From c2ce29d8743b5d9375d1632a6c181a840cf6ae5b Mon Sep 17 00:00:00 2001 From: zhangshun <453905631@qq.com> Date: Mon, 1 Jun 2026 16:57:39 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A7=84=E8=8C=83=E6=A8=A1=E5=9D=97=E7=9B=AE?= =?UTF-8?q?=E5=BD=95=E5=92=8C=E7=AC=AC=E4=B8=89=E6=96=B9=E4=BE=9D=E8=B5=96?= =?UTF-8?q?=E7=BB=93=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 10 +++- README.md | 11 +++- .../CrankRockingBlockMechanism_Forward.h | 4 +- .../CrankRockingBlockMechanism_Inverse.h | 4 +- .../FourBarMechanism/CrankSliderMechanism.h | 4 +- .../FourBarMechanism/FourBarMechanism.h | 6 +- .../FourBarMechanism/SliderCrankMechanism.h | 6 +- {inc => include}/KinematicsWebAPI.h | 0 .../QuadrupedRobotSimulation/BaseClass.h | 10 ++-- .../CompleteJsonExporter.h | 6 +- .../KinematicsHelper.h | 10 ++-- .../KinematicsReverse.h | 8 +-- .../KinematicsSimulation.h | 4 +- .../QuadrupedRobotSimulation/OPERATION.h | 4 +- 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.../orocos_kdl/cmake/orocos_kdl-config.cmake | 0 1758 files changed, 187 insertions(+), 102 deletions(-) rename {inc => include}/FourBarMechanism/CrankRockingBlockMechanism_Forward.h (96%) rename {inc => include}/FourBarMechanism/CrankRockingBlockMechanism_Inverse.h (92%) rename {inc => include}/FourBarMechanism/CrankSliderMechanism.h (97%) rename {inc => include}/FourBarMechanism/FourBarMechanism.h (94%) rename {inc => include}/FourBarMechanism/SliderCrankMechanism.h (95%) rename {inc => include}/KinematicsWebAPI.h (100%) rename {inc => include}/QuadrupedRobotSimulation/BaseClass.h (98%) rename {inc => include}/QuadrupedRobotSimulation/CompleteJsonExporter.h (92%) rename {inc => include}/QuadrupedRobotSimulation/KinematicsHelper.h (94%) rename {inc => include}/QuadrupedRobotSimulation/KinematicsReverse.h (98%) rename {inc => include}/QuadrupedRobotSimulation/KinematicsSimulation.h (99%) rename {inc => include}/QuadrupedRobotSimulation/OPERATION.h (99%) rename {inc => include}/QuadrupedRobotSimulation/RobotConfig.hpp (100%) rename {inc => include}/QuadrupedRobotSimulation/graph_utils.hpp (100%) rename {inc => include}/Robot.h (100%) rename {inc => include}/RobotManager.h (100%) rename {inc => include}/SharedGeometry/SharedGeometry.h (96%) rename {inc => include}/URDFStrings.h (100%) rename {src => include}/function_metadata.h (100%) rename {src => include}/math_utils.h (100%) rename {src => include}/smart_json_wrapper.h (100%) rename {inc => include}/spc_core.h (100%) rename {inc => include}/utils.h (100%) rename {Eigen3 => third_party/eigen3}/.gitignore (100%) rename {Eigen3 => third_party/eigen3}/.hgeol (100%) rename {Eigen3 => third_party/eigen3}/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/COPYING.BSD (100%) rename {Eigen3 => third_party/eigen3}/COPYING.GPL (100%) rename {Eigen3 => third_party/eigen3}/COPYING.LGPL (100%) rename {Eigen3 => third_party/eigen3}/COPYING.MINPACK (100%) rename {Eigen3 => third_party/eigen3}/COPYING.MPL2 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third_party/eigen3}/doc/snippets/Tridiagonalization_packedMatrix.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_Block.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_CommaTemporary.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_Join.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_ThreeWays.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_AdvancedInitialization_Zero.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_Map_rowmajor.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_Map_using.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_ReshapeMat2Mat.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_ReshapeMat2Vec.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_SlicingCol.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_SlicingVec.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_commainit_01.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_commainit_01b.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_commainit_02.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_matrix_inverse.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_multiple_rhs.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_reuse_decomposition.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_singular.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_triangular.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Tutorial_solve_triangular_inplace.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/VectorwiseOp_homogeneous.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/Vectorwise_reverse.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/class_FullPivLU.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/compile_snippet.cpp.in (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/tut_arithmetic_redux_minmax.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/tut_arithmetic_transpose_aliasing.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/tut_arithmetic_transpose_conjugate.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/tut_arithmetic_transpose_inplace.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/snippets/tut_matrix_assignment_resizing.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/special_examples/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/doc/special_examples/Tutorial_sparse_example.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/special_examples/Tutorial_sparse_example_details.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/special_examples/random_cpp11.cpp (100%) rename {Eigen3 => third_party/eigen3}/doc/tutorial.cpp (100%) rename {Eigen3 => third_party/eigen3}/eigen3.pc.in (100%) rename {Eigen3 => third_party/eigen3}/failtest/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/failtest/bdcsvd_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/block_nonconst_ctor_on_const_xpr_0.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/block_nonconst_ctor_on_const_xpr_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/block_nonconst_ctor_on_const_xpr_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/block_on_const_type_actually_const_0.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/block_on_const_type_actually_const_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/colpivqr_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/const_qualified_block_method_retval_0.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/const_qualified_block_method_retval_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/const_qualified_diagonal_method_retval.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/const_qualified_transpose_method_retval.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/cwiseunaryview_nonconst_ctor_on_const_xpr.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/cwiseunaryview_on_const_type_actually_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/diagonal_nonconst_ctor_on_const_xpr.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/diagonal_on_const_type_actually_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/eigensolver_cplx.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/eigensolver_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/failtest_sanity_check.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/fullpivlu_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/fullpivqr_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/jacobisvd_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ldlt_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/llt_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_nonconst_ctor_on_const_ptr_0.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_nonconst_ctor_on_const_ptr_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_nonconst_ctor_on_const_ptr_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_nonconst_ctor_on_const_ptr_3.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_nonconst_ctor_on_const_ptr_4.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_on_const_type_actually_const_0.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/map_on_const_type_actually_const_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/partialpivlu_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/qr_int.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ref_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ref_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ref_3.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ref_4.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ref_5.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/selfadjointview_nonconst_ctor_on_const_xpr.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/selfadjointview_on_const_type_actually_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_ref_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_ref_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_ref_3.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_ref_4.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_ref_5.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/sparse_storage_mismatch.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/swap_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/swap_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ternary_1.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/ternary_2.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/transpose_nonconst_ctor_on_const_xpr.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/transpose_on_const_type_actually_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/triangularview_nonconst_ctor_on_const_xpr.cpp (100%) rename {Eigen3 => third_party/eigen3}/failtest/triangularview_on_const_type_actually_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/lapack/cholesky.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/clacgv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/cladiv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/clarf.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/clarfb.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/clarfg.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/clarft.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/complex_double.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/complex_single.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/dladiv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlamch.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlapy2.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlapy3.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlarf.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlarfb.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlarfg.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/dlarft.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/double.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/dsecnd_NONE.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/eigenvalues.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilaclc.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilaclr.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/iladlc.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/iladlr.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilaslc.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilaslr.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilazlc.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/ilazlr.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/lapack_common.h (100%) rename {Eigen3 => third_party/eigen3}/lapack/lu.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/second_NONE.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/single.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/sladiv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slamch.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slapy2.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slapy3.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slarf.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slarfb.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slarfg.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/slarft.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/svd.cpp (100%) rename {Eigen3 => third_party/eigen3}/lapack/zlacgv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/zladiv.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/zlarf.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/zlarfb.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/zlarfg.f (100%) rename {Eigen3 => third_party/eigen3}/lapack/zlarft.f (100%) rename {Eigen3 => third_party/eigen3}/scripts/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/scripts/cdashtesting.cmake.in (100%) rename {Eigen3 => third_party/eigen3}/scripts/check.in (100%) rename {Eigen3 => third_party/eigen3}/scripts/debug.in (100%) rename {Eigen3 => third_party/eigen3}/scripts/eigen_gen_credits.cpp (100%) rename {Eigen3 => third_party/eigen3}/scripts/eigen_gen_docs (100%) rename {Eigen3 => third_party/eigen3}/scripts/release.in (100%) rename {Eigen3 => third_party/eigen3}/scripts/relicense.py (100%) rename {Eigen3 => third_party/eigen3}/signature_of_eigen3_matrix_library (100%) rename {Eigen3 => third_party/eigen3}/test/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/test/adjoint.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/array_cwise.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/array_for_matrix.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/array_of_string.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/array_replicate.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/array_reverse.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/bandmatrix.cpp 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{Eigen3 => third_party/eigen3}/test/ctorleak.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/cuda_basic.cu (100%) rename {Eigen3 => third_party/eigen3}/test/cuda_common.h (100%) rename {Eigen3 => third_party/eigen3}/test/denseLM.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/dense_storage.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/determinant.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/diagonal.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/diagonalmatrices.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/dontalign.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/dynalloc.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/eigen2support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/eigensolver_complex.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/eigensolver_generalized_real.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/eigensolver_generic.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/eigensolver_selfadjoint.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/evaluator_common.h (100%) rename {Eigen3 => third_party/eigen3}/test/evaluators.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/exceptions.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/fastmath.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/first_aligned.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_alignedbox.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_eulerangles.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_homogeneous.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_hyperplane.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_orthomethods.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_parametrizedline.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_quaternion.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/geo_transformations.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/half_float.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/hessenberg.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/householder.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/incomplete_cholesky.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/inplace_decomposition.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/integer_types.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/inverse.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/is_same_dense.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/jacobi.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/jacobisvd.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/linearstructure.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/lscg.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/lu.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/main.h (100%) rename {Eigen3 => third_party/eigen3}/test/mapped_matrix.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/mapstaticmethods.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/mapstride.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/meta.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/metis_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/miscmatrices.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/mixingtypes.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/mpl2only.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/nesting_ops.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/nomalloc.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/nullary.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/numext.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/packetmath.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/pardiso_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/pastix_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/permutationmatrices.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/prec_inverse_4x4.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product.h (100%) rename {Eigen3 => third_party/eigen3}/test/product_extra.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_large.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_mmtr.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_notemporary.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_selfadjoint.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_small.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_symm.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_syrk.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_trmm.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_trmv.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/product_trsolve.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/qr.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/qr_colpivoting.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/qr_fullpivoting.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/qtvector.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/rand.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/real_qz.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/redux.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/ref.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/resize.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/rvalue_types.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/schur_complex.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/schur_real.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/selfadjoint.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/simplicial_cholesky.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sizeof.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sizeoverflow.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/smallvectors.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse.h (100%) rename {Eigen3 => third_party/eigen3}/test/sparseLM.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_basic.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_block.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_permutations.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_product.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_ref.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_solver.h (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_solvers.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparse_vector.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparselu.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/sparseqr.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/special_numbers.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/spqr_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stable_norm.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stddeque.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stddeque_overload.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stdlist.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stdlist_overload.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stdvector.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/stdvector_overload.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/superlu_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/svd_common.h (100%) rename {Eigen3 => third_party/eigen3}/test/svd_fill.h (100%) rename {Eigen3 => third_party/eigen3}/test/swap.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/triangular.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/umeyama.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/umfpack_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/unalignedassert.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/unalignedcount.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/upperbidiagonalization.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/vectorization_logic.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/vectorwiseop.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/visitor.cpp (100%) rename {Eigen3 => third_party/eigen3}/test/zerosized.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/AdolcForward (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/AlignedVector3 (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/ArpackSupport (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/AutoDiff (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/BVH (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/Tensor 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rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceCuda.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceDefault.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceSycl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDeviceThreadPool.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDimensionList.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorDimensions.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorEvalTo.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorExpr.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorFFT.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorFixedSize.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorForcedEval.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorForwardDeclarations.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorFunctors.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorGlobalFunctions.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorIO.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorImagePatch.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorIndexList.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorInflation.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorInitializer.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorIntDiv.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorLayoutSwap.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorMacros.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorMeta.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorMorphing.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorPadding.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorPatch.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorRandom.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorReduction.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorReductionCuda.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorReductionSycl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorRef.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorScan.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorStorage.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSycl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclConvertToDeviceExpression.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExprConstructor.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractAccessor.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclExtractFunctors.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclLeafCount.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/CXX11/src/ThreadPool/RunQueue.h (100%) 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third_party/eigen3}/unsupported/Eigen/EulerAngles (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/FFT (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/IterativeSolvers (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/KroneckerProduct (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/LevenbergMarquardt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/MPRealSupport (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/MatrixFunctions (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/MoreVectorization (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/NonLinearOptimization (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/NumericalDiff (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/OpenGLSupport (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/Polynomials (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/Skyline (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/SparseExtra (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/SpecialFunctions (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/Splines (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/BVH/BVAlgorithms.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/BVH/KdBVH.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/EulerAngles/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/EulerAngles/EulerAngles.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/EulerAngles/EulerSystem.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/FFT/ei_fftw_impl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/FFT/ei_kissfft_impl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/DGMRES.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/GMRES.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/IterationController.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/MINRES.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/IterativeSolvers/Scaling.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MatrixFunctions/StemFunction.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/MoreVectorization/MathFunctions.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/chkder.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/covar.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/dogleg.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h 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third_party/eigen3}/unsupported/Eigen/src/Skyline/SkylineMatrix.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Skyline/SkylineProduct.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Skyline/SkylineStorage.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Skyline/SkylineUtil.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/BlockSparseMatrix.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/MarketIO.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SparseExtra/RandomSetter.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/SpecialFunctions/arch/CUDA/CudaSpecialFunctions.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Splines/Spline.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Splines/SplineFitting.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/Eigen/src/Splines/SplineFwd.h 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{Eigen3 => third_party/eigen3}/unsupported/doc/examples/MatrixPower.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/MatrixPower_optimal.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/MatrixSine.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/MatrixSinh.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/MatrixSquareRoot.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/PolynomialSolver1.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/examples/PolynomialUtils1.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/doc/snippets/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/BVH.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/CMakeLists.txt (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/EulerAngles.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/FFT.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/FFTW.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/NonLinearOptimization.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/NumericalDiff.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/alignedvector3.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/autodiff.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/autodiff_scalar.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_eventcount.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_meta.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_non_blocking_thread_pool.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_runqueue.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_argmax.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_argmax_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_assign.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_broadcast_sycl.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_broadcasting.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_cast_float16_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_casts.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_chipping.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_comparisons.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_complex_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_complex_cwise_ops_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_concatenation.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_const.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_contract_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_contraction.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_convolution.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_custom_index.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_custom_op.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_device.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_device_sycl.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_dimension.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_empty.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_expr.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_fft.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_fixed_size.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_forced_eval.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_forced_eval_sycl.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_generator.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_ifft.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_image_patch.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_index_list.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_inflation.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_intdiv.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_io.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_layout_swap.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_lvalue.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_map.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_math.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_mixed_indices.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_morphing.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_notification.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_of_complex.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_of_const_values.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_of_float16_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_of_strings.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_padding.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_patch.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_random.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_random_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_reduction.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_reduction_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_reduction_sycl.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_ref.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_reverse.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_roundings.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_scan.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_scan_cuda.cu (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_shuffling.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_simple.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_striding.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_sugar.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_sycl.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_symmetry.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_thread_pool.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_uint128.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/cxx11_tensor_volume_patch.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/dgmres.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/forward_adolc.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/gmres.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/kronecker_product.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/levenberg_marquardt.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/matrix_exponential.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/matrix_function.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/matrix_functions.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/matrix_power.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/matrix_square_root.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/minres.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/mpreal/mpreal.h (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/mpreal_support.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/openglsupport.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/polynomialsolver.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/polynomialutils.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/sparse_extra.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/special_functions.cpp (100%) rename {Eigen3 => third_party/eigen3}/unsupported/test/splines.cpp (100%) rename {src => third_party}/kdl_parser/include/kdl_parser/kdl_parser.hpp (100%) rename {src => third_party}/kdl_parser/include/kdl_parser/visibility_control.hpp (100%) rename {src => third_party}/kdl_parser/include/tinystr.h (100%) rename {src => third_party}/kdl_parser/include/tinyxml.h (100%) rename {src => third_party}/kdl_parser/include/tinyxml2.h (100%) rename {src => third_party}/kdl_parser/include/urdf_exception/exception.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/color.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/joint.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/link.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/model.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/pose.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/twist.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/types.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model/utils.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model_state/model_state.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model_state/twist.h (100%) rename {src => third_party}/kdl_parser/include/urdf_model_state/types.h (100%) rename {src => third_party}/kdl_parser/include/urdf_parser/exportdecl.h (100%) rename {src => third_party}/kdl_parser/include/urdf_parser/urdf_parser.h (100%) rename {src => third_party}/kdl_parser/include/urdf_sensor/sensor.h (100%) rename {src => third_party}/kdl_parser/include/urdf_sensor/types.h (100%) rename {src => third_party}/kdl_parser/include/urdf_world/types.h (100%) rename {src => third_party}/kdl_parser/include/urdf_world/world.h (100%) rename {src => third_party}/kdl_parser/src/joint.cpp (100%) rename {src => third_party}/kdl_parser/src/kdl_parser.cpp (100%) rename {src => third_party}/kdl_parser/src/link.cpp (100%) rename {src => third_party}/kdl_parser/src/model.cpp (100%) rename {src => third_party}/kdl_parser/src/pose.cpp (100%) rename {src => third_party}/kdl_parser/src/tinystr.cpp (100%) rename {src => third_party}/kdl_parser/src/tinyxml.cpp (100%) rename {src => third_party}/kdl_parser/src/tinyxml2.cpp (100%) rename {src => third_party}/kdl_parser/src/tinyxmlerror.cpp (100%) rename {src => third_party}/kdl_parser/src/tinyxmlparser.cpp (100%) rename {src => third_party}/kdl_parser/src/twist.cpp (100%) rename {src => third_party}/kdl_parser/src/urdf_model_state.cpp (100%) rename {src => third_party}/kdl_parser/src/urdf_sensor.cpp (100%) rename {src => third_party}/kdl_parser/src/world.cpp (100%) rename {inc => third_party}/nlohmann/json.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/articulatedbodyinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chain.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chaindynparam.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainexternalwrenchestimator.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainfdsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainfdsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainfksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainfksolverpos_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainfksolvervel_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainhdsolver_vereshchagin.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainidsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainidsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainidsolver_vereshchagin.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolverpos_lma.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolverpos_nr.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolverpos_nr_jl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolvervel_pinv.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolvervel_pinv_givens.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolvervel_pinv_nso.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainiksolvervel_wdls.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainjnttojacdotsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/chainjnttojacsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/config.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frameacc.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frameacc.inl (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frameacc_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frames.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frames.inl (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/frames_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/framevel.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/framevel.inl (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/framevel_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/jacobian.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/jntarray.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/jntarrayacc.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/jntarrayvel.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/jntspaceinertiamatrix.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/joint.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/kdl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/kinfam.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/kinfam_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/motion.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_circle.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_composite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_cyclic_closed.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_line.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_point.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/path_roundedcomposite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/rigidbodyinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/rotational_interpolation.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/rotational_interpolation_sa.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/rotationalinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/segment.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/solveri.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/stiffness.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/trajectory.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/trajectory_composite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/trajectory_segment.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/trajectory_stationary.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/tree.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treefksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treefksolverpos_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeidsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeidsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeiksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeiksolverpos_nr_jl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeiksolverpos_online.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treeiksolvervel_wdls.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/treejnttojacsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/error.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/error_stack.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/kdl-config.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/ldl_solver_eigen.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/rall1d.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/rall1d_io.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/rall2d.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/rall2d_io.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/rallNd.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/scoped_ptr.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/svd_HH.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/svd_eigen_HH.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/svd_eigen_Macie.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/traits.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/utility.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/utilities/utility_io.h (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile_dirac.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile_rect.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile_spline.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile_trap.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/include/kdl/velocityprofile_traphalf.hpp (100%) rename {KDL => third_party/orocos_kdl}/install/lib/orocos-kdl.lib (100%) rename {KDL => third_party/orocos_kdl}/install/lib/pkgconfig/orocos-kdl.pc (100%) rename {KDL => third_party/orocos_kdl}/install/lib/pkgconfig/orocos_kdl.pc (100%) rename {KDL => third_party/orocos_kdl}/install/share/orocos_kdl/cmake/FindEigen3.cmake (100%) rename {KDL => third_party/orocos_kdl}/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake (100%) rename {KDL => third_party/orocos_kdl}/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake (100%) rename {KDL => third_party/orocos_kdl}/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake (100%) rename {KDL => third_party/orocos_kdl}/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/articulatedbodyinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chain.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chaindynparam.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainexternalwrenchestimator.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainfdsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainfdsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainfksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainfksolverpos_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainfksolvervel_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainhdsolver_vereshchagin.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainidsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainidsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainidsolver_vereshchagin.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolverpos_lma.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolverpos_nr.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolverpos_nr_jl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolvervel_pinv.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolvervel_pinv_givens.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolvervel_pinv_nso.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainiksolvervel_wdls.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainjnttojacdotsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/chainjnttojacsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/config.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frameacc.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frameacc.inl (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frameacc_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frames.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frames.inl (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/frames_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/framevel.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/framevel.inl (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/framevel_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/jacobian.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/jntarray.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/jntarrayacc.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/jntarrayvel.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/jntspaceinertiamatrix.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/joint.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/kdl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/kinfam.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/kinfam_io.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/motion.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_circle.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_composite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_cyclic_closed.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_line.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_point.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/path_roundedcomposite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/rigidbodyinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/rotational_interpolation.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/rotational_interpolation_sa.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/rotationalinertia.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/segment.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/solveri.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/stiffness.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/trajectory.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/trajectory_composite.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/trajectory_segment.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/trajectory_stationary.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/tree.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treefksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treefksolverpos_recursive.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeidsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeidsolver_recursive_newton_euler.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeiksolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeiksolverpos_nr_jl.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeiksolverpos_online.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treeiksolvervel_wdls.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/treejnttojacsolver.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/error.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/error_stack.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/kdl-config.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/ldl_solver_eigen.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/rall1d.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/rall1d_io.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/rall2d.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/rall2d_io.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/rallNd.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/scoped_ptr.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/svd_HH.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/svd_eigen_HH.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/svd_eigen_Macie.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/traits.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/utility.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/utilities/utility_io.h (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile_dirac.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile_rect.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile_spline.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile_trap.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/include/kdl/velocityprofile_traphalf.hpp (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/lib/liborocos-kdl.a (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/lib/pkgconfig/orocos-kdl.pc (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/lib/pkgconfig/orocos_kdl.pc (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/share/orocos_kdl/cmake/FindEigen3.cmake (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/share/orocos_kdl/cmake/OrocosKDLTargets.cmake (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake (100%) rename {KDL => third_party/orocos_kdl}/install_wasm/share/orocos_kdl/cmake/orocos_kdl-config.cmake (100%) 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 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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 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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 b/third_party/eigen3/Eigen/src/SparseCore/SparsePermutation.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparsePermutation.h rename to third_party/eigen3/Eigen/src/SparseCore/SparsePermutation.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseProduct.h b/third_party/eigen3/Eigen/src/SparseCore/SparseProduct.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseProduct.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseProduct.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseRedux.h b/third_party/eigen3/Eigen/src/SparseCore/SparseRedux.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseRedux.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseRedux.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseRef.h b/third_party/eigen3/Eigen/src/SparseCore/SparseRef.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseRef.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseRef.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h b/third_party/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseSolverBase.h b/third_party/eigen3/Eigen/src/SparseCore/SparseSolverBase.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseSolverBase.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseSolverBase.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h b/third_party/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseTranspose.h b/third_party/eigen3/Eigen/src/SparseCore/SparseTranspose.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseTranspose.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseTranspose.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseTriangularView.h b/third_party/eigen3/Eigen/src/SparseCore/SparseTriangularView.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseTriangularView.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseTriangularView.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseUtil.h b/third_party/eigen3/Eigen/src/SparseCore/SparseUtil.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseUtil.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseUtil.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseVector.h b/third_party/eigen3/Eigen/src/SparseCore/SparseVector.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseVector.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseVector.h diff --git a/Eigen3/Eigen/src/SparseCore/SparseView.h b/third_party/eigen3/Eigen/src/SparseCore/SparseView.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/SparseView.h rename to third_party/eigen3/Eigen/src/SparseCore/SparseView.h diff --git a/Eigen3/Eigen/src/SparseCore/TriangularSolver.h b/third_party/eigen3/Eigen/src/SparseCore/TriangularSolver.h similarity index 100% rename from Eigen3/Eigen/src/SparseCore/TriangularSolver.h rename to third_party/eigen3/Eigen/src/SparseCore/TriangularSolver.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLUImpl.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLUImpl.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLUImpl.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLUImpl.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_Memory.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_Memory.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_Structs.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_Structs.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_Utils.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_Utils.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h rename to third_party/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h diff --git a/Eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/third_party/eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h similarity index 100% rename from Eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h 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diff --git a/Eigen3/doc/snippets/Cwise_boolean_and.cpp b/third_party/eigen3/doc/snippets/Cwise_boolean_and.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_boolean_and.cpp rename to third_party/eigen3/doc/snippets/Cwise_boolean_and.cpp diff --git a/Eigen3/doc/snippets/Cwise_boolean_not.cpp b/third_party/eigen3/doc/snippets/Cwise_boolean_not.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_boolean_not.cpp rename to third_party/eigen3/doc/snippets/Cwise_boolean_not.cpp diff --git a/Eigen3/doc/snippets/Cwise_boolean_or.cpp b/third_party/eigen3/doc/snippets/Cwise_boolean_or.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_boolean_or.cpp rename to third_party/eigen3/doc/snippets/Cwise_boolean_or.cpp diff --git a/Eigen3/doc/snippets/Cwise_boolean_xor.cpp b/third_party/eigen3/doc/snippets/Cwise_boolean_xor.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_boolean_xor.cpp rename to third_party/eigen3/doc/snippets/Cwise_boolean_xor.cpp diff --git a/Eigen3/doc/snippets/Cwise_ceil.cpp b/third_party/eigen3/doc/snippets/Cwise_ceil.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_ceil.cpp rename to third_party/eigen3/doc/snippets/Cwise_ceil.cpp diff --git a/Eigen3/doc/snippets/Cwise_cos.cpp b/third_party/eigen3/doc/snippets/Cwise_cos.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_cos.cpp rename to third_party/eigen3/doc/snippets/Cwise_cos.cpp diff --git a/Eigen3/doc/snippets/Cwise_cosh.cpp b/third_party/eigen3/doc/snippets/Cwise_cosh.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_cosh.cpp rename to third_party/eigen3/doc/snippets/Cwise_cosh.cpp diff --git a/Eigen3/doc/snippets/Cwise_cube.cpp b/third_party/eigen3/doc/snippets/Cwise_cube.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_cube.cpp rename to third_party/eigen3/doc/snippets/Cwise_cube.cpp diff --git a/Eigen3/doc/snippets/Cwise_equal_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_equal_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_equal_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_equal_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_exp.cpp b/third_party/eigen3/doc/snippets/Cwise_exp.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_exp.cpp rename to third_party/eigen3/doc/snippets/Cwise_exp.cpp diff --git a/Eigen3/doc/snippets/Cwise_floor.cpp b/third_party/eigen3/doc/snippets/Cwise_floor.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_floor.cpp rename to third_party/eigen3/doc/snippets/Cwise_floor.cpp diff --git a/Eigen3/doc/snippets/Cwise_greater.cpp b/third_party/eigen3/doc/snippets/Cwise_greater.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_greater.cpp rename to third_party/eigen3/doc/snippets/Cwise_greater.cpp diff --git a/Eigen3/doc/snippets/Cwise_greater_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_greater_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_greater_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_greater_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_inverse.cpp b/third_party/eigen3/doc/snippets/Cwise_inverse.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_inverse.cpp rename to third_party/eigen3/doc/snippets/Cwise_inverse.cpp diff --git a/Eigen3/doc/snippets/Cwise_isFinite.cpp b/third_party/eigen3/doc/snippets/Cwise_isFinite.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_isFinite.cpp rename to third_party/eigen3/doc/snippets/Cwise_isFinite.cpp diff --git a/Eigen3/doc/snippets/Cwise_isInf.cpp b/third_party/eigen3/doc/snippets/Cwise_isInf.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_isInf.cpp rename to third_party/eigen3/doc/snippets/Cwise_isInf.cpp diff --git a/Eigen3/doc/snippets/Cwise_isNaN.cpp b/third_party/eigen3/doc/snippets/Cwise_isNaN.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_isNaN.cpp rename to third_party/eigen3/doc/snippets/Cwise_isNaN.cpp diff --git a/Eigen3/doc/snippets/Cwise_less.cpp b/third_party/eigen3/doc/snippets/Cwise_less.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_less.cpp rename to third_party/eigen3/doc/snippets/Cwise_less.cpp diff --git a/Eigen3/doc/snippets/Cwise_less_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_less_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_less_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_less_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_log.cpp b/third_party/eigen3/doc/snippets/Cwise_log.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_log.cpp rename to third_party/eigen3/doc/snippets/Cwise_log.cpp diff --git a/Eigen3/doc/snippets/Cwise_log10.cpp b/third_party/eigen3/doc/snippets/Cwise_log10.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_log10.cpp rename to third_party/eigen3/doc/snippets/Cwise_log10.cpp diff --git a/Eigen3/doc/snippets/Cwise_max.cpp b/third_party/eigen3/doc/snippets/Cwise_max.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_max.cpp rename to third_party/eigen3/doc/snippets/Cwise_max.cpp diff --git a/Eigen3/doc/snippets/Cwise_min.cpp b/third_party/eigen3/doc/snippets/Cwise_min.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_min.cpp rename to third_party/eigen3/doc/snippets/Cwise_min.cpp diff --git a/Eigen3/doc/snippets/Cwise_minus.cpp b/third_party/eigen3/doc/snippets/Cwise_minus.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_minus.cpp rename to third_party/eigen3/doc/snippets/Cwise_minus.cpp diff --git a/Eigen3/doc/snippets/Cwise_minus_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_minus_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_minus_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_minus_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_not_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_not_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_not_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_not_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_plus.cpp b/third_party/eigen3/doc/snippets/Cwise_plus.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_plus.cpp rename to third_party/eigen3/doc/snippets/Cwise_plus.cpp diff --git a/Eigen3/doc/snippets/Cwise_plus_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_plus_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_plus_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_plus_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_pow.cpp b/third_party/eigen3/doc/snippets/Cwise_pow.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_pow.cpp rename to third_party/eigen3/doc/snippets/Cwise_pow.cpp diff --git a/Eigen3/doc/snippets/Cwise_product.cpp b/third_party/eigen3/doc/snippets/Cwise_product.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_product.cpp rename to third_party/eigen3/doc/snippets/Cwise_product.cpp diff --git a/Eigen3/doc/snippets/Cwise_quotient.cpp b/third_party/eigen3/doc/snippets/Cwise_quotient.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_quotient.cpp rename to third_party/eigen3/doc/snippets/Cwise_quotient.cpp diff --git a/Eigen3/doc/snippets/Cwise_round.cpp b/third_party/eigen3/doc/snippets/Cwise_round.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_round.cpp rename to third_party/eigen3/doc/snippets/Cwise_round.cpp diff --git a/Eigen3/doc/snippets/Cwise_scalar_power_array.cpp b/third_party/eigen3/doc/snippets/Cwise_scalar_power_array.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_scalar_power_array.cpp rename to third_party/eigen3/doc/snippets/Cwise_scalar_power_array.cpp diff --git a/Eigen3/doc/snippets/Cwise_sign.cpp b/third_party/eigen3/doc/snippets/Cwise_sign.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_sign.cpp rename to third_party/eigen3/doc/snippets/Cwise_sign.cpp diff --git a/Eigen3/doc/snippets/Cwise_sin.cpp b/third_party/eigen3/doc/snippets/Cwise_sin.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_sin.cpp rename to third_party/eigen3/doc/snippets/Cwise_sin.cpp diff --git a/Eigen3/doc/snippets/Cwise_sinh.cpp b/third_party/eigen3/doc/snippets/Cwise_sinh.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_sinh.cpp rename to third_party/eigen3/doc/snippets/Cwise_sinh.cpp diff --git a/Eigen3/doc/snippets/Cwise_slash_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_slash_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_slash_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_slash_equal.cpp diff --git a/Eigen3/doc/snippets/Cwise_sqrt.cpp b/third_party/eigen3/doc/snippets/Cwise_sqrt.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_sqrt.cpp rename to third_party/eigen3/doc/snippets/Cwise_sqrt.cpp diff --git a/Eigen3/doc/snippets/Cwise_square.cpp b/third_party/eigen3/doc/snippets/Cwise_square.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_square.cpp rename to third_party/eigen3/doc/snippets/Cwise_square.cpp diff --git a/Eigen3/doc/snippets/Cwise_tan.cpp b/third_party/eigen3/doc/snippets/Cwise_tan.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_tan.cpp rename to third_party/eigen3/doc/snippets/Cwise_tan.cpp diff --git a/Eigen3/doc/snippets/Cwise_tanh.cpp b/third_party/eigen3/doc/snippets/Cwise_tanh.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_tanh.cpp rename to third_party/eigen3/doc/snippets/Cwise_tanh.cpp diff --git a/Eigen3/doc/snippets/Cwise_times_equal.cpp b/third_party/eigen3/doc/snippets/Cwise_times_equal.cpp similarity index 100% rename from Eigen3/doc/snippets/Cwise_times_equal.cpp rename to third_party/eigen3/doc/snippets/Cwise_times_equal.cpp diff --git a/Eigen3/doc/snippets/DenseBase_LinSpaced.cpp b/third_party/eigen3/doc/snippets/DenseBase_LinSpaced.cpp similarity index 100% rename from Eigen3/doc/snippets/DenseBase_LinSpaced.cpp rename to third_party/eigen3/doc/snippets/DenseBase_LinSpaced.cpp diff --git a/Eigen3/doc/snippets/DenseBase_LinSpacedInt.cpp b/third_party/eigen3/doc/snippets/DenseBase_LinSpacedInt.cpp similarity index 100% rename from Eigen3/doc/snippets/DenseBase_LinSpacedInt.cpp rename to third_party/eigen3/doc/snippets/DenseBase_LinSpacedInt.cpp diff --git a/Eigen3/doc/snippets/DenseBase_LinSpaced_seq.cpp b/third_party/eigen3/doc/snippets/DenseBase_LinSpaced_seq.cpp similarity index 100% rename from Eigen3/doc/snippets/DenseBase_LinSpaced_seq.cpp rename to third_party/eigen3/doc/snippets/DenseBase_LinSpaced_seq.cpp diff --git a/Eigen3/doc/snippets/DenseBase_setLinSpaced.cpp b/third_party/eigen3/doc/snippets/DenseBase_setLinSpaced.cpp similarity index 100% rename from Eigen3/doc/snippets/DenseBase_setLinSpaced.cpp rename to third_party/eigen3/doc/snippets/DenseBase_setLinSpaced.cpp diff --git a/Eigen3/doc/snippets/DirectionWise_hnormalized.cpp b/third_party/eigen3/doc/snippets/DirectionWise_hnormalized.cpp similarity index 100% rename from Eigen3/doc/snippets/DirectionWise_hnormalized.cpp rename to third_party/eigen3/doc/snippets/DirectionWise_hnormalized.cpp diff --git a/Eigen3/doc/snippets/DirectionWise_replicate.cpp b/third_party/eigen3/doc/snippets/DirectionWise_replicate.cpp similarity index 100% rename from Eigen3/doc/snippets/DirectionWise_replicate.cpp rename to third_party/eigen3/doc/snippets/DirectionWise_replicate.cpp diff --git a/Eigen3/doc/snippets/DirectionWise_replicate_int.cpp b/third_party/eigen3/doc/snippets/DirectionWise_replicate_int.cpp similarity index 100% rename from Eigen3/doc/snippets/DirectionWise_replicate_int.cpp rename to third_party/eigen3/doc/snippets/DirectionWise_replicate_int.cpp diff --git a/Eigen3/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp b/third_party/eigen3/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp similarity index 100% rename from Eigen3/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp rename to third_party/eigen3/doc/snippets/EigenSolver_EigenSolver_MatrixType.cpp diff --git a/Eigen3/doc/snippets/EigenSolver_compute.cpp b/third_party/eigen3/doc/snippets/EigenSolver_compute.cpp similarity index 100% rename from Eigen3/doc/snippets/EigenSolver_compute.cpp rename to third_party/eigen3/doc/snippets/EigenSolver_compute.cpp diff --git a/Eigen3/doc/snippets/EigenSolver_eigenvalues.cpp b/third_party/eigen3/doc/snippets/EigenSolver_eigenvalues.cpp similarity index 100% rename from Eigen3/doc/snippets/EigenSolver_eigenvalues.cpp rename to third_party/eigen3/doc/snippets/EigenSolver_eigenvalues.cpp diff --git a/Eigen3/doc/snippets/EigenSolver_eigenvectors.cpp b/third_party/eigen3/doc/snippets/EigenSolver_eigenvectors.cpp similarity index 100% rename from Eigen3/doc/snippets/EigenSolver_eigenvectors.cpp rename to third_party/eigen3/doc/snippets/EigenSolver_eigenvectors.cpp diff --git a/Eigen3/doc/snippets/EigenSolver_pseudoEigenvectors.cpp b/third_party/eigen3/doc/snippets/EigenSolver_pseudoEigenvectors.cpp similarity index 100% rename from Eigen3/doc/snippets/EigenSolver_pseudoEigenvectors.cpp rename to third_party/eigen3/doc/snippets/EigenSolver_pseudoEigenvectors.cpp diff --git a/Eigen3/doc/snippets/FullPivHouseholderQR_solve.cpp b/third_party/eigen3/doc/snippets/FullPivHouseholderQR_solve.cpp similarity index 100% rename from Eigen3/doc/snippets/FullPivHouseholderQR_solve.cpp rename to third_party/eigen3/doc/snippets/FullPivHouseholderQR_solve.cpp diff --git a/Eigen3/doc/snippets/FullPivLU_image.cpp b/third_party/eigen3/doc/snippets/FullPivLU_image.cpp similarity index 100% rename from Eigen3/doc/snippets/FullPivLU_image.cpp rename to third_party/eigen3/doc/snippets/FullPivLU_image.cpp diff --git a/Eigen3/doc/snippets/FullPivLU_kernel.cpp b/third_party/eigen3/doc/snippets/FullPivLU_kernel.cpp similarity index 100% rename from Eigen3/doc/snippets/FullPivLU_kernel.cpp rename to third_party/eigen3/doc/snippets/FullPivLU_kernel.cpp diff --git a/Eigen3/doc/snippets/FullPivLU_solve.cpp b/third_party/eigen3/doc/snippets/FullPivLU_solve.cpp similarity index 100% rename from Eigen3/doc/snippets/FullPivLU_solve.cpp rename to third_party/eigen3/doc/snippets/FullPivLU_solve.cpp diff --git a/Eigen3/doc/snippets/GeneralizedEigenSolver.cpp b/third_party/eigen3/doc/snippets/GeneralizedEigenSolver.cpp similarity index 100% rename from Eigen3/doc/snippets/GeneralizedEigenSolver.cpp rename to third_party/eigen3/doc/snippets/GeneralizedEigenSolver.cpp diff --git a/Eigen3/doc/snippets/HessenbergDecomposition_compute.cpp b/third_party/eigen3/doc/snippets/HessenbergDecomposition_compute.cpp similarity index 100% rename from Eigen3/doc/snippets/HessenbergDecomposition_compute.cpp rename to third_party/eigen3/doc/snippets/HessenbergDecomposition_compute.cpp diff --git a/Eigen3/doc/snippets/HessenbergDecomposition_matrixH.cpp b/third_party/eigen3/doc/snippets/HessenbergDecomposition_matrixH.cpp similarity index 100% rename from Eigen3/doc/snippets/HessenbergDecomposition_matrixH.cpp rename to third_party/eigen3/doc/snippets/HessenbergDecomposition_matrixH.cpp diff --git a/Eigen3/doc/snippets/HessenbergDecomposition_packedMatrix.cpp b/third_party/eigen3/doc/snippets/HessenbergDecomposition_packedMatrix.cpp similarity index 100% rename from Eigen3/doc/snippets/HessenbergDecomposition_packedMatrix.cpp rename to third_party/eigen3/doc/snippets/HessenbergDecomposition_packedMatrix.cpp diff --git a/Eigen3/doc/snippets/HouseholderQR_householderQ.cpp b/third_party/eigen3/doc/snippets/HouseholderQR_householderQ.cpp similarity index 100% rename from Eigen3/doc/snippets/HouseholderQR_householderQ.cpp rename to third_party/eigen3/doc/snippets/HouseholderQR_householderQ.cpp diff --git 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 third_party/eigen3/doc/snippets/JacobiSVD_basic.cpp diff --git a/Eigen3/doc/snippets/Jacobi_makeGivens.cpp b/third_party/eigen3/doc/snippets/Jacobi_makeGivens.cpp similarity index 100% rename from Eigen3/doc/snippets/Jacobi_makeGivens.cpp rename to third_party/eigen3/doc/snippets/Jacobi_makeGivens.cpp diff --git a/Eigen3/doc/snippets/Jacobi_makeJacobi.cpp b/third_party/eigen3/doc/snippets/Jacobi_makeJacobi.cpp similarity index 100% rename from Eigen3/doc/snippets/Jacobi_makeJacobi.cpp rename to third_party/eigen3/doc/snippets/Jacobi_makeJacobi.cpp diff --git a/Eigen3/doc/snippets/LLT_example.cpp b/third_party/eigen3/doc/snippets/LLT_example.cpp similarity index 100% rename from Eigen3/doc/snippets/LLT_example.cpp rename to third_party/eigen3/doc/snippets/LLT_example.cpp diff --git a/Eigen3/doc/snippets/LLT_solve.cpp b/third_party/eigen3/doc/snippets/LLT_solve.cpp similarity index 100% rename from Eigen3/doc/snippets/LLT_solve.cpp rename to third_party/eigen3/doc/snippets/LLT_solve.cpp 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 third_party/eigen3/doc/snippets/Map_inner_stride.cpp diff --git a/Eigen3/doc/snippets/Map_outer_stride.cpp b/third_party/eigen3/doc/snippets/Map_outer_stride.cpp similarity index 100% rename from Eigen3/doc/snippets/Map_outer_stride.cpp rename to third_party/eigen3/doc/snippets/Map_outer_stride.cpp diff --git a/Eigen3/doc/snippets/Map_placement_new.cpp b/third_party/eigen3/doc/snippets/Map_placement_new.cpp similarity index 100% rename from Eigen3/doc/snippets/Map_placement_new.cpp rename to third_party/eigen3/doc/snippets/Map_placement_new.cpp diff --git a/Eigen3/doc/snippets/Map_simple.cpp b/third_party/eigen3/doc/snippets/Map_simple.cpp similarity index 100% rename from Eigen3/doc/snippets/Map_simple.cpp rename to third_party/eigen3/doc/snippets/Map_simple.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_adjoint.cpp b/third_party/eigen3/doc/snippets/MatrixBase_adjoint.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_adjoint.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_adjoint.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_all.cpp b/third_party/eigen3/doc/snippets/MatrixBase_all.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_all.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_all.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_applyOnTheLeft.cpp b/third_party/eigen3/doc/snippets/MatrixBase_applyOnTheLeft.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_applyOnTheLeft.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_applyOnTheLeft.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_applyOnTheRight.cpp b/third_party/eigen3/doc/snippets/MatrixBase_applyOnTheRight.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_applyOnTheRight.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_applyOnTheRight.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_array.cpp b/third_party/eigen3/doc/snippets/MatrixBase_array.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_array.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_array.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_array_const.cpp b/third_party/eigen3/doc/snippets/MatrixBase_array_const.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_array_const.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_array_const.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_asDiagonal.cpp b/third_party/eigen3/doc/snippets/MatrixBase_asDiagonal.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_asDiagonal.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_asDiagonal.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_block_int_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_block_int_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_block_int_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_block_int_int.cpp diff --git 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 b/third_party/eigen3/doc/snippets/MatrixBase_diagonal_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_diagonal_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_diagonal_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_diagonal_template_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_diagonal_template_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_diagonal_template_int.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_diagonal_template_int.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_eigenvalues.cpp b/third_party/eigen3/doc/snippets/MatrixBase_eigenvalues.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_eigenvalues.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_eigenvalues.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_end_int.cpp b/third_party/eigen3/doc/snippets/MatrixBase_end_int.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_end_int.cpp rename to 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a/Eigen3/doc/snippets/MatrixBase_isDiagonal.cpp b/third_party/eigen3/doc/snippets/MatrixBase_isDiagonal.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_isDiagonal.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_isDiagonal.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_isIdentity.cpp b/third_party/eigen3/doc/snippets/MatrixBase_isIdentity.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_isIdentity.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_isIdentity.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_isOnes.cpp b/third_party/eigen3/doc/snippets/MatrixBase_isOnes.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_isOnes.cpp rename to third_party/eigen3/doc/snippets/MatrixBase_isOnes.cpp diff --git a/Eigen3/doc/snippets/MatrixBase_isOrthogonal.cpp b/third_party/eigen3/doc/snippets/MatrixBase_isOrthogonal.cpp similarity index 100% rename from Eigen3/doc/snippets/MatrixBase_isOrthogonal.cpp rename to 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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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a/Eigen3/doc/snippets/tut_arithmetic_transpose_conjugate.cpp b/third_party/eigen3/doc/snippets/tut_arithmetic_transpose_conjugate.cpp similarity index 100% rename from Eigen3/doc/snippets/tut_arithmetic_transpose_conjugate.cpp rename to third_party/eigen3/doc/snippets/tut_arithmetic_transpose_conjugate.cpp diff --git a/Eigen3/doc/snippets/tut_arithmetic_transpose_inplace.cpp b/third_party/eigen3/doc/snippets/tut_arithmetic_transpose_inplace.cpp similarity index 100% rename from Eigen3/doc/snippets/tut_arithmetic_transpose_inplace.cpp rename to third_party/eigen3/doc/snippets/tut_arithmetic_transpose_inplace.cpp diff --git a/Eigen3/doc/snippets/tut_matrix_assignment_resizing.cpp b/third_party/eigen3/doc/snippets/tut_matrix_assignment_resizing.cpp similarity index 100% rename from Eigen3/doc/snippets/tut_matrix_assignment_resizing.cpp rename to third_party/eigen3/doc/snippets/tut_matrix_assignment_resizing.cpp diff --git a/Eigen3/doc/special_examples/CMakeLists.txt 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diff --git a/Eigen3/failtest/map_nonconst_ctor_on_const_ptr_3.cpp b/third_party/eigen3/failtest/map_nonconst_ctor_on_const_ptr_3.cpp similarity index 100% rename from Eigen3/failtest/map_nonconst_ctor_on_const_ptr_3.cpp rename to third_party/eigen3/failtest/map_nonconst_ctor_on_const_ptr_3.cpp diff --git a/Eigen3/failtest/map_nonconst_ctor_on_const_ptr_4.cpp b/third_party/eigen3/failtest/map_nonconst_ctor_on_const_ptr_4.cpp similarity index 100% rename from Eigen3/failtest/map_nonconst_ctor_on_const_ptr_4.cpp rename to third_party/eigen3/failtest/map_nonconst_ctor_on_const_ptr_4.cpp diff --git a/Eigen3/failtest/map_on_const_type_actually_const_0.cpp b/third_party/eigen3/failtest/map_on_const_type_actually_const_0.cpp similarity index 100% rename from Eigen3/failtest/map_on_const_type_actually_const_0.cpp rename to third_party/eigen3/failtest/map_on_const_type_actually_const_0.cpp diff --git a/Eigen3/failtest/map_on_const_type_actually_const_1.cpp 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a/Eigen3/failtest/selfadjointview_on_const_type_actually_const.cpp b/third_party/eigen3/failtest/selfadjointview_on_const_type_actually_const.cpp similarity index 100% rename from Eigen3/failtest/selfadjointview_on_const_type_actually_const.cpp rename to third_party/eigen3/failtest/selfadjointview_on_const_type_actually_const.cpp diff --git a/Eigen3/failtest/sparse_ref_1.cpp b/third_party/eigen3/failtest/sparse_ref_1.cpp similarity index 100% rename from Eigen3/failtest/sparse_ref_1.cpp rename to third_party/eigen3/failtest/sparse_ref_1.cpp diff --git a/Eigen3/failtest/sparse_ref_2.cpp b/third_party/eigen3/failtest/sparse_ref_2.cpp similarity index 100% rename from Eigen3/failtest/sparse_ref_2.cpp rename to third_party/eigen3/failtest/sparse_ref_2.cpp diff --git a/Eigen3/failtest/sparse_ref_3.cpp b/third_party/eigen3/failtest/sparse_ref_3.cpp similarity index 100% rename from Eigen3/failtest/sparse_ref_3.cpp rename to third_party/eigen3/failtest/sparse_ref_3.cpp diff --git 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b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclPlaceHolderExpr.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclRun.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorSyclTuple.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorTraits.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorUInt128.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorVolumePatch.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/DynamicSymmetry.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/StaticSymmetry.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/Symmetry.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/TensorSymmetry/util/TemplateGroupTheory.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h rename to third_party/eigen3/unsupported/Eigen/CXX11/src/ThreadPool/EventCount.h diff --git a/Eigen3/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h b/third_party/eigen3/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h similarity index 100% rename from Eigen3/unsupported/Eigen/CXX11/src/ThreadPool/NonBlockingThreadPool.h rename to 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b/third_party/eigen3/unsupported/Eigen/FFT similarity index 100% rename from Eigen3/unsupported/Eigen/FFT rename to third_party/eigen3/unsupported/Eigen/FFT diff --git a/Eigen3/unsupported/Eigen/IterativeSolvers b/third_party/eigen3/unsupported/Eigen/IterativeSolvers similarity index 100% rename from Eigen3/unsupported/Eigen/IterativeSolvers rename to third_party/eigen3/unsupported/Eigen/IterativeSolvers diff --git a/Eigen3/unsupported/Eigen/KroneckerProduct b/third_party/eigen3/unsupported/Eigen/KroneckerProduct similarity index 100% rename from Eigen3/unsupported/Eigen/KroneckerProduct rename to third_party/eigen3/unsupported/Eigen/KroneckerProduct diff --git a/Eigen3/unsupported/Eigen/LevenbergMarquardt b/third_party/eigen3/unsupported/Eigen/LevenbergMarquardt similarity index 100% rename from Eigen3/unsupported/Eigen/LevenbergMarquardt rename to third_party/eigen3/unsupported/Eigen/LevenbergMarquardt diff --git a/Eigen3/unsupported/Eigen/MPRealSupport b/third_party/eigen3/unsupported/Eigen/MPRealSupport similarity index 100% rename from Eigen3/unsupported/Eigen/MPRealSupport rename to third_party/eigen3/unsupported/Eigen/MPRealSupport diff --git a/Eigen3/unsupported/Eigen/MatrixFunctions b/third_party/eigen3/unsupported/Eigen/MatrixFunctions similarity index 100% rename from Eigen3/unsupported/Eigen/MatrixFunctions rename to third_party/eigen3/unsupported/Eigen/MatrixFunctions diff --git a/Eigen3/unsupported/Eigen/MoreVectorization b/third_party/eigen3/unsupported/Eigen/MoreVectorization similarity index 100% rename from Eigen3/unsupported/Eigen/MoreVectorization rename to third_party/eigen3/unsupported/Eigen/MoreVectorization diff --git a/Eigen3/unsupported/Eigen/NonLinearOptimization b/third_party/eigen3/unsupported/Eigen/NonLinearOptimization similarity index 100% rename from Eigen3/unsupported/Eigen/NonLinearOptimization rename to third_party/eigen3/unsupported/Eigen/NonLinearOptimization diff --git a/Eigen3/unsupported/Eigen/NumericalDiff b/third_party/eigen3/unsupported/Eigen/NumericalDiff similarity index 100% rename from Eigen3/unsupported/Eigen/NumericalDiff rename to third_party/eigen3/unsupported/Eigen/NumericalDiff diff --git a/Eigen3/unsupported/Eigen/OpenGLSupport b/third_party/eigen3/unsupported/Eigen/OpenGLSupport similarity index 100% rename from Eigen3/unsupported/Eigen/OpenGLSupport rename to third_party/eigen3/unsupported/Eigen/OpenGLSupport diff --git a/Eigen3/unsupported/Eigen/Polynomials b/third_party/eigen3/unsupported/Eigen/Polynomials similarity index 100% rename from Eigen3/unsupported/Eigen/Polynomials rename to third_party/eigen3/unsupported/Eigen/Polynomials diff --git a/Eigen3/unsupported/Eigen/Skyline b/third_party/eigen3/unsupported/Eigen/Skyline similarity index 100% rename from Eigen3/unsupported/Eigen/Skyline rename to third_party/eigen3/unsupported/Eigen/Skyline diff --git a/Eigen3/unsupported/Eigen/SparseExtra b/third_party/eigen3/unsupported/Eigen/SparseExtra similarity index 100% rename from Eigen3/unsupported/Eigen/SparseExtra rename to third_party/eigen3/unsupported/Eigen/SparseExtra diff --git a/Eigen3/unsupported/Eigen/SpecialFunctions b/third_party/eigen3/unsupported/Eigen/SpecialFunctions similarity index 100% rename from Eigen3/unsupported/Eigen/SpecialFunctions rename to third_party/eigen3/unsupported/Eigen/SpecialFunctions diff --git a/Eigen3/unsupported/Eigen/Splines b/third_party/eigen3/unsupported/Eigen/Splines similarity index 100% rename from Eigen3/unsupported/Eigen/Splines rename to third_party/eigen3/unsupported/Eigen/Splines diff --git a/Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h rename to third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h diff --git a/Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h rename to third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h diff --git a/Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h b/third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h rename to third_party/eigen3/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h diff --git a/Eigen3/unsupported/Eigen/src/BVH/BVAlgorithms.h b/third_party/eigen3/unsupported/Eigen/src/BVH/BVAlgorithms.h similarity index 100% rename from Eigen3/unsupported/Eigen/src/BVH/BVAlgorithms.h rename to third_party/eigen3/unsupported/Eigen/src/BVH/BVAlgorithms.h diff --git a/Eigen3/unsupported/Eigen/src/BVH/KdBVH.h b/third_party/eigen3/unsupported/Eigen/src/BVH/KdBVH.h similarity index 100% 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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 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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 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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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a/Eigen3/unsupported/doc/examples/PolynomialSolver1.cpp b/third_party/eigen3/unsupported/doc/examples/PolynomialSolver1.cpp similarity index 100% rename from Eigen3/unsupported/doc/examples/PolynomialSolver1.cpp rename to third_party/eigen3/unsupported/doc/examples/PolynomialSolver1.cpp diff --git a/Eigen3/unsupported/doc/examples/PolynomialUtils1.cpp b/third_party/eigen3/unsupported/doc/examples/PolynomialUtils1.cpp similarity index 100% rename from Eigen3/unsupported/doc/examples/PolynomialUtils1.cpp rename to third_party/eigen3/unsupported/doc/examples/PolynomialUtils1.cpp diff --git a/Eigen3/unsupported/doc/snippets/CMakeLists.txt b/third_party/eigen3/unsupported/doc/snippets/CMakeLists.txt similarity index 100% rename from Eigen3/unsupported/doc/snippets/CMakeLists.txt rename to third_party/eigen3/unsupported/doc/snippets/CMakeLists.txt diff --git a/Eigen3/unsupported/test/BVH.cpp b/third_party/eigen3/unsupported/test/BVH.cpp similarity index 100% rename from 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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