kdl_parser/include/urdf_model/color.h b/third_party/kdl_parser/include/urdf_model/color.h similarity index 100% rename from src/kdl_parser/include/urdf_model/color.h rename to third_party/kdl_parser/include/urdf_model/color.h diff --git a/src/kdl_parser/include/urdf_model/joint.h b/third_party/kdl_parser/include/urdf_model/joint.h similarity index 100% rename from src/kdl_parser/include/urdf_model/joint.h rename to third_party/kdl_parser/include/urdf_model/joint.h diff --git a/src/kdl_parser/include/urdf_model/link.h b/third_party/kdl_parser/include/urdf_model/link.h similarity index 100% rename from src/kdl_parser/include/urdf_model/link.h rename to third_party/kdl_parser/include/urdf_model/link.h diff --git a/src/kdl_parser/include/urdf_model/model.h b/third_party/kdl_parser/include/urdf_model/model.h similarity index 100% rename from src/kdl_parser/include/urdf_model/model.h rename to third_party/kdl_parser/include/urdf_model/model.h diff --git a/src/kdl_parser/include/urdf_model/pose.h b/third_party/kdl_parser/include/urdf_model/pose.h similarity index 100% rename from src/kdl_parser/include/urdf_model/pose.h rename to third_party/kdl_parser/include/urdf_model/pose.h diff --git a/src/kdl_parser/include/urdf_model/twist.h b/third_party/kdl_parser/include/urdf_model/twist.h similarity index 100% rename from src/kdl_parser/include/urdf_model/twist.h rename to third_party/kdl_parser/include/urdf_model/twist.h diff --git a/src/kdl_parser/include/urdf_model/types.h b/third_party/kdl_parser/include/urdf_model/types.h similarity index 100% rename from src/kdl_parser/include/urdf_model/types.h rename to third_party/kdl_parser/include/urdf_model/types.h diff --git a/src/kdl_parser/include/urdf_model/utils.h b/third_party/kdl_parser/include/urdf_model/utils.h similarity index 100% rename from src/kdl_parser/include/urdf_model/utils.h rename to third_party/kdl_parser/include/urdf_model/utils.h diff --git a/src/kdl_parser/include/urdf_model_state/model_state.h b/third_party/kdl_parser/include/urdf_model_state/model_state.h similarity index 100% rename from src/kdl_parser/include/urdf_model_state/model_state.h rename to third_party/kdl_parser/include/urdf_model_state/model_state.h diff --git a/src/kdl_parser/include/urdf_model_state/twist.h b/third_party/kdl_parser/include/urdf_model_state/twist.h similarity index 100% rename from src/kdl_parser/include/urdf_model_state/twist.h rename to third_party/kdl_parser/include/urdf_model_state/twist.h diff --git a/src/kdl_parser/include/urdf_model_state/types.h b/third_party/kdl_parser/include/urdf_model_state/types.h similarity index 100% rename from src/kdl_parser/include/urdf_model_state/types.h rename to third_party/kdl_parser/include/urdf_model_state/types.h diff --git a/src/kdl_parser/include/urdf_parser/exportdecl.h b/third_party/kdl_parser/include/urdf_parser/exportdecl.h similarity index 100% rename from src/kdl_parser/include/urdf_parser/exportdecl.h rename to third_party/kdl_parser/include/urdf_parser/exportdecl.h diff --git a/src/kdl_parser/include/urdf_parser/urdf_parser.h b/third_party/kdl_parser/include/urdf_parser/urdf_parser.h similarity index 100% rename from src/kdl_parser/include/urdf_parser/urdf_parser.h rename to third_party/kdl_parser/include/urdf_parser/urdf_parser.h diff --git a/src/kdl_parser/include/urdf_sensor/sensor.h b/third_party/kdl_parser/include/urdf_sensor/sensor.h similarity index 100% rename from src/kdl_parser/include/urdf_sensor/sensor.h rename to third_party/kdl_parser/include/urdf_sensor/sensor.h diff --git a/src/kdl_parser/include/urdf_sensor/types.h b/third_party/kdl_parser/include/urdf_sensor/types.h similarity index 100% rename from src/kdl_parser/include/urdf_sensor/types.h rename to third_party/kdl_parser/include/urdf_sensor/types.h diff --git a/src/kdl_parser/include/urdf_world/types.h b/third_party/kdl_parser/include/urdf_world/types.h similarity index 100% rename from src/kdl_parser/include/urdf_world/types.h rename to third_party/kdl_parser/include/urdf_world/types.h diff --git a/src/kdl_parser/include/urdf_world/world.h b/third_party/kdl_parser/include/urdf_world/world.h similarity index 100% rename from src/kdl_parser/include/urdf_world/world.h rename to third_party/kdl_parser/include/urdf_world/world.h diff --git a/src/kdl_parser/src/joint.cpp b/third_party/kdl_parser/src/joint.cpp similarity index 100% rename from src/kdl_parser/src/joint.cpp rename to third_party/kdl_parser/src/joint.cpp diff --git a/src/kdl_parser/src/kdl_parser.cpp b/third_party/kdl_parser/src/kdl_parser.cpp similarity index 100% rename from src/kdl_parser/src/kdl_parser.cpp rename to third_party/kdl_parser/src/kdl_parser.cpp diff --git a/src/kdl_parser/src/link.cpp b/third_party/kdl_parser/src/link.cpp similarity index 100% rename from src/kdl_parser/src/link.cpp rename to third_party/kdl_parser/src/link.cpp diff --git a/src/kdl_parser/src/model.cpp b/third_party/kdl_parser/src/model.cpp similarity index 100% rename from src/kdl_parser/src/model.cpp rename to third_party/kdl_parser/src/model.cpp diff --git a/src/kdl_parser/src/pose.cpp b/third_party/kdl_parser/src/pose.cpp similarity index 100% rename from src/kdl_parser/src/pose.cpp rename to third_party/kdl_parser/src/pose.cpp diff --git a/src/kdl_parser/src/tinystr.cpp b/third_party/kdl_parser/src/tinystr.cpp similarity index 100% rename from src/kdl_parser/src/tinystr.cpp rename to third_party/kdl_parser/src/tinystr.cpp diff --git a/src/kdl_parser/src/tinyxml.cpp b/third_party/kdl_parser/src/tinyxml.cpp similarity index 100% rename from src/kdl_parser/src/tinyxml.cpp rename to third_party/kdl_parser/src/tinyxml.cpp diff --git a/src/kdl_parser/src/tinyxml2.cpp b/third_party/kdl_parser/src/tinyxml2.cpp similarity index 100% rename from src/kdl_parser/src/tinyxml2.cpp rename to third_party/kdl_parser/src/tinyxml2.cpp diff --git a/src/kdl_parser/src/tinyxmlerror.cpp b/third_party/kdl_parser/src/tinyxmlerror.cpp similarity index 100% rename from src/kdl_parser/src/tinyxmlerror.cpp rename to third_party/kdl_parser/src/tinyxmlerror.cpp diff --git a/src/kdl_parser/src/tinyxmlparser.cpp b/third_party/kdl_parser/src/tinyxmlparser.cpp similarity index 100% rename from src/kdl_parser/src/tinyxmlparser.cpp rename to third_party/kdl_parser/src/tinyxmlparser.cpp diff --git a/src/kdl_parser/src/twist.cpp b/third_party/kdl_parser/src/twist.cpp similarity index 100% rename from src/kdl_parser/src/twist.cpp rename to third_party/kdl_parser/src/twist.cpp diff --git a/src/kdl_parser/src/urdf_model_state.cpp b/third_party/kdl_parser/src/urdf_model_state.cpp similarity index 100% rename from src/kdl_parser/src/urdf_model_state.cpp rename to third_party/kdl_parser/src/urdf_model_state.cpp diff --git a/src/kdl_parser/src/urdf_sensor.cpp b/third_party/kdl_parser/src/urdf_sensor.cpp similarity index 100% rename from src/kdl_parser/src/urdf_sensor.cpp rename to third_party/kdl_parser/src/urdf_sensor.cpp diff --git a/src/kdl_parser/src/world.cpp b/third_party/kdl_parser/src/world.cpp similarity index 100% rename from src/kdl_parser/src/world.cpp rename to third_party/kdl_parser/src/world.cpp diff --git a/inc/nlohmann/json.hpp b/third_party/nlohmann/json.hpp similarity index 100% rename from inc/nlohmann/json.hpp rename to third_party/nlohmann/json.hpp diff --git a/KDL/install/include/kdl/articulatedbodyinertia.hpp b/third_party/orocos_kdl/install/include/kdl/articulatedbodyinertia.hpp similarity index 100% rename from KDL/install/include/kdl/articulatedbodyinertia.hpp rename to third_party/orocos_kdl/install/include/kdl/articulatedbodyinertia.hpp diff --git a/KDL/install/include/kdl/chain.hpp b/third_party/orocos_kdl/install/include/kdl/chain.hpp similarity index 100% rename from KDL/install/include/kdl/chain.hpp rename to third_party/orocos_kdl/install/include/kdl/chain.hpp diff --git a/KDL/install/include/kdl/chaindynparam.hpp b/third_party/orocos_kdl/install/include/kdl/chaindynparam.hpp similarity index 100% rename from KDL/install/include/kdl/chaindynparam.hpp rename to third_party/orocos_kdl/install/include/kdl/chaindynparam.hpp diff --git a/KDL/install/include/kdl/chainexternalwrenchestimator.hpp b/third_party/orocos_kdl/install/include/kdl/chainexternalwrenchestimator.hpp similarity index 100% rename from KDL/install/include/kdl/chainexternalwrenchestimator.hpp rename to third_party/orocos_kdl/install/include/kdl/chainexternalwrenchestimator.hpp diff --git a/KDL/install/include/kdl/chainfdsolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainfdsolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainfdsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainfdsolver.hpp diff --git a/KDL/install/include/kdl/chainfdsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install/include/kdl/chainfdsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install/include/kdl/chainfdsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install/include/kdl/chainfdsolver_recursive_newton_euler.hpp diff --git a/KDL/install/include/kdl/chainfksolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainfksolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainfksolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainfksolver.hpp diff --git a/KDL/install/include/kdl/chainfksolverpos_recursive.hpp b/third_party/orocos_kdl/install/include/kdl/chainfksolverpos_recursive.hpp similarity index 100% rename from KDL/install/include/kdl/chainfksolverpos_recursive.hpp rename to third_party/orocos_kdl/install/include/kdl/chainfksolverpos_recursive.hpp diff --git a/KDL/install/include/kdl/chainfksolvervel_recursive.hpp b/third_party/orocos_kdl/install/include/kdl/chainfksolvervel_recursive.hpp similarity index 100% rename from KDL/install/include/kdl/chainfksolvervel_recursive.hpp rename to third_party/orocos_kdl/install/include/kdl/chainfksolvervel_recursive.hpp diff --git a/KDL/install/include/kdl/chainhdsolver_vereshchagin.hpp b/third_party/orocos_kdl/install/include/kdl/chainhdsolver_vereshchagin.hpp similarity index 100% rename from KDL/install/include/kdl/chainhdsolver_vereshchagin.hpp rename to third_party/orocos_kdl/install/include/kdl/chainhdsolver_vereshchagin.hpp diff --git a/KDL/install/include/kdl/chainidsolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainidsolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainidsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainidsolver.hpp diff --git a/KDL/install/include/kdl/chainidsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install/include/kdl/chainidsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install/include/kdl/chainidsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install/include/kdl/chainidsolver_recursive_newton_euler.hpp diff --git a/KDL/install/include/kdl/chainidsolver_vereshchagin.hpp b/third_party/orocos_kdl/install/include/kdl/chainidsolver_vereshchagin.hpp similarity index 100% rename from KDL/install/include/kdl/chainidsolver_vereshchagin.hpp rename to third_party/orocos_kdl/install/include/kdl/chainidsolver_vereshchagin.hpp diff --git a/KDL/install/include/kdl/chainiksolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolver.hpp diff --git a/KDL/install/include/kdl/chainiksolverpos_lma.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolverpos_lma.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolverpos_lma.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolverpos_lma.hpp diff --git a/KDL/install/include/kdl/chainiksolverpos_nr.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolverpos_nr.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolverpos_nr.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolverpos_nr.hpp diff --git a/KDL/install/include/kdl/chainiksolverpos_nr_jl.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolverpos_nr_jl.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolverpos_nr_jl.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolverpos_nr_jl.hpp diff --git a/KDL/install/include/kdl/chainiksolvervel_pinv.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolvervel_pinv.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv.hpp diff --git a/KDL/install/include/kdl/chainiksolvervel_pinv_givens.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv_givens.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolvervel_pinv_givens.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv_givens.hpp diff --git a/KDL/install/include/kdl/chainiksolvervel_pinv_nso.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv_nso.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolvervel_pinv_nso.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolvervel_pinv_nso.hpp diff --git a/KDL/install/include/kdl/chainiksolvervel_wdls.hpp b/third_party/orocos_kdl/install/include/kdl/chainiksolvervel_wdls.hpp similarity index 100% rename from KDL/install/include/kdl/chainiksolvervel_wdls.hpp rename to third_party/orocos_kdl/install/include/kdl/chainiksolvervel_wdls.hpp diff --git a/KDL/install/include/kdl/chainjnttojacdotsolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainjnttojacdotsolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainjnttojacdotsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainjnttojacdotsolver.hpp diff --git a/KDL/install/include/kdl/chainjnttojacsolver.hpp b/third_party/orocos_kdl/install/include/kdl/chainjnttojacsolver.hpp similarity index 100% rename from KDL/install/include/kdl/chainjnttojacsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/chainjnttojacsolver.hpp diff --git a/KDL/install/include/kdl/config.h b/third_party/orocos_kdl/install/include/kdl/config.h similarity index 100% rename from KDL/install/include/kdl/config.h rename to third_party/orocos_kdl/install/include/kdl/config.h diff --git a/KDL/install/include/kdl/frameacc.hpp b/third_party/orocos_kdl/install/include/kdl/frameacc.hpp similarity index 100% rename from KDL/install/include/kdl/frameacc.hpp rename to third_party/orocos_kdl/install/include/kdl/frameacc.hpp diff --git a/KDL/install/include/kdl/frameacc.inl b/third_party/orocos_kdl/install/include/kdl/frameacc.inl similarity index 100% rename from KDL/install/include/kdl/frameacc.inl rename to third_party/orocos_kdl/install/include/kdl/frameacc.inl diff --git a/KDL/install/include/kdl/frameacc_io.hpp b/third_party/orocos_kdl/install/include/kdl/frameacc_io.hpp similarity index 100% rename from KDL/install/include/kdl/frameacc_io.hpp rename to third_party/orocos_kdl/install/include/kdl/frameacc_io.hpp diff --git a/KDL/install/include/kdl/frames.hpp b/third_party/orocos_kdl/install/include/kdl/frames.hpp similarity index 100% rename from KDL/install/include/kdl/frames.hpp rename to third_party/orocos_kdl/install/include/kdl/frames.hpp diff --git a/KDL/install/include/kdl/frames.inl b/third_party/orocos_kdl/install/include/kdl/frames.inl similarity index 100% rename from KDL/install/include/kdl/frames.inl rename to third_party/orocos_kdl/install/include/kdl/frames.inl diff --git a/KDL/install/include/kdl/frames_io.hpp b/third_party/orocos_kdl/install/include/kdl/frames_io.hpp similarity index 100% rename from KDL/install/include/kdl/frames_io.hpp rename to third_party/orocos_kdl/install/include/kdl/frames_io.hpp diff --git a/KDL/install/include/kdl/framevel.hpp b/third_party/orocos_kdl/install/include/kdl/framevel.hpp similarity index 100% rename from KDL/install/include/kdl/framevel.hpp rename to third_party/orocos_kdl/install/include/kdl/framevel.hpp diff --git a/KDL/install/include/kdl/framevel.inl b/third_party/orocos_kdl/install/include/kdl/framevel.inl similarity index 100% rename from KDL/install/include/kdl/framevel.inl rename to third_party/orocos_kdl/install/include/kdl/framevel.inl diff --git a/KDL/install/include/kdl/framevel_io.hpp b/third_party/orocos_kdl/install/include/kdl/framevel_io.hpp similarity index 100% rename from KDL/install/include/kdl/framevel_io.hpp rename to third_party/orocos_kdl/install/include/kdl/framevel_io.hpp diff --git a/KDL/install/include/kdl/jacobian.hpp b/third_party/orocos_kdl/install/include/kdl/jacobian.hpp similarity index 100% rename from KDL/install/include/kdl/jacobian.hpp rename to third_party/orocos_kdl/install/include/kdl/jacobian.hpp diff --git a/KDL/install/include/kdl/jntarray.hpp b/third_party/orocos_kdl/install/include/kdl/jntarray.hpp similarity index 100% rename from KDL/install/include/kdl/jntarray.hpp rename to third_party/orocos_kdl/install/include/kdl/jntarray.hpp diff --git a/KDL/install/include/kdl/jntarrayacc.hpp b/third_party/orocos_kdl/install/include/kdl/jntarrayacc.hpp similarity index 100% rename from KDL/install/include/kdl/jntarrayacc.hpp rename to third_party/orocos_kdl/install/include/kdl/jntarrayacc.hpp diff --git a/KDL/install/include/kdl/jntarrayvel.hpp b/third_party/orocos_kdl/install/include/kdl/jntarrayvel.hpp similarity index 100% rename from KDL/install/include/kdl/jntarrayvel.hpp rename to third_party/orocos_kdl/install/include/kdl/jntarrayvel.hpp diff --git a/KDL/install/include/kdl/jntspaceinertiamatrix.hpp b/third_party/orocos_kdl/install/include/kdl/jntspaceinertiamatrix.hpp similarity index 100% rename from KDL/install/include/kdl/jntspaceinertiamatrix.hpp rename to third_party/orocos_kdl/install/include/kdl/jntspaceinertiamatrix.hpp diff --git a/KDL/install/include/kdl/joint.hpp b/third_party/orocos_kdl/install/include/kdl/joint.hpp similarity index 100% rename from KDL/install/include/kdl/joint.hpp rename to third_party/orocos_kdl/install/include/kdl/joint.hpp diff --git a/KDL/install/include/kdl/kdl.hpp b/third_party/orocos_kdl/install/include/kdl/kdl.hpp similarity index 100% rename from KDL/install/include/kdl/kdl.hpp rename to third_party/orocos_kdl/install/include/kdl/kdl.hpp diff --git a/KDL/install/include/kdl/kinfam.hpp b/third_party/orocos_kdl/install/include/kdl/kinfam.hpp similarity index 100% rename from KDL/install/include/kdl/kinfam.hpp rename to third_party/orocos_kdl/install/include/kdl/kinfam.hpp diff --git a/KDL/install/include/kdl/kinfam_io.hpp b/third_party/orocos_kdl/install/include/kdl/kinfam_io.hpp similarity index 100% rename from KDL/install/include/kdl/kinfam_io.hpp rename to third_party/orocos_kdl/install/include/kdl/kinfam_io.hpp diff --git a/KDL/install/include/kdl/motion.hpp b/third_party/orocos_kdl/install/include/kdl/motion.hpp similarity index 100% rename from KDL/install/include/kdl/motion.hpp rename to third_party/orocos_kdl/install/include/kdl/motion.hpp diff --git a/KDL/install/include/kdl/path.hpp b/third_party/orocos_kdl/install/include/kdl/path.hpp similarity index 100% rename from KDL/install/include/kdl/path.hpp rename to third_party/orocos_kdl/install/include/kdl/path.hpp diff --git a/KDL/install/include/kdl/path_circle.hpp b/third_party/orocos_kdl/install/include/kdl/path_circle.hpp similarity index 100% rename from KDL/install/include/kdl/path_circle.hpp rename to third_party/orocos_kdl/install/include/kdl/path_circle.hpp diff --git a/KDL/install/include/kdl/path_composite.hpp b/third_party/orocos_kdl/install/include/kdl/path_composite.hpp similarity index 100% rename from KDL/install/include/kdl/path_composite.hpp rename to third_party/orocos_kdl/install/include/kdl/path_composite.hpp diff --git a/KDL/install/include/kdl/path_cyclic_closed.hpp b/third_party/orocos_kdl/install/include/kdl/path_cyclic_closed.hpp similarity index 100% rename from KDL/install/include/kdl/path_cyclic_closed.hpp rename to third_party/orocos_kdl/install/include/kdl/path_cyclic_closed.hpp diff --git a/KDL/install/include/kdl/path_line.hpp b/third_party/orocos_kdl/install/include/kdl/path_line.hpp similarity index 100% rename from KDL/install/include/kdl/path_line.hpp rename to third_party/orocos_kdl/install/include/kdl/path_line.hpp diff --git a/KDL/install/include/kdl/path_point.hpp b/third_party/orocos_kdl/install/include/kdl/path_point.hpp similarity index 100% rename from KDL/install/include/kdl/path_point.hpp rename to third_party/orocos_kdl/install/include/kdl/path_point.hpp diff --git a/KDL/install/include/kdl/path_roundedcomposite.hpp b/third_party/orocos_kdl/install/include/kdl/path_roundedcomposite.hpp similarity index 100% rename from KDL/install/include/kdl/path_roundedcomposite.hpp rename to third_party/orocos_kdl/install/include/kdl/path_roundedcomposite.hpp diff --git a/KDL/install/include/kdl/rigidbodyinertia.hpp b/third_party/orocos_kdl/install/include/kdl/rigidbodyinertia.hpp similarity index 100% rename from KDL/install/include/kdl/rigidbodyinertia.hpp rename to third_party/orocos_kdl/install/include/kdl/rigidbodyinertia.hpp diff --git a/KDL/install/include/kdl/rotational_interpolation.hpp b/third_party/orocos_kdl/install/include/kdl/rotational_interpolation.hpp similarity index 100% rename from KDL/install/include/kdl/rotational_interpolation.hpp rename to third_party/orocos_kdl/install/include/kdl/rotational_interpolation.hpp diff --git a/KDL/install/include/kdl/rotational_interpolation_sa.hpp b/third_party/orocos_kdl/install/include/kdl/rotational_interpolation_sa.hpp similarity index 100% rename from KDL/install/include/kdl/rotational_interpolation_sa.hpp rename to third_party/orocos_kdl/install/include/kdl/rotational_interpolation_sa.hpp diff --git a/KDL/install/include/kdl/rotationalinertia.hpp b/third_party/orocos_kdl/install/include/kdl/rotationalinertia.hpp similarity index 100% rename from KDL/install/include/kdl/rotationalinertia.hpp rename to third_party/orocos_kdl/install/include/kdl/rotationalinertia.hpp diff --git a/KDL/install/include/kdl/segment.hpp b/third_party/orocos_kdl/install/include/kdl/segment.hpp similarity index 100% rename from KDL/install/include/kdl/segment.hpp rename to third_party/orocos_kdl/install/include/kdl/segment.hpp diff --git a/KDL/install/include/kdl/solveri.hpp b/third_party/orocos_kdl/install/include/kdl/solveri.hpp similarity index 100% rename from KDL/install/include/kdl/solveri.hpp rename to third_party/orocos_kdl/install/include/kdl/solveri.hpp diff --git a/KDL/install/include/kdl/stiffness.hpp b/third_party/orocos_kdl/install/include/kdl/stiffness.hpp similarity index 100% rename from KDL/install/include/kdl/stiffness.hpp rename to third_party/orocos_kdl/install/include/kdl/stiffness.hpp diff --git a/KDL/install/include/kdl/trajectory.hpp b/third_party/orocos_kdl/install/include/kdl/trajectory.hpp similarity index 100% rename from KDL/install/include/kdl/trajectory.hpp rename to third_party/orocos_kdl/install/include/kdl/trajectory.hpp diff --git a/KDL/install/include/kdl/trajectory_composite.hpp b/third_party/orocos_kdl/install/include/kdl/trajectory_composite.hpp similarity index 100% rename from KDL/install/include/kdl/trajectory_composite.hpp rename to third_party/orocos_kdl/install/include/kdl/trajectory_composite.hpp diff --git a/KDL/install/include/kdl/trajectory_segment.hpp b/third_party/orocos_kdl/install/include/kdl/trajectory_segment.hpp similarity index 100% rename from KDL/install/include/kdl/trajectory_segment.hpp rename to third_party/orocos_kdl/install/include/kdl/trajectory_segment.hpp diff --git a/KDL/install/include/kdl/trajectory_stationary.hpp b/third_party/orocos_kdl/install/include/kdl/trajectory_stationary.hpp similarity index 100% rename from KDL/install/include/kdl/trajectory_stationary.hpp rename to third_party/orocos_kdl/install/include/kdl/trajectory_stationary.hpp diff --git a/KDL/install/include/kdl/tree.hpp b/third_party/orocos_kdl/install/include/kdl/tree.hpp similarity index 100% rename from KDL/install/include/kdl/tree.hpp rename to third_party/orocos_kdl/install/include/kdl/tree.hpp diff --git a/KDL/install/include/kdl/treefksolver.hpp b/third_party/orocos_kdl/install/include/kdl/treefksolver.hpp similarity index 100% rename from KDL/install/include/kdl/treefksolver.hpp rename to third_party/orocos_kdl/install/include/kdl/treefksolver.hpp diff --git a/KDL/install/include/kdl/treefksolverpos_recursive.hpp b/third_party/orocos_kdl/install/include/kdl/treefksolverpos_recursive.hpp similarity index 100% rename from KDL/install/include/kdl/treefksolverpos_recursive.hpp rename to third_party/orocos_kdl/install/include/kdl/treefksolverpos_recursive.hpp diff --git a/KDL/install/include/kdl/treeidsolver.hpp b/third_party/orocos_kdl/install/include/kdl/treeidsolver.hpp similarity index 100% rename from KDL/install/include/kdl/treeidsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/treeidsolver.hpp diff --git a/KDL/install/include/kdl/treeidsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install/include/kdl/treeidsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install/include/kdl/treeidsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install/include/kdl/treeidsolver_recursive_newton_euler.hpp diff --git a/KDL/install/include/kdl/treeiksolver.hpp b/third_party/orocos_kdl/install/include/kdl/treeiksolver.hpp similarity index 100% rename from KDL/install/include/kdl/treeiksolver.hpp rename to third_party/orocos_kdl/install/include/kdl/treeiksolver.hpp diff --git a/KDL/install/include/kdl/treeiksolverpos_nr_jl.hpp b/third_party/orocos_kdl/install/include/kdl/treeiksolverpos_nr_jl.hpp similarity index 100% rename from KDL/install/include/kdl/treeiksolverpos_nr_jl.hpp rename to third_party/orocos_kdl/install/include/kdl/treeiksolverpos_nr_jl.hpp diff --git a/KDL/install/include/kdl/treeiksolverpos_online.hpp b/third_party/orocos_kdl/install/include/kdl/treeiksolverpos_online.hpp similarity index 100% rename from KDL/install/include/kdl/treeiksolverpos_online.hpp rename to third_party/orocos_kdl/install/include/kdl/treeiksolverpos_online.hpp diff --git a/KDL/install/include/kdl/treeiksolvervel_wdls.hpp b/third_party/orocos_kdl/install/include/kdl/treeiksolvervel_wdls.hpp similarity index 100% rename from KDL/install/include/kdl/treeiksolvervel_wdls.hpp rename to third_party/orocos_kdl/install/include/kdl/treeiksolvervel_wdls.hpp diff --git a/KDL/install/include/kdl/treejnttojacsolver.hpp b/third_party/orocos_kdl/install/include/kdl/treejnttojacsolver.hpp similarity index 100% rename from KDL/install/include/kdl/treejnttojacsolver.hpp rename to third_party/orocos_kdl/install/include/kdl/treejnttojacsolver.hpp diff --git a/KDL/install/include/kdl/utilities/error.h b/third_party/orocos_kdl/install/include/kdl/utilities/error.h similarity index 100% rename from KDL/install/include/kdl/utilities/error.h rename to third_party/orocos_kdl/install/include/kdl/utilities/error.h diff --git a/KDL/install/include/kdl/utilities/error_stack.h b/third_party/orocos_kdl/install/include/kdl/utilities/error_stack.h similarity index 100% rename from KDL/install/include/kdl/utilities/error_stack.h rename to third_party/orocos_kdl/install/include/kdl/utilities/error_stack.h diff --git a/KDL/install/include/kdl/utilities/kdl-config.h b/third_party/orocos_kdl/install/include/kdl/utilities/kdl-config.h similarity index 100% rename from KDL/install/include/kdl/utilities/kdl-config.h rename to third_party/orocos_kdl/install/include/kdl/utilities/kdl-config.h diff --git a/KDL/install/include/kdl/utilities/ldl_solver_eigen.hpp b/third_party/orocos_kdl/install/include/kdl/utilities/ldl_solver_eigen.hpp similarity index 100% rename from KDL/install/include/kdl/utilities/ldl_solver_eigen.hpp rename to third_party/orocos_kdl/install/include/kdl/utilities/ldl_solver_eigen.hpp diff --git a/KDL/install/include/kdl/utilities/rall1d.h b/third_party/orocos_kdl/install/include/kdl/utilities/rall1d.h similarity index 100% rename from KDL/install/include/kdl/utilities/rall1d.h rename to third_party/orocos_kdl/install/include/kdl/utilities/rall1d.h diff --git a/KDL/install/include/kdl/utilities/rall1d_io.h b/third_party/orocos_kdl/install/include/kdl/utilities/rall1d_io.h similarity index 100% rename from KDL/install/include/kdl/utilities/rall1d_io.h rename to third_party/orocos_kdl/install/include/kdl/utilities/rall1d_io.h diff --git a/KDL/install/include/kdl/utilities/rall2d.h b/third_party/orocos_kdl/install/include/kdl/utilities/rall2d.h similarity index 100% rename from KDL/install/include/kdl/utilities/rall2d.h rename to third_party/orocos_kdl/install/include/kdl/utilities/rall2d.h diff --git a/KDL/install/include/kdl/utilities/rall2d_io.h b/third_party/orocos_kdl/install/include/kdl/utilities/rall2d_io.h similarity index 100% rename from KDL/install/include/kdl/utilities/rall2d_io.h rename to third_party/orocos_kdl/install/include/kdl/utilities/rall2d_io.h diff --git a/KDL/install/include/kdl/utilities/rallNd.h b/third_party/orocos_kdl/install/include/kdl/utilities/rallNd.h similarity index 100% rename from KDL/install/include/kdl/utilities/rallNd.h rename to third_party/orocos_kdl/install/include/kdl/utilities/rallNd.h diff --git a/KDL/install/include/kdl/utilities/scoped_ptr.hpp b/third_party/orocos_kdl/install/include/kdl/utilities/scoped_ptr.hpp similarity index 100% rename from KDL/install/include/kdl/utilities/scoped_ptr.hpp rename to third_party/orocos_kdl/install/include/kdl/utilities/scoped_ptr.hpp diff --git a/KDL/install/include/kdl/utilities/svd_HH.hpp b/third_party/orocos_kdl/install/include/kdl/utilities/svd_HH.hpp similarity index 100% rename from KDL/install/include/kdl/utilities/svd_HH.hpp rename to third_party/orocos_kdl/install/include/kdl/utilities/svd_HH.hpp diff --git a/KDL/install/include/kdl/utilities/svd_eigen_HH.hpp b/third_party/orocos_kdl/install/include/kdl/utilities/svd_eigen_HH.hpp similarity index 100% rename from KDL/install/include/kdl/utilities/svd_eigen_HH.hpp rename to third_party/orocos_kdl/install/include/kdl/utilities/svd_eigen_HH.hpp diff --git a/KDL/install/include/kdl/utilities/svd_eigen_Macie.hpp b/third_party/orocos_kdl/install/include/kdl/utilities/svd_eigen_Macie.hpp similarity index 100% rename from KDL/install/include/kdl/utilities/svd_eigen_Macie.hpp rename to third_party/orocos_kdl/install/include/kdl/utilities/svd_eigen_Macie.hpp diff --git a/KDL/install/include/kdl/utilities/traits.h b/third_party/orocos_kdl/install/include/kdl/utilities/traits.h similarity index 100% rename from KDL/install/include/kdl/utilities/traits.h rename to third_party/orocos_kdl/install/include/kdl/utilities/traits.h diff --git a/KDL/install/include/kdl/utilities/utility.h b/third_party/orocos_kdl/install/include/kdl/utilities/utility.h similarity index 100% rename from KDL/install/include/kdl/utilities/utility.h rename to third_party/orocos_kdl/install/include/kdl/utilities/utility.h diff --git a/KDL/install/include/kdl/utilities/utility_io.h b/third_party/orocos_kdl/install/include/kdl/utilities/utility_io.h similarity index 100% rename from KDL/install/include/kdl/utilities/utility_io.h rename to third_party/orocos_kdl/install/include/kdl/utilities/utility_io.h diff --git a/KDL/install/include/kdl/velocityprofile.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile.hpp diff --git a/KDL/install/include/kdl/velocityprofile_dirac.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile_dirac.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile_dirac.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile_dirac.hpp diff --git a/KDL/install/include/kdl/velocityprofile_rect.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile_rect.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile_rect.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile_rect.hpp diff --git a/KDL/install/include/kdl/velocityprofile_spline.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile_spline.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile_spline.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile_spline.hpp diff --git a/KDL/install/include/kdl/velocityprofile_trap.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile_trap.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile_trap.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile_trap.hpp diff --git a/KDL/install/include/kdl/velocityprofile_traphalf.hpp b/third_party/orocos_kdl/install/include/kdl/velocityprofile_traphalf.hpp similarity index 100% rename from KDL/install/include/kdl/velocityprofile_traphalf.hpp rename to third_party/orocos_kdl/install/include/kdl/velocityprofile_traphalf.hpp diff --git a/KDL/install/lib/orocos-kdl.lib b/third_party/orocos_kdl/install/lib/orocos-kdl.lib similarity index 100% rename from KDL/install/lib/orocos-kdl.lib rename to third_party/orocos_kdl/install/lib/orocos-kdl.lib diff --git a/KDL/install/lib/pkgconfig/orocos-kdl.pc b/third_party/orocos_kdl/install/lib/pkgconfig/orocos-kdl.pc similarity index 100% rename from KDL/install/lib/pkgconfig/orocos-kdl.pc rename to third_party/orocos_kdl/install/lib/pkgconfig/orocos-kdl.pc diff --git a/KDL/install/lib/pkgconfig/orocos_kdl.pc b/third_party/orocos_kdl/install/lib/pkgconfig/orocos_kdl.pc similarity index 100% rename from KDL/install/lib/pkgconfig/orocos_kdl.pc rename to third_party/orocos_kdl/install/lib/pkgconfig/orocos_kdl.pc diff --git a/KDL/install/share/orocos_kdl/cmake/FindEigen3.cmake b/third_party/orocos_kdl/install/share/orocos_kdl/cmake/FindEigen3.cmake similarity index 100% rename from KDL/install/share/orocos_kdl/cmake/FindEigen3.cmake rename to third_party/orocos_kdl/install/share/orocos_kdl/cmake/FindEigen3.cmake diff --git a/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake b/third_party/orocos_kdl/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake similarity index 100% rename from KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake rename to third_party/orocos_kdl/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake diff --git a/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake b/third_party/orocos_kdl/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake similarity index 100% rename from KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake rename to third_party/orocos_kdl/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake diff --git a/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake b/third_party/orocos_kdl/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake similarity index 100% rename from KDL/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake rename to third_party/orocos_kdl/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake diff --git a/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake b/third_party/orocos_kdl/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake similarity index 100% rename from KDL/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake rename to third_party/orocos_kdl/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake diff --git a/KDL/install_wasm/include/kdl/articulatedbodyinertia.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/articulatedbodyinertia.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/articulatedbodyinertia.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/articulatedbodyinertia.hpp diff --git a/KDL/install_wasm/include/kdl/chain.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chain.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chain.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chain.hpp diff --git a/KDL/install_wasm/include/kdl/chaindynparam.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chaindynparam.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chaindynparam.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chaindynparam.hpp diff --git a/KDL/install_wasm/include/kdl/chainexternalwrenchestimator.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainexternalwrenchestimator.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainexternalwrenchestimator.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainexternalwrenchestimator.hpp diff --git a/KDL/install_wasm/include/kdl/chainfdsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainfdsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainfdsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainfdsolver.hpp diff --git a/KDL/install_wasm/include/kdl/chainfdsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainfdsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainfdsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainfdsolver_recursive_newton_euler.hpp diff --git a/KDL/install_wasm/include/kdl/chainfksolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainfksolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainfksolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainfksolver.hpp diff --git a/KDL/install_wasm/include/kdl/chainfksolverpos_recursive.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainfksolverpos_recursive.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainfksolverpos_recursive.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainfksolverpos_recursive.hpp diff --git a/KDL/install_wasm/include/kdl/chainfksolvervel_recursive.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainfksolvervel_recursive.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainfksolvervel_recursive.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainfksolvervel_recursive.hpp diff --git a/KDL/install_wasm/include/kdl/chainhdsolver_vereshchagin.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainhdsolver_vereshchagin.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainhdsolver_vereshchagin.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainhdsolver_vereshchagin.hpp diff --git a/KDL/install_wasm/include/kdl/chainidsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainidsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver.hpp diff --git a/KDL/install_wasm/include/kdl/chainidsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainidsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver_recursive_newton_euler.hpp diff --git a/KDL/install_wasm/include/kdl/chainidsolver_vereshchagin.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver_vereshchagin.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainidsolver_vereshchagin.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainidsolver_vereshchagin.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolver.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolverpos_lma.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_lma.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolverpos_lma.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_lma.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolverpos_nr.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_nr.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolverpos_nr.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_nr.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolverpos_nr_jl.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_nr_jl.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolverpos_nr_jl.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolverpos_nr_jl.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolvervel_pinv.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolvervel_pinv.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolvervel_pinv_givens.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv_givens.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolvervel_pinv_givens.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv_givens.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolvervel_pinv_nso.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv_nso.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolvervel_pinv_nso.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_pinv_nso.hpp diff --git a/KDL/install_wasm/include/kdl/chainiksolvervel_wdls.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_wdls.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainiksolvervel_wdls.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainiksolvervel_wdls.hpp diff --git a/KDL/install_wasm/include/kdl/chainjnttojacdotsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainjnttojacdotsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainjnttojacdotsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainjnttojacdotsolver.hpp diff --git a/KDL/install_wasm/include/kdl/chainjnttojacsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/chainjnttojacsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/chainjnttojacsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/chainjnttojacsolver.hpp diff --git a/KDL/install_wasm/include/kdl/config.h b/third_party/orocos_kdl/install_wasm/include/kdl/config.h similarity index 100% rename from KDL/install_wasm/include/kdl/config.h rename to third_party/orocos_kdl/install_wasm/include/kdl/config.h diff --git a/KDL/install_wasm/include/kdl/frameacc.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/frameacc.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/frameacc.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/frameacc.hpp diff --git a/KDL/install_wasm/include/kdl/frameacc.inl b/third_party/orocos_kdl/install_wasm/include/kdl/frameacc.inl similarity index 100% rename from KDL/install_wasm/include/kdl/frameacc.inl rename to third_party/orocos_kdl/install_wasm/include/kdl/frameacc.inl diff --git a/KDL/install_wasm/include/kdl/frameacc_io.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/frameacc_io.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/frameacc_io.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/frameacc_io.hpp diff --git a/KDL/install_wasm/include/kdl/frames.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/frames.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/frames.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/frames.hpp diff --git a/KDL/install_wasm/include/kdl/frames.inl b/third_party/orocos_kdl/install_wasm/include/kdl/frames.inl similarity index 100% rename from KDL/install_wasm/include/kdl/frames.inl rename to third_party/orocos_kdl/install_wasm/include/kdl/frames.inl diff --git a/KDL/install_wasm/include/kdl/frames_io.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/frames_io.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/frames_io.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/frames_io.hpp diff --git a/KDL/install_wasm/include/kdl/framevel.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/framevel.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/framevel.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/framevel.hpp diff --git a/KDL/install_wasm/include/kdl/framevel.inl b/third_party/orocos_kdl/install_wasm/include/kdl/framevel.inl similarity index 100% rename from KDL/install_wasm/include/kdl/framevel.inl rename to third_party/orocos_kdl/install_wasm/include/kdl/framevel.inl diff --git a/KDL/install_wasm/include/kdl/framevel_io.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/framevel_io.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/framevel_io.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/framevel_io.hpp diff --git a/KDL/install_wasm/include/kdl/jacobian.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/jacobian.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/jacobian.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/jacobian.hpp diff --git a/KDL/install_wasm/include/kdl/jntarray.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/jntarray.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/jntarray.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/jntarray.hpp diff --git a/KDL/install_wasm/include/kdl/jntarrayacc.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/jntarrayacc.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/jntarrayacc.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/jntarrayacc.hpp diff --git a/KDL/install_wasm/include/kdl/jntarrayvel.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/jntarrayvel.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/jntarrayvel.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/jntarrayvel.hpp diff --git a/KDL/install_wasm/include/kdl/jntspaceinertiamatrix.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/jntspaceinertiamatrix.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/jntspaceinertiamatrix.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/jntspaceinertiamatrix.hpp diff --git a/KDL/install_wasm/include/kdl/joint.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/joint.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/joint.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/joint.hpp diff --git a/KDL/install_wasm/include/kdl/kdl.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/kdl.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/kdl.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/kdl.hpp diff --git a/KDL/install_wasm/include/kdl/kinfam.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/kinfam.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/kinfam.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/kinfam.hpp diff --git a/KDL/install_wasm/include/kdl/kinfam_io.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/kinfam_io.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/kinfam_io.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/kinfam_io.hpp diff --git a/KDL/install_wasm/include/kdl/motion.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/motion.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/motion.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/motion.hpp diff --git a/KDL/install_wasm/include/kdl/path.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path.hpp diff --git a/KDL/install_wasm/include/kdl/path_circle.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_circle.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_circle.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_circle.hpp diff --git a/KDL/install_wasm/include/kdl/path_composite.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_composite.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_composite.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_composite.hpp diff --git a/KDL/install_wasm/include/kdl/path_cyclic_closed.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_cyclic_closed.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_cyclic_closed.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_cyclic_closed.hpp diff --git a/KDL/install_wasm/include/kdl/path_line.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_line.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_line.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_line.hpp diff --git a/KDL/install_wasm/include/kdl/path_point.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_point.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_point.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_point.hpp diff --git a/KDL/install_wasm/include/kdl/path_roundedcomposite.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/path_roundedcomposite.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/path_roundedcomposite.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/path_roundedcomposite.hpp diff --git a/KDL/install_wasm/include/kdl/rigidbodyinertia.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/rigidbodyinertia.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/rigidbodyinertia.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/rigidbodyinertia.hpp diff --git a/KDL/install_wasm/include/kdl/rotational_interpolation.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/rotational_interpolation.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/rotational_interpolation.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/rotational_interpolation.hpp diff --git a/KDL/install_wasm/include/kdl/rotational_interpolation_sa.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/rotational_interpolation_sa.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/rotational_interpolation_sa.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/rotational_interpolation_sa.hpp diff --git a/KDL/install_wasm/include/kdl/rotationalinertia.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/rotationalinertia.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/rotationalinertia.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/rotationalinertia.hpp diff --git a/KDL/install_wasm/include/kdl/segment.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/segment.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/segment.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/segment.hpp diff --git a/KDL/install_wasm/include/kdl/solveri.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/solveri.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/solveri.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/solveri.hpp diff --git a/KDL/install_wasm/include/kdl/stiffness.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/stiffness.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/stiffness.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/stiffness.hpp diff --git a/KDL/install_wasm/include/kdl/trajectory.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/trajectory.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/trajectory.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/trajectory.hpp diff --git a/KDL/install_wasm/include/kdl/trajectory_composite.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/trajectory_composite.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/trajectory_composite.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/trajectory_composite.hpp diff --git a/KDL/install_wasm/include/kdl/trajectory_segment.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/trajectory_segment.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/trajectory_segment.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/trajectory_segment.hpp diff --git a/KDL/install_wasm/include/kdl/trajectory_stationary.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/trajectory_stationary.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/trajectory_stationary.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/trajectory_stationary.hpp diff --git a/KDL/install_wasm/include/kdl/tree.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/tree.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/tree.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/tree.hpp diff --git a/KDL/install_wasm/include/kdl/treefksolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treefksolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treefksolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treefksolver.hpp diff --git a/KDL/install_wasm/include/kdl/treefksolverpos_recursive.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treefksolverpos_recursive.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treefksolverpos_recursive.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treefksolverpos_recursive.hpp diff --git a/KDL/install_wasm/include/kdl/treeidsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeidsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeidsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeidsolver.hpp diff --git a/KDL/install_wasm/include/kdl/treeidsolver_recursive_newton_euler.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeidsolver_recursive_newton_euler.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeidsolver_recursive_newton_euler.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeidsolver_recursive_newton_euler.hpp diff --git a/KDL/install_wasm/include/kdl/treeiksolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeiksolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeiksolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeiksolver.hpp diff --git a/KDL/install_wasm/include/kdl/treeiksolverpos_nr_jl.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeiksolverpos_nr_jl.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeiksolverpos_nr_jl.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeiksolverpos_nr_jl.hpp diff --git a/KDL/install_wasm/include/kdl/treeiksolverpos_online.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeiksolverpos_online.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeiksolverpos_online.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeiksolverpos_online.hpp diff --git a/KDL/install_wasm/include/kdl/treeiksolvervel_wdls.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treeiksolvervel_wdls.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treeiksolvervel_wdls.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treeiksolvervel_wdls.hpp diff --git a/KDL/install_wasm/include/kdl/treejnttojacsolver.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/treejnttojacsolver.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/treejnttojacsolver.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/treejnttojacsolver.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/error.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/error.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/error.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/error.h diff --git a/KDL/install_wasm/include/kdl/utilities/error_stack.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/error_stack.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/error_stack.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/error_stack.h diff --git a/KDL/install_wasm/include/kdl/utilities/kdl-config.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/kdl-config.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/kdl-config.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/kdl-config.h diff --git a/KDL/install_wasm/include/kdl/utilities/ldl_solver_eigen.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/ldl_solver_eigen.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/ldl_solver_eigen.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/ldl_solver_eigen.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/rall1d.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall1d.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/rall1d.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall1d.h diff --git a/KDL/install_wasm/include/kdl/utilities/rall1d_io.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall1d_io.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/rall1d_io.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall1d_io.h diff --git a/KDL/install_wasm/include/kdl/utilities/rall2d.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall2d.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/rall2d.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall2d.h diff --git a/KDL/install_wasm/include/kdl/utilities/rall2d_io.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall2d_io.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/rall2d_io.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/rall2d_io.h diff --git a/KDL/install_wasm/include/kdl/utilities/rallNd.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/rallNd.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/rallNd.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/rallNd.h diff --git a/KDL/install_wasm/include/kdl/utilities/scoped_ptr.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/scoped_ptr.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/scoped_ptr.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/scoped_ptr.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/svd_HH.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_HH.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/svd_HH.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_HH.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/svd_eigen_HH.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_eigen_HH.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/svd_eigen_HH.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_eigen_HH.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/svd_eigen_Macie.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_eigen_Macie.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/svd_eigen_Macie.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/svd_eigen_Macie.hpp diff --git a/KDL/install_wasm/include/kdl/utilities/traits.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/traits.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/traits.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/traits.h diff --git a/KDL/install_wasm/include/kdl/utilities/utility.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/utility.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/utility.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/utility.h diff --git a/KDL/install_wasm/include/kdl/utilities/utility_io.h b/third_party/orocos_kdl/install_wasm/include/kdl/utilities/utility_io.h similarity index 100% rename from KDL/install_wasm/include/kdl/utilities/utility_io.h rename to third_party/orocos_kdl/install_wasm/include/kdl/utilities/utility_io.h diff --git a/KDL/install_wasm/include/kdl/velocityprofile.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile.hpp diff --git a/KDL/install_wasm/include/kdl/velocityprofile_dirac.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_dirac.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile_dirac.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_dirac.hpp diff --git a/KDL/install_wasm/include/kdl/velocityprofile_rect.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_rect.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile_rect.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_rect.hpp diff --git a/KDL/install_wasm/include/kdl/velocityprofile_spline.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_spline.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile_spline.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_spline.hpp diff --git a/KDL/install_wasm/include/kdl/velocityprofile_trap.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_trap.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile_trap.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_trap.hpp diff --git a/KDL/install_wasm/include/kdl/velocityprofile_traphalf.hpp b/third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_traphalf.hpp similarity index 100% rename from KDL/install_wasm/include/kdl/velocityprofile_traphalf.hpp rename to third_party/orocos_kdl/install_wasm/include/kdl/velocityprofile_traphalf.hpp diff --git a/KDL/install_wasm/lib/liborocos-kdl.a b/third_party/orocos_kdl/install_wasm/lib/liborocos-kdl.a similarity index 100% rename from KDL/install_wasm/lib/liborocos-kdl.a rename to third_party/orocos_kdl/install_wasm/lib/liborocos-kdl.a diff --git a/KDL/install_wasm/lib/pkgconfig/orocos-kdl.pc b/third_party/orocos_kdl/install_wasm/lib/pkgconfig/orocos-kdl.pc similarity index 100% rename from KDL/install_wasm/lib/pkgconfig/orocos-kdl.pc rename to third_party/orocos_kdl/install_wasm/lib/pkgconfig/orocos-kdl.pc diff --git a/KDL/install_wasm/lib/pkgconfig/orocos_kdl.pc b/third_party/orocos_kdl/install_wasm/lib/pkgconfig/orocos_kdl.pc similarity index 100% rename from KDL/install_wasm/lib/pkgconfig/orocos_kdl.pc rename to third_party/orocos_kdl/install_wasm/lib/pkgconfig/orocos_kdl.pc diff --git a/KDL/install_wasm/share/orocos_kdl/cmake/FindEigen3.cmake b/third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/FindEigen3.cmake similarity index 100% rename from KDL/install_wasm/share/orocos_kdl/cmake/FindEigen3.cmake rename to third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/FindEigen3.cmake diff --git a/KDL/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake b/third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake similarity index 100% rename from KDL/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake rename to third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake diff --git a/KDL/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets.cmake b/third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets.cmake similarity index 100% rename from KDL/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets.cmake rename to third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets.cmake diff --git a/KDL/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake b/third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake similarity index 100% rename from KDL/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake rename to third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake diff --git a/KDL/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config.cmake b/third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config.cmake similarity index 100% rename from KDL/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config.cmake rename to third_party/orocos_kdl/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config.cmake